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How to get function out of many ?

Hi ,

I have this code ! but it s too big and I only need one function (StrateTo(){}) from it , but the thing is that everything is connected, many stuff i don t need ! i was wondering how can i change .

I tried this :

void StrateTo(int x1, int y1, int z1, int x2, int y2, int z2 ){
  StrateRoute(p);
 
  CStrate *ps ;
  CStrate *ppre;
  CPoint3D mt;
  int i=0 ;
  ppre=ps=strate;

  while(ps != NULL){
 
      if(ppre->d!=ps->d)
            while(distance('D')>0);
      if(ppre->e!=ps->e)
            while(distance('E')>0);
      if(ppre->e!=ps->e)
            while(distance('F')>0);
        
    jd.RotateToPos(ps->d);
    je.RotateToPos(ps->e);
    jf.RotateToPos(ps->f);
    ppre = ps ;
    ps = ps->next ;
  }
  pos = p ;
}      

but i don t know how to replace CStrate and jd.RotateToPos() in the function !

here is the main code :


#define PI 3.14159265
class CJoint{
public:
  CJoint();
  void SetParam(char _motor,double _step,int home);
  void RotateTo(double angle);
  void RotateToPos(int next_pos);
  void RotateDelta(int delta);
  void ShortRotateToPos(int next_pos);
  void ShortRotateDelta(int delta);
  int  AngleToPos(double angle){return (int)(angle/step);};
  int  GetDistance();
  int  GetCurPos(){ return cur_pos ;};
  int  Stopped();
  void Home();
  void FastHome();
  void SetCurPosHome(){cur_pos=home_pos;};
protected:
  char   motor ;
  double step ;
  int    cur_pos;
  int    home_pos;
  double angle ;
};
CJoint::CJoint(){
  motor    = '\0';
  step     = 1.0;
  cur_pos  = 0 ;
  home_pos = 0 ;
  angle    = 0 ;
};
void CJoint::SetParam(char _motor,double _step,int _home){
  cur_pos = home_pos = _home;
  motor   = _motor ;
  step    = _step ;
}
void CJoint::RotateTo(double angle){
  int delta ;
  delta = (int)(angle/step) - cur_pos ;
  if( delta != 0)
      rotate_long( motor, delta );
  cur_pos += delta ;
}
void CJoint::RotateToPos(int next_pos){
  int delta;
  delta = next_pos - cur_pos ;
  if( delta != 0)
      rotate_long( motor, delta );
  cur_pos += delta ;
}
void CJoint::RotateDelta(int delta){
  if( delta != 0)
      rotate_long(motor,delta);
  cur_pos += delta ;
}

void CJoint::ShortRotateToPos(int next_pos){
  int delta;
  delta = next_pos - cur_pos ;
  if( delta != 0)
      rotate(motor,delta);
  cur_pos += delta ;
}
void CJoint::ShortRotateDelta(int delta){
  if( delta != 0)
      rotate(motor,delta);
  cur_pos += delta ;
}

int CJoint::GetDistance(){
  return distance(motor);
}
int CJoint::Stopped(){
  return (GetDistance()==0);
}
void CJoint::Home(){
  home(motor);
}
void CJoint::FastHome(){
  RotateTo(home_pos);
}

//*******************************************************************************************
#define STRATE_MAX 1024
#define STEP_DISTANCE 1


class CStrate{
public:
  CStrate();
  void XYZ2Angle();
  int OverDistance();
  void GetInterval(CStrate *pi);
  void Print();
  CStrate *next ;
  int d;
  int e;
  int f;
  double x ;
  double y ;
  double z ;
};
CStrate::CStrate(){
}
void CStrate::XYZ2Angle(){
  double angle[3];
  _angle2(x,y,z,angle);
  d = (int)(angle[MOTOR_D]/STEP_D);
  e = (int)(angle[MOTOR_E]/STEP_E);
  f = (int)(angle[MOTOR_F]/STEP_F);
}
int CStrate::OverDistance(){
  if(  abs(d - next->d) > STEP_DISTANCE ||
    abs(e - next->e) > STEP_DISTANCE ||
    abs(f - next->f) > STEP_DISTANCE ){
    return 1;
  }
  return 0;
}

void CStrate::GetInterval(CStrate *pi){
  pi->x = ( x + next->x )/2.0 ;
  pi->y = ( y + next->y )/2.0 ;
  pi->z = ( z + next->z )/2.0 ;
  pi->XYZ2Angle();
}

void CStrate::Print(){
  printf("(%6.1lf,%6.1lf,%6.1lf)(%4d,%4d,%4d)-",x,y,z,d,e,f);
  printf("(%6.1lf,%6.1lf,%6.1lf)(%4d,%4d,%4d)\n",next->x,next->y,next->z,next->d,next->e,next->f);
}
//*******************************************************************************************
class CRobot{
public:
  CRobot();
  ~CRobot();
  void MoveTo(CPoint3D p);
  void Move3To(CPoint3D p);
  void StrateTo(CPoint3D p);
  void WaitDEF();
  void HomeAll();
  CJoint ja;
  CJoint jb;
  CJoint jc;
  CJoint jd;
  CJoint je;
  CJoint jf;
protected:
  void StrateRoute(CPoint3D p);
  int  StrateRouteCore(CStrate *cur);
  CPoint3D pos ;
  CStrate *strate;
  int    strate_count ;
};

CRobot::CRobot(){
  double home_angle[3];
  strate = new CStrate[STRATE_MAX];
  pos.x = XHOME ;
  pos.y = YHOME ;
  pos.z = ZHOME ;
  _angle2( pos.x, pos.y, pos.z, home_angle );
 
  ja.SetParam('A',   1.0,0);
  jb.SetParam('B',STEP_B,0);
  jc.SetParam('C',STEP_C,0);
  jd.SetParam('D',STEP_D,(int)(home_angle[MOTOR_D]/STEP_D));
  je.SetParam('E',STEP_E,(int)(home_angle[MOTOR_E]/STEP_E));
  jf.SetParam('F',STEP_F,(int)(home_angle[MOTOR_F]/STEP_F));
}
CRobot::~CRobot(){
  delete strate ;
}
void CRobot::MoveTo(CPoint3D p){
  double angle[3];
  _angle2(p.x,p.y,p.z,angle);
  jd.RotateTo(angle[MOTOR_D]);
  je.RotateTo(angle[MOTOR_E]);
  jf.RotateTo(angle[MOTOR_F]);
  pos=p;
}
void CRobot::StrateTo(CPoint3D p){
  StrateRoute(p);
 
  CStrate *ps ;
  CStrate *ppre;
  CPoint3D mt;
  int i=0 ;
  ppre=ps=strate;

  while(ps != NULL){
    /*

      printf("[%3d](%6.1lf,%6.1lf,%6.1lf)(%6d,%6d,%6d)\n",
      i++,
      ps->x,ps->y,ps->z,
      ps->d,ps->e,ps->f);*/
    jd.ShortRotateToPos(ps->d);
      //if(ppre->d!=ps->d)
      //      while(!jd.Stopped());
    je.ShortRotateToPos(ps->e);
      //if(ppre->e!=ps->e)
      //      while(!je.Stopped());
    jf.ShortRotateToPos(ps->f);
      //if(ppre->e!=ps->e)
      //      while(!jf.Stopped());
        /**//*
    jd.RotateToPos(ps->d);
    je.RotateToPos(ps->e);
    jf.RotateToPos(ps->f);/**/
    ppre = ps ;
    ps = ps->next ;
  }
  pos = p ;
}
void CRobot::StrateRoute(CPoint3D p){
  strate[0].x = pos.x ;
  strate[0].y = pos.y ;
  strate[0].z = pos.z ;
  strate[0].next = &strate[1];
  strate[0].XYZ2Angle();
  strate[1].x = p.x ;
  strate[1].y = p.y ;
  strate[1].z = p.z ;
  strate[1].next = NULL ;
  strate[1].XYZ2Angle();
  strate_count = 2 ;
  StrateRouteCore(strate);
}
int CRobot::StrateRouteCore(CStrate *cur){
  //printf("[%d]",strate_count);
  //cur->Print();
  CStrate *inter;
  if( strate_count >= STRATE_MAX ){
    printf("Memory Error(Strate)\n");
    getchar();
    return 0;
  }
  if( cur->OverDistance() ){
    inter = &strate[strate_count] ;
    strate_count ++ ;
    cur->GetInterval(inter);
    inter->next = cur->next ;
    cur->next   = inter ;
    StrateRouteCore(cur  );
    StrateRouteCore(inter);
  }
  return 1 ;    
}
void CRobot::WaitDEF(){
  while( !jd.Stopped() || !je.Stopped()  || !jf.Stopped() ){
  }
}
Avatar of Kent Olsen
Kent Olsen
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I'll convert RotateToPos() and show you how it's done.  You can convert any others that you need.


Kent



void StrateTo(int x1, int y1, int z1, int x2, int y2, int z2 ){
  StrateRoute(p);
 
  CStrate *ps ;
  CStrate *ppre;
  CPoint3D mt;
  int i=0 ;
  ppre=ps=strate;

  while(ps != NULL){
 
     if(ppre->d!=ps->d)
          while(distance('D')>0);
     if(ppre->e!=ps->e)
          while(distance('E')>0);
     if(ppre->e!=ps->e)
          while(distance('F')>0);
       
    RotateToPos(jd, ps->d);
    RotateToPos(je, ps->e);
    RotateToPos(jf, ps->f);
    ppre = ps ;
    ps = ps->next ;
  }
  pos = p ;
}    

RotateToPos(CJoint * item, int next_pos){
  int delta;

  delta = next_pos - item->cur_pos ;
  if( delta != 0)
     rotate_long( motor, delta );
  item->cur_pos += delta ;
}
Avatar of Besbous
Besbous

ASKER

thx !

actually what I need is just the function StrateTo() withought needing to all CStrate nor CJoint,
i tried this code , but the thing is that i got errors showing : subscript requires array or pointers (strate[].x) and i don t know how to define strate in the StrateTo() function without calling CStrate.

void StrateTo(int x1, int y1, int z1, int x2, int y2, int z2 ){
 
  double a[3];
  int e, d, f;
  int strate_count;

  angle(x1,y1,z1,x2,y2,z2,a);
  d = (int)(a[MOTOR_D]/STEP_D);
  e = (int)(a[MOTOR_E]/STEP_E);
  f = (int)(a[MOTOR_F]/STEP_F);

  StrateRoute(x1,y1,z1,x2,y2,z2);
 

  while(distance('D')>0 && distance('E')>0 && distance('F')>0){  
  rotate_long('D',d);
  rotate_long('E',e);
  rotate_long('F',f);
  }
}      

void StrateRoute(int x1, int y1, int z1, int x2, int y2, int z2){
  strate[0].x = x1 ;
  strate[0].y = y1 ;
  strate[0].z = z1 ;
  strate[0].next = &strate[1];
  strate[0].Angle(x1,y1,z1,x2,y2,z2);
  strate[1].x = x2 ;
  strate[1].y = y2 ;
  strate[1].z = z2 ;
  strate[1].next = NULL ;
  strate[1].Angle(x1,y1,z1,x2,y2,z2);
  strate_count = 2 ;
  if( strate_count >= STRATE_MAX ){
    printf("No No, Go Back Stunny!!\n");
    getchar();
    return 0;
  }

}

void Angle(int x1, int y1, int z1, int x2, int y2, int z2 ){
  double a[3];
  int e, d, f;
  angle(x1,y1,z1,x2,y2,z2,a);
  d = (int)(a[MOTOR_D]/STEP_D);
  e = (int)(a[MOTOR_E]/STEP_E);
  f = (int)(a[MOTOR_F]/STEP_F);
}
Avatar of Kent Olsen
Kent Olsen
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To use 'strate' as you have, it must be defined as an array of structures.  Similar to this:

typedef struct
{
  int x;
  int y;
/*  etc  */
}  strate_t;

strate_t  strate[SomeNumber];

Then the syntax:

strate[0].x = x1;

is valid.

How is 'strate' defined?
Kent
Avatar of Besbous
Besbous

ASKER


 it s defined in Class Robot, as CStrate *strate;

class CRobot{
public:
  CRobot();
  ~CRobot();
  void MoveTo(CPoint3D p);
  void Move3To(CPoint3D p);
  void StrateTo(CPoint3D p);
  void WaitDEF();
  void HomeAll();
  CJoint ja;
  CJoint jb;
  CJoint jc;
  CJoint jd;
  CJoint je;
  CJoint jf;
protected:
  void StrateRoute(CPoint3D p);
  int  StrateRouteCore(CStrate *cur);
  CPoint3D pos ;
  CStrate *strate;
  int    strate_count ;
};
ASKER CERTIFIED SOLUTION
Avatar of Kent Olsen
Kent Olsen
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