## mark a section (Learn more)

#include <AFMotor.h> int LASER=9; int x,y,in; int nextchar() { while(Serial.available()==0) { } // wait till next char is available int ch=Serial.read(); //Serial.print(ch,DEC); return ch; } AF_Stepper mX(48, 2); AF_Stepper mY(48, 1); void step_x(int i) { if(i>0) mX.step(i,BACKWARD, MICROSTEP); else mX.step(-i,FORWARD, MICROSTEP); } void step_y(int i) { if(i>0) mY.step(i,BACKWARD, MICROSTEP); else mY.step(-i,FORWARD, MICROSTEP); } void trace() { Serial.print("> "); Serial.print(x, DEC); Serial.print(" "); Serial.println( y, DEC); } void slow() { mX.setSpeed(1); mY.setSpeed(4); } void fast() { mX.setSpeed(400); mY.setSpeed(650); } void setup() { Serial.begin(9600); slow(); analogWrite(LASER,5); //while(true) nextchar(); // step_x(50); step_y(50); } void loop() { int x,y; // loop enters for each line of text int ox=-1,oy=0; do { int x=y=0; in=nextchar(); // first letter of command while(in!=32) { x=x*10+(in-48); in=nextchar(); } in=nextchar(); while(in!=32 && in!=13) { y=y*10+(in-48); in=nextchar(); } // Serial.print(x, DEC); // Serial.print(" "); // Serial.println( y, DEC); if(ox>-1) line(ox,5.8*oy,x,5.8*y); ox=x; oy=y; } while(in!=13); // end of drawn line: pen up? Serial.println("OK"); } // contrary to some Bresenham implementations, here // we need to start painting from x0,y0 int line(int x0, int y0, int x1, int y1) { int stpX,stpY,i,err,dx,dy; if(y1>y0) stpY=1; else stpY=-1; if(x1>x0) stpX=1; else stpX=-1; // move to start of drawing fast(); if(x!=x0) step_x(x0-x); if(y!=y0) step_y(y0-y); slow(); analogWrite(LASER,255); x=x0; y=y0; // let's move form here on dx=abs(x1-x0); dy=abs(y1-y0); if(abs(y1-y0)>abs(x1-x0)) { // let's move along Y axis err=dy/2; while(y!=y1) { //Serial.println(stpY); //trace(); step_y(stpY); y+=stpY; err-=dx; if (err<0) { step_x(stpX); x+=stpX; err+=dy; } } } else { //let's move along X axis err=dx/2; while(x!=x1) { //Serial.println(stpX); //trace(); step_x(stpX); x+=stpX; err-=dy; if (err<0) { step_y(stpY); y+=stpY; err+=dx; } } } analogWrite(LASER,5); Serial.print(".."); }

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