#include "WiFi.h"
#include "WiFiUDP.h"
#include "BasicStepperDriver.h"
#include "MultiDriver.h"
#include "SyncDriver.h"
#include "ESP32Servo.h"
#include "SSD1306.h"
#include "Wire.h"
SSD1306 display(0x3c, 21, 22);
#define MOTOR_STEPS 200
#define L_Motor_RPM 7 //speed
#define R_Motor_RPM 7 //speed
#define MICROSTEPS 16
#define LedPin 2
#define ENB_Pin 19
#define L_Motor_DIR 26
#define L_Motor_STEP 33
#define R_Motor_DIR 32
#define R_Motor_STEP 25
BasicStepperDriver L_Motor(MOTOR_STEPS, L_Motor_DIR, L_Motor_STEP);
BasicStepperDriver R_Motor(MOTOR_STEPS, R_Motor_DIR, R_Motor_STEP);
SyncDriver controller(L_Motor, R_Motor);
WiFiUDP UDP;
char recbuff[8];
IPAddress myIP(192, 168, 4, 1);
IPAddress HOSTIP (192, 168, 4, 2);
const char *ssid = "OSTR";
const char *password = "12345678";
int fs = 3; //font size fs=1mm
int servoPin = 23;
int PEN_DOWN = 60; // f-sizengle of servo when pen is down
int PEN_UP = 20; // f-sizengle of servo when pen is up
Servo penServo;
float wheel_dia = 68.9;// # mm (increase = spiral out)
float wheel_base = 91.8;// # mm (increase = spiral in, ccw)
int steps_rev = 3200; // # 200*16 MICROSTEPS
int LedState = 0;
unsigned long previousMillis = 0;
unsigned long interval = 500;
void setup() {
WiFi.softAP(ssid, password); // setting SSID and Password
WiFi.config(myIP, WiFi.gatewayIP(), WiFi.subnetMask()); // setting IP Address
UDP.begin(8000); // setting UDP port,port number is the same setting as the controller and the side.
Serial.begin(115200);
pinMode(ENB_Pin, OUTPUT); digitalWrite(ENB_Pin, HIGH);
pinMode(LedPin, OUTPUT); digitalWrite(LedPin, HIGH);
L_Motor.begin(L_Motor_RPM, MICROSTEPS);
R_Motor.begin(R_Motor_RPM, MICROSTEPS);
penServo.attach(servoPin);
penup();
display.init();
display.setFont(ArialMT_Plain_24);
display.drawString(20, 0, " Select");
display.drawString(10, 25, "16 Button");
display.display();
delay(300);
}
void loop() {
if (UDP.parsePacket() > 0) {
UDP.read(recbuff, 8);
UDP.flush();
}
WiFi_receive();
unsigned long currentMillis = millis();
if (ENB_Pin == LOW) {
if (currentMillis - previousMillis > interval) {
if (LedState == 0) {
digitalWrite(LedPin, HIGH);
LedState = 1;
}
else {
digitalWrite(LedPin, LOW);
LedState = 0;
}
previousMillis = currentMillis;
}
}
}
void WiFi_receive() {
switch (recbuff[0]) {
case 'F':
forward(0.2);
break;
case 'B':
backward(0.2);
break;
case 'R':
right(1);
break;
case 'L':
left(1);
break;
case '0': //100mm Square Calibration
display.clear();
display.drawString(0, 0, "Calibration");
display.drawString(0, 25, " wait a bit");
display.display();
pendown();
for (int x = 0; x < 12; x++) {
forward(100);
left(90);
}
penup();
done();
display2();
break;
case '1': // 8_DIA Right Satrt
display.clear();
display.drawString(0, 0, "8 Diamond");
display.drawString(0, 25, " wait a bit");
display.display();
forward(25);
left(90);
backward(20);
left(30);
for (int x = 0; x < 4; x++) {
dia8();
}
penup();
right(30);
backward(20);
left(90);
forward(25);
done();
display2();
break;
case '2': //Heart
display.clear();
display.drawString(0, 0, " HEART");
display.drawString(0, 25, " wait a bit");
display.display();
forward(50);
right(45);
pendown();
forward(14.84);
right(45);
forward(14);
right(45);
forward(49.49);
right(90);
forward(49.49);
right(45);
forward(14);
right(45);
forward(14.84);
right(45);
forward(14);
right(45);
forward(14.84);
left(90);
forward(14.84);
right(45);
forward(14);
penup();
forward(15);
penup();
done();
display2();
break;
case '3': // 3 Diamond
display.clear();
display.drawString(0, 0, "3 Diamond");
display.drawString(0, 25, " wait a bit");
display.display();
forward(30);
right(60);
pendown();
forward(20);
right(60);
forward(40);
right(60);
forward(20);
left(60);
backward(20);
right(60);
backward(40);
right(60);
backward(20);
left(60);
forward(20);
right(60);
forward(40);
right(60);
forward(20);
penup();
right(60);
forward(30);
done();
display2();
break;
case '4': // 5Stars
display.clear();
display.drawString(0, 0, "5 Stars");
display.drawString(0, 25, " wait a bit");
display.display();
forward(30);
right(72);
pendown();
forward(60);
right(144);
forward(60);
right(144);
forward(60);
right(144);
forward(60);
right(144);
forward(60);
penup();
right(72);
forward(30);
done();
display2();
break;
case '5': // 7Stars
display.clear();
display.drawString(0, 0, "7 Stars");
display.drawString(0, 25, " wait a bit");
display.display();
forward(30);
right(77.142);
pendown();
forward(60);
left(25.714);
backward(60);
left(25.714);
forward(60);
left(25.714);
backward(60);
left(25.714);
forward(60);
left(25.714);
backward(60);
left(25.714);
forward(60);
penup();
right(77.142);
forward(30);
done();
display2();
break;
case '6': // HELLO WORLD
display.clear();
display.drawString(0, 0, "Hello World");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_H();
fontdat_E();
fontdat_L();
fontdat_L();
fontdat_O();
fontdat_sp(); //space
fontdat_W();
fontdat_O();
fontdat_R();
fontdat_L();
fontdat_D();
penup();
done();
display2();
break;
case '7': // 012..789
display.clear();
display.drawString(0, 0, " 012..789");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_0();
fontdat_1();
fontdat_2();
fontdat_3();
fontdat_4();
fontdat_5();
fontdat_6();
fontdat_7();
fontdat_8();
fontdat_9();
fontdat_sp(); //space
fontdat_dl(); // /
fontdat_hy(); // -
penup();
done();
display2();
break;
case '8': // ABCDEFGHIJKLM
display.clear();
display.drawString(0, 0, "ABC...KLM");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_A();
fontdat_B();
fontdat_C();
fontdat_D();
fontdat_E();
fontdat_F();
fontdat_G();
fontdat_H();
fontdat_I();
fontdat_J();
fontdat_K();
fontdat_L();
fontdat_M();
penup();
done();
display2();
break;
case '9': // NOPQRSTUVWXYZ
display.clear();
display.drawString(0, 0, "NOP...XYZ");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_N();
fontdat_O();
fontdat_P();
fontdat_Q();
fontdat_R();
fontdat_S();
fontdat_T();
fontdat_U();
fontdat_V();
fontdat_W();
fontdat_X();
fontdat_Y();
fontdat_Z();
penup();
done();
display2();
break;
case 'G': // abcdefghijklm
display.clear();
display.drawString(0, 0, "abc...klm");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_a();
fontdat_b();
fontdat_c();
fontdat_d();
fontdat_e();
fontdat_f();
fontdat_g();
fontdat_h();
fontdat_i();
fontdat_j();
fontdat_k();
fontdat_l();
fontdat_m();
penup();
done();
display2();
break;
case 'H': // opqrstuvwxyz
display.clear();
display.drawString(0, 0, "opq...xyz");
display.drawString(0, 25, " wait a bit");
display.display();
fontdat_n();
fontdat_o();
fontdat_p();
fontdat_q();
fontdat_r();
fontdat_s();
fontdat_t();
fontdat_u();
fontdat_v();
fontdat_w();
fontdat_x();
fontdat_y();
fontdat_z();
penup();
done();
display2();
break;
case 'I': // FontSize fs=3
display.clear();
display.drawString(0, 0, "Fontsize 3");
display.display();
fs = 3;
delay(500);
display2();
break;
case 'J': // FontSize fs=2
display.clear();
display.drawString(0, 0, "Fontsize 2");
display.display();
fs = 2;
delay(500);
display2();
break;
case 'K': // Penup
display.clear();
display.drawString(0, 0, " Pen UP");
display.display();
penup();
delay(100);
display2();
break;
case 'M': // penup
display.clear();
display.drawString(0, 0, "Pen DOWN");
display.display();
pendown();
delay(100);
display2();
break;
}
}
void display2() {
display.clear();
display.drawString(20, 0, " Select");
display.drawString(10, 25, "16 Button");
display.display();
}
// ----- HELPER FUNCTIONS -----------
int step(float distance) {
int steps = distance * steps_rev / (wheel_dia * 3.14159);
return steps;
}
void forward(float distance) {
float steps = step(distance);
float degs = (steps / steps_rev) * 360; // #Convert steps to degs in controller.rotate.
digitalWrite(ENB_Pin, LOW);
controller.rotate(-degs, degs);
digitalWrite(ENB_Pin, HIGH);
}
void backward(float distance) {
float steps = step(distance);
float degs = (steps / steps_rev) * 360; // #Convert steps to degs in controller.rotate.
digitalWrite(ENB_Pin, LOW);
controller.rotate(degs, -degs);
digitalWrite(ENB_Pin, HIGH);
}
void left(float degrees) {
float rotation = degrees / 360;
float distance = wheel_base * 3.14159 * rotation;//3.14159265359 * rotation;//3.1412
float steps = step(distance);
float degs = (steps / steps_rev) * 360; // #Convert steps to degs in controller.rotate.
digitalWrite(ENB_Pin, LOW);
controller.rotate(degs, degs);
digitalWrite(ENB_Pin, HIGH);
}
void right(float degrees) {
float rotation = degrees / 360;
float distance = wheel_base * 3.14159 * rotation;//3.14159265359 * rotation;//3.1412
float steps = step(distance);
float degs = (steps / steps_rev) * 360; // #Convert steps to degs in controller.rotate.
digitalWrite(ENB_Pin, LOW);
controller.rotate(-degs, -degs);
digitalWrite(ENB_Pin, HIGH);
}
void done() { // unlock stepper to save battery
digitalWrite(ENB_Pin, HIGH);
}
void penup() {
delay(250);
penServo.write(PEN_UP);
delay(250);
}
void pendown() {
delay(250);
penServo.write(PEN_DOWN);
delay(250);
}
//---font data---
void fontdat_A() {
forward(fs * 2);
right(68.2);
pendown();
forward(sqrt(pow(2, 2) + pow(5, 2))*fs);
right(21.8);
forward(fs * 3);
penup();
backward(fs * 2);
right(90);
pendown();
forward(fs * 4);
penup();
right(90);
backward(fs * 2);
pendown();
forward(fs * 3);
right(21.7);//-0.1
forward(sqrt(pow(2, 2) + pow(5, 2))*fs);
penup();
right(67.7);//-0.5
forward(fs * 3);
done();
}
void fontdat_B() {
pendown();
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
left(90);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
right(90);
forward(fs * 8);
penup();
backward(fs * 4);
right(90);
pendown();
forward(fs * 3);
penup();
forward(fs * 2);
left(90);
forward(fs * 4);
right(90);
done();
}
void fontdat_C() {
forward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
penup();
forward(fs * 4);
pendown();
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 2);
done();
}
void fontdat_D() {
forward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
right(90);
forward(fs * 8);
right(90);
forward(fs * 3);
penup();
forward(fs * 2);
done();
}
void fontdat_E() {
right(90);
pendown();
forward(fs * 8);
left(90);
forward(fs * 4);
penup();
left(90);
forward(fs * 4);
left(90);
forward(fs);
pendown();
forward(fs * 3);
penup();
right(90);
forward(fs * 4);
right(90);
pendown();
forward(fs * 4);
penup();
forward(fs);
done();
}
void fontdat_F() {
pendown();
forward(fs * 4);
penup();
backward(fs * 4);
right(90);
pendown();
forward(fs * 8);
penup();
backward(fs * 4);
left(90);
pendown();
forward(fs * 3);
penup();
forward(fs * 2);
left(90);
forward(fs * 4);
right(90);
done();
}
void fontdat_G() {
forward(fs * 4);
left(90);
backward(fs * 2);
pendown();
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 6);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
penup();
left(45);
backward(fs);
pendown();
forward(fs * 4);
left(90);
forward(fs * 2);
penup();
right(90);
forward(fs * 4);
right(90);
forward(fs * 3);
done();
}
void fontdat_H() {
right(90);
pendown();
forward(fs * 8);
penup();
backward(fs * 4);
left(90);
pendown();
forward(fs * 4);
penup();
left(90);
backward(fs * 4);
pendown();
forward(fs * 8);
penup();
right(90);
forward(fs);
done();
}
void fontdat_I() {
pendown();
forward(fs * 2);
penup();
backward(fs);
right(90);
pendown();
forward(fs * 8);
penup();
left(90);
backward(fs);
pendown();
forward(fs * 2);
penup();
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_J() {
forward(fs * 3);
pendown();
forward(fs);
right(90);
forward(fs * 7);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 5);
right(90);
forward(fs * 5);
done();
}
void fontdat_K() {
right(90);
pendown();
forward(fs * 8);
penup();
left(90);
forward(fs * 4);
pendown();
left(135);
forward(sqrt(pow(4, 2) + pow(4, 2))*fs);
right(90);
forward(sqrt(pow(4, 2) + pow(4, 2))*fs);
penup();
right(45);
forward(fs);
done();
}
void fontdat_L() {
right(90);
pendown();
forward(fs * 8);
left(90);
forward(fs * 4);
penup();
left(90);
forward(fs * 8);
right(90);
forward(fs);
done();
}
void fontdat_M() {
right(90);
forward(fs * 8);
pendown();
backward(fs * 8);
left(21.80);
forward(sqrt(pow(2, 2) + pow(5, 2))*fs);
left(136.40);
forward(sqrt(pow(2, 2) + pow(5, 2))*fs);
left(21.80);
backward(fs * 8);
penup();
right(90);
forward(fs);
left(90);
forward(fs * 8);
right(90);
}
void fontdat_N() {
right(90);
pendown();
forward(fs * 8);
penup();
backward(fs * 8);
left(26.57);
pendown();
forward(sqrt(pow(4, 2) + pow(8, 2))*fs);
right(26.57);
backward(fs * 8);
penup();
left(90);
forward(fs);
done();
}
void fontdat_O() {
forward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 2);
done();
}
void fontdat_P() {
pendown();
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
penup();
right(90);
backward(fs * 4);
pendown();
forward(fs * 8);
penup();
right(90);
forward(fs * 5);
done();
}
void fontdat_Q() {
forward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
backward(fs);
right(90);
forward(fs * 6);
left(45);
pendown();
forward(sqrt(pow(2, 2) + pow(2, 2))*fs);
penup();
left(45);
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_R() {
pendown();
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
penup();
backward(fs * 2);
right(63.43);
pendown();
backward(sqrt(pow(2, 2) + pow(4, 2))*fs);
left(63.43);
penup();
forward(fs * 4);
right(90);
pendown();
forward(fs * 8);
right(90);
penup();
forward(fs * 5);
done();
}
void fontdat_S() {
right(90);
forward(fs * 7);
left(45);
pendown();
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
penup();
backward(sqrt(2)*fs);
left(45);
forward(fs * 2);
done();
}
void fontdat_T() {
pendown();
forward(fs * 4);
penup();
backward(fs * 2);
right(90);
pendown();
forward(fs * 8);
penup();
left(90);
forward(fs * 3);
left(90);
forward(fs * 8);
right(90);
forward(fs);
done();
}
void fontdat_U() {
right(90);
pendown();
forward(fs * 7);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 7);
penup();
right(90);
forward(fs);
done();
}
void fontdat_V() {
left(104.04); // 90+14.04
pendown();
backward(sqrt(pow(2, 2) + pow(8, 2))*fs);
right(28.07); // 14.04*2
forward(sqrt(pow(2, 2) + pow(8, 2))*fs);
right(75.96); // 90-14.04
penup();
forward(fs);
done();
}
void fontdat_W() {
left(97.13);
pendown();
backward(sqrt(1 + pow(8, 2))*fs);
right(16.59);
forward(sqrt(1 + pow(6, 2))*fs);
left(18.92);
backward(sqrt(1 + pow(6, 2))*fs);
right(16.59);
forward(sqrt(1 + pow(8, 2))*fs);
penup();
right(82.80);//-0.07
forward(fs);
done();
}
void fontdat_X() {
right(63.43);
pendown();
forward(sqrt(pow(4, 2) + pow(8, 2))*fs);
penup();
left(63.43);
backward(fs * 4);
left(63.43);
pendown();
forward(sqrt(pow(4, 2) + pow(8, 2))*fs);
penup();
right(63.43);
forward(fs);
done();
}
void fontdat_Y() {
right(63.43);
pendown();
forward(sqrt(pow(2, 2) + pow(4, 2))*fs);
right(53.13);
backward(sqrt(pow(2, 2) + pow(4, 2))*fs);
penup();
forward(sqrt(pow(2, 2) + pow(4, 2))*fs);
left(26.57);
pendown();
forward(fs * 4);
penup();
left(90);
forward(fs * 3);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_Z() {
pendown();
forward(fs * 4);
left(63.43);
backward(sqrt(pow(4, 2) + pow(8, 2))*fs);
penup();
right(63.43);
pendown();
forward(fs * 4);
penup();
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_a() {
left(90);
backward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 5);
penup();
backward(fs);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(18.43);
forward(sqrt(1 + pow(2, 2))*fs);
penup();
left(63.43);
forward(fs * 4);
right(90);
forward(fs);
done();
}
void fontdat_b() {
right(90);
pendown();
forward(fs * 8);
left(90);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 3);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
penup();
right(90);
forward(fs * 3);
right(90);
forward(fs * 4);
done();
}
void fontdat_c() {
forward(fs * 3);
left(90);
backward(fs * 3);
left(45);
pendown();
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 4);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
penup();
left(45);
forward(fs * 7);
right(90);
forward(fs);
done();
}
void fontdat_d() {
forward(fs * 3);
right(90);
pendown();
forward(fs * 8);
right(90);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs);
left(90);
forward(fs * 3);
right(90);
done();
}
void fontdat_e() {
right(90);
forward(fs * 5);
pendown();
left(90);
forward(fs * 3);
left(90);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 4);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
penup();
forward(fs);
left(45);
forward(fs * 6);
right(90);
done();
}
void fontdat_f() {
forward(fs * 3);
left(90);
backward(fs * 2);
pendown();
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(90);
forward(sqrt(2)*fs);
left(45);
forward(fs * 7);
penup();
backward(fs * 4);
right(90);
backward(fs * 2);
pendown();
forward(fs * 3);
penup();
right(90);
forward(fs * 4);
right(90);
forward(fs * 4);
done();
}
void fontdat_g() {
right(90);
forward(fs * 9);
pendown();
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 5);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 3);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
penup();
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_h() {
left(90);
pendown();
backward(fs * 8);
penup();
forward(fs * 4);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 4);
penup();
left(90);
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_i() {
forward(fs);
right(90);
forward(fs * 2);
pendown();
forward(fs);
penup();
forward(fs);
pendown();
forward(fs * 4);
penup();
left(90);
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_j() {
forward(fs * 3);
right(90);
forward(fs * 2);
pendown();
forward(fs);
penup();
forward(fs);
pendown();
forward(fs * 5);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
penup();
forward(fs * 9);
right(90);
forward(fs * 4);
done();
}
void fontdat_k() {
left(90);
pendown();
backward(fs * 8);
penup();
forward(fs * 3);
right(45);
pendown();
forward(sqrt(pow(3, 2) + pow(3, 2))*fs);
penup();
left(45);
backward(fs * 6);
left(26.57);
pendown();
forward(sqrt(pow(2, 2) + pow(4, 2))*fs);
penup();
right(26.57);
forward(fs * 4);
right(90);
forward(fs * 3);
done();
}
void fontdat_l() {
forward(fs);
right(90);
pendown();
forward(fs * 8);
penup();
left(90);
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_m() {
left(90);
backward(fs * 2);
pendown();
backward(fs * 6);
penup();
forward(fs * 5);
right(45);
pendown();
forward(sqrt(2)*fs);
right(90);
forward(sqrt(2)*fs);
penup();
left(135);
backward(fs * 5);
pendown();
forward(fs * 5);
right(45);
forward(sqrt(2)*fs);
right(90);
forward(sqrt(2)*fs);
right(45);
forward(fs * 5);
penup();
backward(fs * 8);
left(90);
forward(fs);
done();
}
void fontdat_n() {
left(90);
backward(fs * 2);
pendown();
backward(fs * 6);
penup();
forward(fs * 5);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
penup();
left(135);
pendown();
backward(fs * 5);
penup();
forward(fs * 8);
right(90);
forward(fs);
done();
}
void fontdat_o() {
left(90);
backward(fs * 3);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 4);
right(45);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 4);
penup();
forward(fs * 3);
right(90);
forward(fs * 4);
done();
}
void fontdat_p() {
left(90);
backward(fs * 7);
right(90);
pendown();
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 3);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
left(90);
forward(fs * 8);
penup();
left(90);
forward(fs * 4);
left(90);
forward(fs * 10);
right(90);
done();
}
void fontdat_q() {
right(90);
forward(fs * 10);
left(90);
forward(fs * 3);
left(90);
pendown();
forward(fs * 8);
left(90);
forward(fs * 2);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 3);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs * 2);
penup();
forward(fs);
left(90);
forward(fs * 7);
right(90);
done();
}
void fontdat_r() {
left(90);
backward(fs * 2);
pendown();
backward(fs * 6);
penup();
forward(fs * 4);
right(26.57);
pendown();
forward(sqrt(1 + pow(2, 2))*fs);
right(63.43);
forward(fs);
right(45);
forward(sqrt(2)*fs);
penup();
left(45);
forward(fs);
left(90);
forward(fs * 3);
right(90);
done();
}
void fontdat_s() {
forward(fs * 3);
left(90);
backward(fs * 3);
left(45);
pendown();
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
penup();
forward(fs * 7);
right(90);
forward(fs * 4);
done();
}
void fontdat_t() {
forward(fs);
right(90);
pendown();
forward(fs * 7);
left(45);
forward(sqrt(2)*fs);
left(90);
forward(sqrt(2)*fs);
left(45);
penup();
forward(fs * 5);
left(90);
forward(fs);
pendown();
forward(fs * 2);
penup();
right(90);
forward(fs * 2);
right(90);
forward(fs * 4);
done();
}
void fontdat_u() {
right(90);
forward(fs * 2);
pendown();
forward(fs * 5);
left(45);
forward(sqrt(2)*fs);
left(45);
forward(fs);
left(45);
forward(sqrt(2)*fs);
left(45);
penup();
backward(fs);
pendown();
forward(fs * 6);
penup();
forward(fs * 2);
right(90);
forward(fs);
done();
}
void fontdat_v() {
right(90);
forward(fs * 2);
pendown();
left(9.46);
forward(sqrt(1 + pow(6, 2))*fs);
right(9.56 + 18.43);
backward(sqrt(pow(2, 2) + pow(6, 2))*fs);
left(18.43);
penup();
backward(fs * 2);
left(90);
forward(fs);
done();
}
void fontdat_w() {
right(90);
forward(fs * 2);
pendown();
left(9.46);
forward(sqrt(1 + pow(6, 2))*fs);
right(23.5);
backward(sqrt(pow(2, 2) + pow(4, 2))*fs);
left(28.07);
forward(sqrt(pow(2, 2) + pow(4, 2))*fs);
right(23.5);
backward(sqrt(1 + pow(6, 2))*fs);
left(9.46);
penup();
backward(fs * 2);
left(90);
forward(fs);
done();
}
void fontdat_x() {
right(90);
forward(fs * 2);
pendown();
left(26.57);
forward(sqrt(pow(3, 2) + pow(6, 2))*fs);
left(63.43);
penup();
backward(fs * 3);
left(63.43);
pendown();
forward(sqrt(pow(3, 2) + pow(6, 2))*fs);
penup();
left(26.57);
forward(fs * 2);
right(90);
forward(fs);
done();
}
void fontdat_y() {
right(90);
forward(fs * 2);
left(26.57);
pendown();
forward(sqrt(pow(2, 2) + pow(4, 2))*fs);
penup();
backward(sqrt(pow(2, 2) + pow(4, 2))*fs);
right(26.57);
forward(fs * 8);
left(90);
pendown();
forward(fs);
left(75.96);
forward(sqrt(pow(2, 2) + pow(8, 2))*fs);
penup();
left(14.04);
forward(fs * 2);
right(90);
forward(fs);
done();
}
void fontdat_z() {
right(90);
forward(fs * 2);
left(90);
pendown();
forward(fs * 3);
left(63.43);
backward(sqrt(pow(3, 2) + pow(6, 2))*fs);
right(63.43);
forward(fs * 3);
penup();
left(90);
forward(fs * 8);
right(90);
forward(fs);
done();
}
void fontdat_0() {
forward(fs);
pendown();
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
penup();
backward(sqrt(2)*fs);
left(45);
backward(fs * 6);
right(33.69);
pendown();
forward(sqrt(pow(4, 2) + pow(6, 2))*fs);
penup();
left(33.69);
forward(fs);
right(90);
done();
}
void fontdat_1() {
forward(fs * 2);
right(90);
pendown();
forward(fs * 8);
penup();
right(90);
backward(fs);
pendown();
forward(fs * 2);
penup();
right(90);
forward(fs * 7);
right(45);
pendown();
forward(sqrt(2)*fs);
penup();
right(45);
forward(fs * 2);
done();
}
void fontdat_2() {
left(90);
backward(fs * 2);
pendown();
forward(fs);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs * 4);
left(45);
forward(fs);
left(90);
forward(fs * 4);
penup();
forward(fs);
left(90);
forward(fs * 8);
right(90);
done();
}
void fontdat_3() {
forward(fs * 3);
pendown();
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
backward(fs * 2);
left(135);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 1);
penup();
forward(fs * 4);
pendown();
forward(fs * 1);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 2);
done();
}
void fontdat_4() {
forward(fs);
right(90);
forward(fs);
right(14.04);
pendown();
forward(sqrt(1 + pow(4, 2))*fs);
left(104.04);
forward(fs * 4);
penup();
right(90);
forward(fs * 3);
right(90);
forward(fs);
right(90);
pendown();
forward(fs * 8);
penup();
right(90);
forward(fs * 2);
done();
}
void fontdat_5() {
pendown();
forward(fs * 4);
penup();
backward(fs * 4);
right(90);
pendown();
forward(fs * 3);
left(90);
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
penup();
forward(fs * 6);
right(90);
forward(fs * 5);
done();
}
void fontdat_6() {
right(90);
forward(fs * 4);
left(90);
pendown();
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs);
penup();
backward(fs * 2);
left(90);
forward(fs);
done();
}
void fontdat_7() {
left(90);
backward(fs * 2);
pendown();
forward(fs * 2);
right(90);
forward(fs * 4);
right(90);
forward(fs * 2);
right(18.43);
forward(sqrt(pow(6, 2) + pow(2, 2))*fs);
penup();
left(18.43);
backward(fs * 8);
left(90);
forward(fs * 4);
done();
}
void fontdat_8() {
forward(fs * 4);
pendown();
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
backward(fs * 2);
left(135);
pendown();
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
left(90);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 3);
done();
}
void fontdat_9() {
forward(fs * 4);
right(90);
forward(fs * 4);
right(90);
pendown();
forward(fs * 3);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 6);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
right(45);
forward(sqrt(2)*fs);
right(45);
forward(fs * 2);
penup();
forward(fs * 6);
right(90);
forward(fs * 5);
done();
done();
}
void fontdat_dl() { // "/" Diagonal line
left(90);
backward(fs * 8);
right(20.56);
pendown();
forward(sqrt(pow(3, 2) + pow(8, 2))*fs);
right(69.44);
penup();
forward(fs);
}
void fontdat_hy() { // "-" hyphen
right(90);
forward(fs * 4);
left(90);
pendown();
forward(fs * 3);
penup();
left(90);
forward(fs * 4);
right(90);
forward(fs);
}
void fontdat_sp() { // " " space
forward(fs * 3);
}
void dia8() {
pendown();
forward(20);
right(60);
forward(20);
left(60);
backward(20);
right(60);
backward(40);
left(60);
backward(20);
right(60);
forward(20);
left(60);
forward(20);
right(45);
}
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