Is a cylindrical coordinate robot principle diagram and the process

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Is a cylindrical coordinate robot??????????

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 # include 
# define uint unsigned int 
# define uchar unsigned char 
Uint I, j, k; 
Uint N=128;//the spindle rotation degree Settings, 45 degree D=N */reduction ratio, using 1:16 reduction ratio of the stepper motor, rotating degree is D=128 * 45/16=360 

Uchar code single_pos [4]={x0d x07 0, 0 x0b, 0, 0 x0e};//drive mode is single four turn table D - C - B - A 
Uchar code single_rev [4]={0 x0e, 0 x0d, 0 x0b, 0 x07};//A single drive system, four inversion table A - B - C - D 
Uchar code double_pos [4]={x09 x06 0, 0 x03, 0, 0 x0c};//double drive mode are four turn table AD - DC - CB - BA 
Uchar code double_rev [4]={0 x0c, 0 x09, 0 x03, 0 x06};//double four drive method inversion table AB - BC - CD - DA 
Uchar code eight_pos [8]={0 x06, 0 x07, 0 x03, 0 x0b, 0 x09, 0 x0d, 0 x0c, 0 x0e};//drive mode is eight beats table AD - D - DC - C - CB - B - BA - A 
Uchar code eight_rev [8]={x0d x0e 0, 0 x0c, 0, 0 x09, 0 x0b, 0 x03, 0 x07, 0 x06};//the driving mode of eight beats inversion table - AB - B - BC - C - CD - D - DA 

Void delay (uint z); 
Void m_single_pos (); 
Void m_single_rev (); 
Void m_double_pos (); 
Void m_double_rev (); 
Void m_eight_pos (); 
Void m_eight_rev (); 
Void main () 
{
While (1) 
{
M_single_pos ();//the single drive mode is to turn 360 degrees in four 
Delay (200); 
M_single_rev ();//the single drive mode turn 360 degrees in four 
Delay (200); 
M_double_pos ();//double drive mode is to turn 360 degrees in four 
Delay (200); 
M_double_rev ();//double drive mode turn 360 degrees in four 
Delay (200); 
M_eight_pos ();//eight beats driving mode is turned 360 degrees 
Delay (200); 
M_eight_rev ();//the driving mode of eight beats inverted 360 degrees 
Delay (200); 
} 
} 
/* * * * * * * * * * * * * * * * * * * * millisecond delay z * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
Void delay (uint z) 
{
Uint x, y; 
For (x=z; X> 0; X -) 
For (y=110; Y> 0; Y -); 
} 
/* * * * * * * * * * * * * * * * * * * single four drive forward (45/16) N * * * * * * * * * * * * * * * * * * * * * * * */
Void m_single_pos () 
{
For (k=0; K{
j=0; 
for(i=0; i<4. I++)//in a single four work modes, a pulse rotor rotation Angle of 5.625 * 2=11.25, four shoot at 45 degrees 
{
The P2=single_pos [j]; 
delay(5);//appropriate delay, ensure the rotor rotation time, delay time too short film 
 will be droppedj++; 
} 
} 
} 

/* * * * * * * * * * * * * * * * * * * single four drive inversion (N * 45/16 degrees) * * * * * * * * * * * * * * * * * * * * * * */
Void m_single_rev () 
{
For (k=0; K{
j=0; 
for(i=0; i<4. I++)//in a single four work modes, a pulse rotor rotation Angle of 5.625 * 2=11.25, four shoot at 45 degrees 
{
The P2=single_rev [j]; 
delay(5); 
j++; 
} 
} 
} 

/* * * * * * * * * * * * * * * * * * * double four drive forward (45/16) N * * * * * * * * * * * * * * * * * * * * * * * */
Void m_double_pos () 
{
For (k=0; K{
j=0; 
for(i=0; i<4. I++)//in double four work modes, a pulse rotor rotation Angle of 5.625 * 2=11.25, four shoot at 45 degrees 
{
The P2=double_pos [j]; 
Delay (8); 
j++; 
} 
} 
} 
/* * * * * * * * * * * * * * * * * * * double four drive inversion (45/16) N * * * * * * * * * * * * * * * * * * * * * * * */
Void m_double_rev () 
{
For (k=0; K{
j=0; 
for(i=0; i<4. I++)//in double four work modes, a pulse rotor rotation Angle of 5.625 * 2=11.25, four shoot at 45 degrees 
{
The P2=double_rev [j]; 
Delay (8); 
j++; 
} 
} 
} 
/* * * * * * * * * * * * * * * * * * * eight beats driving forward (45/16) N * * * * * * * * * * * * * * * * * * * * * * * */
Void m_eight_pos () 
{
For (k=0; K{
j=0; 
for(i=0; i<8; I++)//in eight beats working mode, a pulse rotor rotation Angle of 5.625 degrees, eight beats a total of 45 degrees 
{
The P2=eight_pos [j]; 
delay(2); 
j++; 
} 
} 
} 
/* * * * * * * * * * * * * * * * * * * eight beats driving reverse (45/16) N * * * * * * * * * * * * * * * * * * * * * * * */
Void m_eight_rev () 
{
For (k=0; K{
j=0; 
for(i=0; i<8; I++)//in eight beats working mode, a pulse rotor rotation Angle of 5.625 degrees, eight beats a total of 45 degrees 
{
The P2=eight_rev [j]; 
delay(2); 
j++; 
} 
} 
}