Library for drawing turtle type (Logo turtle)

[lrcvs]

Hi:

This experiment makes the simulation mechanism of a connecting rod and a crank.

Not to any calculation used trigonometry.

It is based on the color of the line of rail

regards

Code: Select all

#include "turtle_9.bi"
DIM AS DOUBLE j,k,m,n,x,x2,y,y2
CLS
t_init
t_thick = 1
FOR j = 1 TO 10
    FOR n = 0 TO 360
        SCREENLOCK
        CLS
        t_pos(150,0):t_distance_points = 0.1:t_or 0:t_ink 15:t_fd 400:t_ink 7
        t_pos(0,0):t_circle 5:t_ink 10:t_circle 100:t_ink 7:t_gt (x,y)
        x = COS(t_radians(n))*100
        y = SIN(t_radians(n))*100
        t_pos(x,y):t_ink 9:t_circle 5
        
        '  t_circle 299 '<<<<<< Activate
        
        FOR k = 0 TO 360 STEP 0.1
            x2 = COS(t_radians(k))*300+x
            y2 = SIN(t_radians(k))*300+y
            IF POINT(x2,y2) = 15 THEN
                t_or 0
                t_ink 12
                t_pos(x2,y2)
                t_fd 50
                t_lt 90
                t_fd 50
                t_lt 90
                t_fd 100
                t_lt 90
                t_fd 50
                t_lt 90
                t_fd 50                
                t_ink 9:t_pos(x,y):t_gt(X2,Y2+25):t_circle 5
            END IF
        NEXT k
        
        SCREENUNLOCK
        SLEEP 2
    NEXT n
NEXT j
PRINT "END"
SLEEP
END

[lrcvs]

Hi:

Other Simulation mechanism.

This is the number # 2



(Here begins a new series of mechanical movements simulation mechanisms.)

Code: Select all

#include "turtle_9.bi"
' Mechanism #2
DIM AS DOUBLE g,h, p,x2,y2

CLS
t_init
FOR p = 0 TO 5
    FOR g = 0 TO 360 STEP 0.5
        SCREENLOCK
        CLS
        t_distance_points = 5
        t_ink 2:t_pos (0,0):t_circle 100
        t_ink 3:t_pos (75,0):t_circle 150
        
        t_distance_points = 0.1
        t_ink 2:t_pos (0,0):t_circle 3
        t_ink 3:t_pos (75,0):t_circle 3
        
        t_ink 15
        t_pos (75,0)
        t_ol g
        t_fd 150
        
        FOR h = 0 TO 360 STEP 0.1
            x2 = COS(t_radians(h))*100
            y2 = SIN(t_radians(h))*100
            
            IF POINT(x2,y2) = 15 THEN
                t_ink 12
                t_pos (0,0)
                t_ol h
                t_fd 100
                t_ink 14
                t_circle 5
            END IF
            
        NEXT h
        
        SCREENUNLOCK
        SLEEP 0.6
        
    NEXT g
    
NEXT p
SLEEP
END

[lrcvs]

Hi:

Other Simulation mechanism:

Arc_rotatory


This is the number # 3

See you:

https://www.youtube.com/watch?v=EPoP60QRCaE

Code: Select all

#Include "turtle_9.bi"
Dim As Double h,n,x,y

'arc rotatory

Cls
t_init
For n = 3600 To 0 Step -1 'loops
	ScreenLock
	Cls
	
	'trajectories greens
	t_distance_points = 5
	t_thick = 0.1
	t_ink 10
	
	t_pos(0,0)
	t_circle 5
	t_circle 285 
	
	t_pos (-100,0)
	t_circle 5
	t_circle 250 
	't_circle 175
	
	'position and movements line white
	t_distance_points = 0.1
	t_ink 15
	t_thick = 2
	t_pos (0,0)
	t_rot_cir_l(200,n)
	t_curves (200,200,90,180,n,0)'arc
	
	For h = 0 To 360 Step 0.1
		x = (Cos(t_radians(h))*175)-100
		y = (Sin(t_radians(h))*175)
		If Point(x,y) = 15 Then 'detection point
			t_ink 12
			t_pos (-100,0)
			t_ol h
			t_fd 250 'line rotatory red
			t_ink 14
			t_pos (x,y)'position cursor yellow
			t_circle 5
		End If
	Next h
	
	ScreenUnlock
	Sleep 20
Next n
Sleep
End

Regards

[lrcvs]

Hi

Mechanism of 4 bar of Grashof

Code: Select all

'program mechanism of 4 bar of Grashof
'lrcvs 15.05.16

#Include "turtle_9.bi"
Dim As double g,h,i,j,k,x2,px1,py1,px2,py2,n
Dim As Double l1,l2,l3,l4
Dim p1 (1800,2) As Double
Dim p2 (1800,2) As Double
'long 4 bars
l1 = 100 'bar 1 (distance axes line, imaginary bar )
l2 = 50 'bar 2 motor / emisor of movement
l3 = 120 'bar 3 (link bar)
l4 = 200'bar 4 receptor of movement 
g = 1
t_init
For n = 0 To 360 * 2 'loops
	k = 0
	For j = 0 To n Step 0.1
		'locate 1,1:print "l1 ";l1;" imaginary bar: yellow "
		'locate 2,1:print "l2 ";l2;" angl rot bar motor: green = ";n
		'locate 3,1:print "l3 ";l3;" link bar: red"
		'locate 4,1:print "l4 ";l4;" receptor mov: cyan"
		
		't_ink 8 : t_thick = 0.5 : t_distance_points = 10
		' rotation l2
		't_pos(0,0)  : t_circle l2
		' rotation l4
		't_pos(100,0): t_circle l4
		
		t_distance_points = 0
		t_pos(0,0)  :px1 = (Cos(t_radians(n)) * l2)    :py1 = Sin(t_radians(n)) * l2 'rotation l2
		t_pos(l1,0) :px2 = (Cos(t_radians(j)) * l4)+l1 :py2 = Sin(t_radians(j)) * l4 'rotation l4
		
		If j <= n And Int(t_long(px1,py1,px2,py2)) = l3 and k = 0 then
			ScreenLock
			Cls
			t_thick = 1
			t_ink 14: t_pos (0,0):   t_circle 3:t_lin_ang(0,0,l1,0):t_circle 3'l1, axes line, color  = yellow
			t_ink 10: t_pos (0,0):   t_lin_ang(0,0,px1,py1):t_circle 3    'l2, bar 2, color = green
			t_ink 12: t_pos(px1,py1):t_lin_ang(px1,py1,px2,py2):t_circle 3'l4, bar 3 link, color = red
			t_ink 11: t_pos(l1,0):   t_lin_ang(l1,0,px2,py2):t_circle 3   'l3, bar 4, color = cyan
			p1(j,1) = px1 : p1(j,2) = py1			
			p2(g,1) = px2 : p2(g,2) = py2
			For h = 1 To 1800
				Circle (p1(h,1),p1(h,2)),1,13,,,,f 'trajectory points l4
				Circle (p2(h,1),p2(h,2)),1,15,,,,f 'trajectory points l2				
			Next h
			g = g + 1
			k = 1
			ScreenUnlock
			Sleep 0.6
			GoTo paso
		EndIf
	Next j
	
	paso:
Next n
Color 12
Locate 22,1:Print "end"
Sleep
End

Regards

[lrcvs]

Hi,

This program is a simulation of mechanism of oscilation of bars

See:

https://www.youtube.com/watch?v=yEY_NYueJqI

Code: Select all

#include "turtle_9.bi"
'lrcvs, 06.08.16
'program mechanics waves

DIM AS double l, n, px1,px2,px3,px4,px5


CLS
l = 150 'long segment
px1 = -250
px2 = -100
px3 =   50
px4 =  200
px5 =  350
t_init

FOR n = 0 TO (360 * 5) STEP  0.5 'revolutions and speed

    SCREENLOCK
    CLS
    t_or 0: t_thick = 0.1 : t_ink 7:t_pos(-400,0): t_fd 800 'central axe horizontal
    
    t_ink 14: t_thick = 1
    t_pos(px1,0):t_circle 6 'axe 1
    t_pos(px2,0):t_circle 6 'axe 2
    t_pos(px3,0):t_circle 6 'axe 3
    t_pos(px4,0):t_circle 6 'axe 4
    t_pos(px5,0):t_circle 6 'axe 5
    
    t_pos(-350,0): t_ink 8: t_circle 50:t_ink 15: t_circle 2: t_ol n:t_fd 50: t_circle 3 'rotation main
    
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px1,0): t_fd l: t_ink 15:  t_circle 3 'segment_1
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px2,0): t_fd l: t_ink 15:  t_circle 3 'segment_2
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px3,0): t_fd l: t_ink 15:  t_circle 3 'segment_3
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px4,0): t_fd l: t_ink 15:  t_circle 3 'segment_4
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px5,0): t_fd l: t_ink 15:  t_circle 3 'segment_5
    SCREENUNLOCK
    SLEEP 0.6
NEXT n
SLEEP
END

Regards

[Tourist Trap]

This program is a simulation of mechanism of oscilation of bars

Hi Ircvs!

Can you repost Turtle9.bi please? It is required to run your new demos ( and a little difficult to find it in the posts ;-) )

[lrcvs]

Hi, Tourist Trap

Here Turtle_9.bi:

Code: Select all

'Turtle_9
'lrcvs 06.01.2016

DECLARE FUNCTION t_ang (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE,BYVAL t_y2 AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_apothem (BYVAL t_numsides AS INTEGER, BYVAL t_radius AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_degrees (BYVAL t_rad AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_long (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE, BYVAL t_y2 AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_lradius ( BYVAL t_long_side AS DOUBLE, BYVAL t_num_sides AS INTEGER) AS DOUBLE
DECLARE FUNCTION t_pol_rec_x (BYVAL t_radius AS DOUBLE, BYVAL t_angle AS INTEGER) AS DOUBLE
DECLARE FUNCTION t_pol_rec_y (BYVAL t_radius AS DOUBLE, BYVAL t_angle AS INTEGER) AS DOUBLE
DECLARE FUNCTION t_radians (BYVAL t_angle AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_rec_pol_angle (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_rec_pol_radius (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE) AS DOUBLE
DECLARE FUNCTION t_side (BYVAL t_position_x AS DOUBLE, BYVAL t_position_y AS DOUBLE, BYVAL t_radius AS DOUBLE,  BYVAL t_numsides AS INTEGER) AS DOUBLE
DECLARE SUB t_arc_sec_star (BYVAL t_np AS INTEGER , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE ,BYVAL t_rg AS DOUBLE , BYVAL t_rp AS DOUBLE , BYVAL t_ang_rot AS DOUBLE, BYVAL t_arc_sec AS DOUBLE)
DECLARE SUB t_axes ()
DECLARE SUB t_bk (BYVAL t_distance AS DOUBLE)
DECLARE SUB t_circle (BYVAL t_r1 AS DOUBLE)
DECLARE SUB t_curves (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE , BYVAL t_ang_rot AS DOUBLE,BYVAL t_arc_sec AS DOUBLE)
DECLARE SUB t_ellipse (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_fd (BYVAL t_distance AS DOUBLE)
DECLARE SUB t_grid_1 (BYVAL t_step_grid AS DOUBLE)
DECLARE SUB t_grid_2 (BYVAL t_step_grid AS DOUBLE)
DECLARE SUB t_grid_3 (BYVAL t_step_grid AS DOUBLE)
DECLARE SUB t_grid_4 (BYVAL t_step_grid AS DOUBLE)
DECLARE SUB t_grid_5 (BYVAL t_step_grid AS DOUBLE)
DECLARE SUB t_gt (BYVAL t_position_x AS DOUBLE, BYVAL t_position_y AS DOUBLE)
DECLARE SUB t_home
DECLARE SUB t_init ()
DECLARE SUB t_ink (BYVAL t_col AS INTEGER)
DECLARE SUB t_lin_ang (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE,BYVAL t_y2 AS DOUBLE)
DECLARE SUB t_line_bk (BYVAL t_distance AS DOUBLE)
DECLARE SUB t_line_fd (BYVAL t_distance AS DOUBLE)
DECLARE SUB t_mem_pos ()
DECLARE SUB t_lt (BYVAL t_angle AS DOUBLE)
DECLARE SUB t_ol (BYVAL t_angle AS DOUBLE)
DECLARE SUB t_or (BYVAL t_angle AS DOUBLE)
DECLARE SUB t_ovoid (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_pd ()
DECLARE SUB t_poly (BYVAL t_long_side AS DOUBLE, BYVAL t_num_sides AS INTEGER, BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_pos (BYVAL t_position_x AS DOUBLE, BYVAL t_position_x AS DOUBLE)
DECLARE SUB t_pos_mem ()
DECLARE SUB t_pos_rot(BYVAL t_pos_rot_x AS DOUBLE, BYVAL t_pos_rot_y AS DOUBLE)
DECLARE SUB t_pu ()
DECLARE SUB t_rect(BYVAL t_side_upper AS DOUBLE, BYVAL t_side_lower AS DOUBLE, BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_rhombus (BYVAL t_rg AS DOUBLE , BYVAL t_rp AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_rot_cir_l (BYVAL t_distance AS DOUBLE,BYVAL t_angle AS DOUBLE)
DECLARE SUB t_rot_cir_point (BYVAL t_ang_end AS DOUBLE)
DECLARE SUB t_rot_cir_r (BYVAL t_distance AS DOUBLE,BYVAL t_angle AS DOUBLE)
DECLARE SUB t_rot_ellipse_l (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_angle AS DOUBLE)
DECLARE SUB t_rot_ellipse_r (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_angle AS DOUBLE)
DECLARE SUB t_rt (BYVAL t_angle AS DOUBLE)
DECLARE SUB t_speed (BYVAL t_vel AS INTEGER)
DECLARE SUB t_spring (t_ns AS INTEGER , t_rs AS DOUBLE , t_lo AS DOUBLE) 'draw a t_spring
DECLARE SUB t_star (BYVAL t_np AS INTEGER , BYVAL t_rg AS DOUBLE , BYVAL t_rp AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_trace_ang (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
DECLARE SUB t_vawes (BYVAL t_amp AS DOUBLE , BYVAL t_mod AS DOUBLE , BYVAL t_fre AS DOUBLE , BYVAL t_ini AS DOUBLE , BYVAL t_end AS DOUBLE , BYVAL t_rot AS DOUBLE )
DECLARE SUB t_rot_to_pos ()
DECLARE SUB t_photo ()

CONST            t_pi AS DOUBLE =  3.141592653589793238462643383279
CONST  t_number_aurum AS DOUBLE =  1.618033988749894848204586834365
CONST      t_number_e AS DOUBLE =  2.718281828459045235360287471352
CONST t_const_radians AS DOUBLE =  0.017453292519943295769236907684
CONST t_const_degrees AS DOUBLE = 57.295779513082320876798154814105

DIM SHARED AS INTEGER t_center_screen_x,t_center_screen_y,t_h,t_inverse_rotation, t_pause_arc_sec_star,t_pause_circle,t_pause_ellipse,t_pause_line,t_pause_poly,t_pause_rect,t_pause_rhombus,t_pause_spring,t_pause_trace_ang,t_turtle,t_w,t_pause,t_pause_curves,t_pause_ovoid,t_pause_star,t_pause_vawes
DIM SHARED AS DOUBLE t_angle,t_distance,t_distance_points,t_heading,t_heading_leftp, t_heading_leftn, t_heading_rigth, t_new_position_x,t_new_position_y,t_rot_point_x, t_rot_point_y, t_pos_rot_x, t_pos_rot_y,t_pos_x,t_pos_y,t_position_x,t_position_y,t_scale,t_thick
':::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
':::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::

FUNCTION t_ang (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE, BYVAL t_y2 AS DOUBLE) AS DOUBLE
    DIM AS DOUBLE t_fang
    IF t_x1 < t_x2 AND t_y1 < t_y2 THEN t_fang = t_degrees(ACOS((t_x2 - t_x1)/SQR (((t_x2 - t_x1)^2) + ((t_y2 - t_y1)^2))))
    IF t_x1 > t_x2 AND t_y1 < t_y2 THEN t_fang = t_degrees(ACOS((t_x2 - t_x1)/SQR (((t_x2 - t_x1)^2) + ((t_y2 - t_y1)^2))))
    IF t_x1 > t_x2 AND t_y1 > t_y2 THEN t_fang = 360 - (t_degrees(ACOS((t_x2 - t_x1)/SQR (((t_x2 - t_x1)^2) + ((t_y2 - t_y1)^2)))))
    IF t_x1 < t_x2 AND t_y1 > t_y2 THEN t_fang = 360 - (t_degrees(ACOS((t_x2 - t_x1)/SQR (((t_x2 - t_x1)^2) + ((t_y2 - t_y1)^2)))))
    IF t_x1 < t_x2 AND t_y1 = t_y2 THEN t_fang = 0
    IF t_x1 = t_x2 AND t_y1 < t_y2 THEN t_fang = 90
    IF t_x1 > t_x2 AND t_y1 = t_y2 THEN t_fang = 180
    IF t_x1 = t_x2 AND t_y2 < t_y1 THEN t_fang = 270
    t_ang = t_fang
END FUNCTION

FUNCTION t_apothem (BYVAL t_numsides AS INTEGER, BYVAL t_radius AS DOUBLE) AS DOUBLE
    'calculate apothem
    t_apothem = (COS(t_radians((360/t_numsides)/2)) * t_radius)
END FUNCTION

FUNCTION t_degrees (BYVAL t_rad AS DOUBLE) AS DOUBLE
    'transform radians to degrees
    t_degrees = (t_rad * t_const_degrees)
END FUNCTION

FUNCTION t_long (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE, BYVAL t_y2 AS DOUBLE) AS DOUBLE
    'calculate long point to point
    t_long = SQR(ABS((t_x1 - t_x2)^2) + ABS((t_y1 - t_y2)^2))
END FUNCTION

FUNCTION t_lradius ( BYVAL t_long_side AS DOUBLE, BYVAL t_num_sides AS INTEGER) AS DOUBLE
    'calculate radius of one polygon
    t_lradius = (t_long_side * SIN(t_radians((180-(360/t_num_sides ))/2)))/SIN(t_radians(360/t_num_sides))
END FUNCTION

FUNCTION t_pol_rec_x (BYVAL t_radius AS DOUBLE, BYVAL t_angle AS INTEGER) AS DOUBLE
    'Transform coord polar X to coord rect X
    t_pol_rec_x = t_radius * COS (t_radians(t_angle))
END FUNCTION

FUNCTION t_pol_rec_Y (BYVAL t_radius AS DOUBLE, BYVAL t_angle AS INTEGER) AS DOUBLE
    'Transform coord polar y to coord rect Y
    t_pol_rec_Y = t_radius * SIN (t_radians(t_angle))
END FUNCTION

FUNCTION t_radians (BYVAL t_angle AS DOUBLE) AS DOUBLE
    'transfor degrees to radians
    t_radians  =  (t_angle * t_const_radians )
END FUNCTION

FUNCTION t_rec_pol_angle (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE) AS DOUBLE
    'Traslate  coord rect to polar, show the angle
    DIM AS INTEGER sx,sy
    sx = SGN(t_x1)
    sy = SGN(t_y1)
    IF sx =  1 AND sy =  1 THEN t_rec_pol_angle = t_degrees (ATN (t_y1/t_x1))
    IF sx = -1 AND sy =  1 THEN t_rec_pol_angle = 180 - ABS(t_degrees (ATN (t_y1/t_x1)))
    IF sx = -1 AND sy = -1 THEN t_rec_pol_angle = 180 + t_degrees (ATN (t_y1/t_x1))
    IF sx =  1 AND sy = -1 THEN t_rec_pol_angle = 360 - ABS(t_degrees (ATN (t_y1/t_x1)))
    IF sx =  1 AND sy =  0 THEN t_rec_pol_angle = 0
    IF sx =  0 AND sy =  1 THEN t_rec_pol_angle = 90
    IF sx = -1 AND sy =  0 THEN t_rec_pol_angle = 180
    IF sx =  0 AND sy = -1 THEN t_rec_pol_angle = 270
END FUNCTION

FUNCTION T_REC_POL_RADIUS (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE) AS DOUBLE
    T_REC_POL_RADIUS = SQR((T_X1^2)+(T_Y1^2))
END FUNCTION

FUNCTION t_side (BYVAL t_position_x AS DOUBLE, BYVAL t_position_y AS DOUBLE, BYVAL t_radius AS DOUBLE,  BYVAL t_num_sides AS INTEGER) AS DOUBLE
    'calculate a side od polygon
    DIM AS DOUBLE t_rgrad, t_x0, t_y0, t_x1, t_y1
    t_rgrad = t_radians(0)
    t_x0 = (t_radius * COS (t_rgrad)) + t_position_x
    t_y0 = (t_radius * SIN (t_rgrad)) + t_position_y
    t_rgrad = t_radians(360 / t_num_sides)
    t_x1 = (t_radius * COS (t_rgrad)) + t_position_x
    t_y1 = (t_radius * SIN (t_rgrad)) + t_position_y
    t_side= t_long (t_x0, t_y0, t_x1, t_y1)
END FUNCTION

SUB t_arc_sec_star (BYVAL t_np AS INTEGER , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE ,BYVAL t_rg AS DOUBLE , BYVAL t_rp AS DOUBLE , BYVAL t_ang_rot AS DOUBLE, BYVAL t_arc_sec AS DOUBLE)
    'draws an arc / sector of star
    't_np = number of points at 360 degrees
    't_ang_ini = angle init
    't_ang_end = angle end
    't_rg = larger radius
    't_rp = radius less
    't_ang_rot = rotation angle
    
    DIM AS DOUBLE t_x0,t_y0,t_x1,t_y1,t_n, t_x2, t_y2, t_c
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_c =0
    t_rg = t_rg * t_scale
    t_rp = t_rp * t_scale
    FOR  t_n = t_ang_ini  TO t_ang_end  STEP  (360/(t_np*2))
        IF  t_c MOD 2  = 0  THEN
            t_x1 = (t_rp  * COS(t_radians(t_n)))
            t_y1 = (t_rp  * SIN(t_radians(t_n)))
        ELSE
            t_x1  = (t_rg  * COS(t_radians(t_n)))
            t_y1 =  (t_rg  * SIN(t_radians(t_n)))
        END IF
        t_ol (t_ang (t_x0,t_y0,t_x1,t_y1)+ t_ang_rot )
        IF t_c = 0 THEN t_pu ELSE t_pd
        t_fd (t_long  (t_x0,t_y0,t_x1,t_y1))
        t_x0 = t_x1
        t_y0 = t_y1
        t_c = t_c  +  1
    NEXT t_n
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_arc_sec_star
END SUB


SUB t_axes ()
    LINE(-t_w/2  , t_center_screen_y) - ( t_w/2 , t_center_screen_y )
    LINE( t_center_screen_x ,-t_h/2 ) - ( t_center_screen_x , t_h/2 )
END SUB

SUB t_bk (BYVAL t_distance AS DOUBLE)
    t_line_bk t_distance
END SUB

SUB t_circle (BYVAL t_r1 AS DOUBLE)
    'draw a circle
    't_r = radius circle
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_curves (t_r1, t_r1,0,360,0,0)
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_circle
END SUB

SUB t_curves (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE , BYVAL t_ang_rot AS DOUBLE, BYVAL t_arc_sec AS DOUBLE)
    'draw circles, ellipses, arcs,....
    't_r1 = larger radius
    't_r2 = less radius
    't_ang_rot = rotation angle
    DIM AS DOUBLE t_grad , t_grad2,t_px,t_py,t_pz
    DIM AS DOUBLE t_px1,t_py1,t_pz1, t_dot_x, t_dot_y
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_r1 = t_r1 * t_scale
    t_r2 = t_r2 * t_scale
    t_ang_rot = t_radians (t_ang_rot)
    IF t_distance_points < 1 THEN t_distance_points = 1
    
    IF t_arc_sec = 1 THEN
        t_pos (t_px,t_py)
        t_grad2 = t_radians(t_ang_ini)
        t_dot_x = (((t_r1 * COS(t_grad2)) * COS (t_ang_rot)) - ((t_r2 * SIN(t_grad2)) * SIN (t_ang_rot))) + t_position_x
        t_dot_y = (((t_r1 * COS(t_grad2)) * SIN (t_ang_rot)) + ((t_r2 * SIN(t_grad2)) * COS (t_ang_rot))) + t_position_y
        t_ol t_ang(t_px, t_py, t_dot_x, t_dot_y )
        t_fd t_long(t_px, t_py, t_dot_x, t_dot_y )
    END IF
    
    FOR t_grad = t_ang_ini TO t_ang_end
        't_pos (t_px,t_py)
        t_grad2 = t_radians(t_grad)
        t_dot_x = (((t_r1 * COS(t_grad2)) * COS (t_ang_rot)) - ((t_r2 * SIN(t_grad2)) * SIN (t_ang_rot))) + t_position_x
        t_dot_y = (((t_r1 * COS(t_grad2)) * SIN (t_ang_rot)) + ((t_r2 * SIN(t_grad2)) * COS (t_ang_rot))) + t_position_y
        IF t_turtle = 1 AND t_grad MOD t_distance_points = 0  THEN CIRCLE (t_dot_x, t_dot_y), t_thick,,,,,f
    NEXT t_grad
    
    IF t_arc_sec = 1 THEN
        t_ol t_ang(t_px, t_py, t_dot_x, t_dot_y )
        t_fd t_long(t_px, t_py, t_dot_x, t_dot_y )
    END IF
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_curves
END SUB

SUB t_ellipse (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
    'draw a ellipse
    't_r1 = larger radius
    't_r2 = less radius
    't_ang_rot = rotation angle
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    't_px1 = t_position_x
    't_py1 = t_position_y
    't_pz1 = t_heading
    t_curves (t_r1,t_r2,0,360,t_ang_rot,0)
    't_position_x = t_px1
    't_position_y = t_py1
    't_heading = t_pz1
    SLEEP t_pause_ellipse
END SUB

SUB t_fd (BYVAL t_distance AS DOUBLE)
    't_line_fd t_distance
    t_line_fd t_distance
END SUB

SUB t_grid_1 (BYVAL t_step_grid AS DOUBLE)
    DIM t_n AS DOUBLE
    FOR t_n = -t_h TO t_h STEP t_step_grid
        LINE(-t_w , t_n) - (t_w , t_n),8  'horizontal lines
    NEXT t_n
END SUB

SUB t_grid_2 (BYVAL t_step_grid AS DOUBLE)
    DIM t_n AS DOUBLE
    FOR t_n = -t_w TO t_w STEP t_step_grid
        LINE(t_n , -t_h) - (t_n , t_h),8  'vertical lines
    NEXT t_n
END SUB

SUB t_grid_3 (BYVAL t_step_grid AS DOUBLE)
    DIM t_n AS DOUBLE
    FOR t_n = -t_h TO t_h STEP t_step_grid
        LINE(-t_w , t_n) - (t_w , t_n),8  'horizontal lines
    NEXT t_n
    FOR t_n = -t_w TO t_w STEP t_step_grid
        LINE(t_n , -t_h) - (t_n , t_h),8  'vertical lines
    NEXT t_n
END SUB

SUB t_grid_4(BYVAL t_step_grid AS DOUBLE)
    DIM t_n AS DOUBLE
    FOR t_n = 0 TO t_h STEP t_step_grid
        CIRCLE (0, 0), t_n ,8 'draw concentric circles
    NEXT t_n
END SUB

SUB t_grid_5 (BYVAL t_step_grid AS DOUBLE)
    DIM t_n AS DOUBLE
    COLOR 8
    FOR t_n = 0 TO 360 STEP t_step_grid
        'draw radius/angles
        t_ol t_n
        t_pos (0 ,0)
        t_fd t_w
    NEXT t_n
END SUB

SUB t_gt (BYVAL t_pos_x AS DOUBLE, BYVAL t_pos_y AS DOUBLE)
    IF t_turtle = 1 THEN
        t_ol t_ang (t_position_x, t_position_y, t_pos_x, t_pos_y)
        t_fd t_long (t_position_x, t_position_y, t_pos_x, t_pos_y)
    END IF
END SUB

SUB t_init ()
    SCREEN 19 '800*600
    SCREENINFO t_w , t_h
    WINDOW (-t_w/2,-t_h/2)-(t_w/2,t_h/2)
    COLOR 15
    t_center_screen_x = 0
    t_center_screen_y = 0
    t_inverse_rotation = 0
    t_position_x = t_center_screen_x
    t_position_y = t_center_screen_y
    t_distance_points = 1
    t_scale = 1
    t_speed 0
    t_turtle = 1
    t_thick = 0.1
END SUB

SUB t_ink (BYVAL t_col AS INTEGER)
    COLOR t_col
END SUB

SUB t_lin_ang (BYVAL t_x1 AS DOUBLE, BYVAL t_y1 AS DOUBLE, BYVAL t_x2 AS DOUBLE,BYVAL t_y2 AS DOUBLE)
t_ol t_ang(t_x1,t_y1,t_x2,t_y2)
t_fd t_long(t_x1,t_y1,t_x2,t_y2)
END SUB

SUB t_line_bk (BYVAL t_distance AS DOUBLE)
    DIM AS DOUBLE t_z, t_px, t_py, t_dot_x, t_dot_y, t_ang_ini,  t_ang_end 
    t_px = t_position_x
    t_py = t_position_y
    IF t_distance_points < 1 THEN t_distance_points = 1
    FOR t_z = 0 TO t_distance 
        if t_inverse_rotation = 0 then
        t_dot_x =t_px - (t_scale * COS(t_heading))
        t_dot_y =t_py + (t_scale * SIN(t_heading))
        else
        t_dot_x =t_px - (t_scale * COS(-t_heading))
        t_dot_y =t_py + (t_scale * SIN(-t_heading))
        end if
        IF t_turtle = 1 AND t_z MOD t_distance_points = 0 THEN CIRCLE (t_dot_x, t_dot_y), t_thick,,,,,f
        t_px =  t_dot_x
        t_py =  t_dot_y
        SLEEP t_pause_line
    NEXT t_z
    t_position_x = t_px
    t_position_y = t_py
END SUB

SUB t_line_fd (BYVAL t_distance AS DOUBLE)
    DIM AS DOUBLE t_z, t_px, t_py, t_dot_x, t_dot_y
    t_px = t_position_x
    t_py = t_position_y
    IF t_distance_points < 1 THEN t_distance_points = 1
    FOR t_z = 0 TO t_distance
        if t_inverse_rotation = 0 then
        t_dot_x =t_px + (t_scale * COS(t_heading))
        t_dot_y =t_py - (t_scale * SIN(t_heading))
        else
        t_dot_x =t_px - (t_scale * COS(-t_heading))
        t_dot_y =t_py + (t_scale * SIN(-t_heading))
        end if
        IF t_turtle = 1 AND t_z MOD t_distance_points = 0 THEN CIRCLE (t_dot_x, t_dot_y), t_thick,,,,,f
        t_px =  t_dot_x
        t_py =  t_dot_y
        SLEEP t_pause_line
    NEXT t_z
    t_position_x = t_px
    t_position_y = t_py
END SUB

SUB t_mem_pos ()
    DIM AS DOUBLE t_px1, t_py1, t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
END SUB

SUB t_lt (BYVAL t_angle AS DOUBLE)
    t_heading = t_heading - t_radians (t_angle)
END SUB

SUB t_ol (BYVAL t_angle AS DOUBLE)
    t_heading = t_radians (t_angle * (- 1))
END SUB

SUB t_or (BYVAL t_angle AS DOUBLE)
    t_heading = t_radians (t_angle)
END SUB

SUB t_ovoid (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_ang_rot AS DOUBLE)
    'draw ovoid
    't_r1 = larger radius
    't_r2 = less radius
    't_ang_rot = rotation angle
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_curves (t_r1,t_r2,0,180,t_ang_rot,0)
    t_curves (t_r1,t_r1,180,360,t_ang_rot,0)
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_ovoid
END SUB

SUB t_pd ()
	t_turtle = 1
END SUB

SUB t_photo ()
    'make a photo of screen
    DIM AS INTEGER t_nn, t_long_date_time
    DIM AS STRING t_date_time, t_name_photo, t_photo_y
    t_date_time = DATE
    t_long_date_time = LEN (t_date_time)
    t_name_photo = ""
    t_photo_y = ""
    FOR t_nn = 1 TO t_long_date_time
        t_photo_y= MID(t_date_time,t_nn,1)
        IF t_photo_y <> "-" THEN t_name_photo = t_name_photo + t_photo_y
    NEXT t_nn
    t_name_photo = t_name_photo + "_"
    t_date_time = TIME
    t_long_date_time = LEN (t_date_time)
    t_photo_y = ""
    FOR t_nn = 1 TO t_long_date_time
        t_photo_y= MID(t_date_time,t_nn,1)
        IF t_photo_y <> ":" THEN t_name_photo = t_name_photo + t_photo_y
    NEXT t_nn
    BSAVE t_name_photo+".bmp",0
END SUB

SUB t_poly (BYVAL t_long_side AS DOUBLE, BYVAL t_num_sides AS INTEGER, BYVAL t_ang_rot AS DOUBLE)
    'draws polygon
    't_long_side = side length
    't_num_sides = number of sides
    't_ang_rot = rotation angle
    DIM AS DOUBLE t_c, t_pol,t_x0,t_y0,t_x1,t_y1
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    IF t_num_sides < 3 THEN LOCATE 1,1:PRINT "error !!!":EXIT SUB
    t_pu
    FOR t_pol  = (359/t_num_sides) TO 360 + (360/t_num_sides) STEP (360/t_num_sides)
        t_x1 = t_lradius (t_long_side,t_num_sides)  * COS(t_radians(t_pol)) * t_scale
        t_y1 = t_lradius (t_long_side,t_num_sides)  * SIN(t_radians(t_pol)) * t_scale
        t_ol (t_ang (t_x0,t_y0,t_x1,t_y1) + t_ang_rot)
        t_fd (t_long  (t_x0,t_y0,t_x1,t_y1))
        t_x0 = t_x1
        t_y0 = t_y1
        t_pd
    NEXT t_pol
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_poly
END SUB

SUB t_pos (BYVAL t_pos_x AS DOUBLE, BYVAL t_pos_y AS DOUBLE)
    t_position_x = t_pos_x
    t_position_y = t_pos_y
END SUB

SUB t_pos_mem ()
    DIM AS DOUBLE t_px1, t_py1, t_pz1
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
END SUB

SUB t_pos_rot (BYVAL t_pos_x AS DOUBLE, BYVAL t_pos_y AS DOUBLE)
    t_pos_rot_x = t_pos_x
    t_pos_rot_y = t_pos_y
END SUB


SUB t_pu ()
	t_turtle = 0
END SUB

SUB t_rect (BYVAL t_side_upper AS DOUBLE, BYVAL t_side_lower AS DOUBLE, BYVAL t_ang_rot AS DOUBLE)
    'draw a rectangle
    't_side_upper = larger side
    't_side_lower = less side
    't_ang_rot = rotation angle
    't_c = 1
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_ol t_ang_rot
    t_side_upper = t_side_upper * t_scale
    t_side_lower = t_side_lower * t_scale
    t_pu
    t_fd t_side_upper / 2
    t_pd
    t_lt 90
    t_fd t_side_lower / 2
    t_lt 90
    t_fd t_side_upper
    t_lt 90
    t_fd t_side_lower
    t_lt 90
    t_fd t_side_upper
    t_lt 90
    t_fd (t_side_lower / 2)- t_thick
    t_lt 90
    t_pu
    t_fd t_side_upper / 2
    t_pd
    SLEEP t_pause_rect
    t_ol t_ang_rot
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
END SUB

SUB t_rhombus (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
    'draws a rhombus
    't_r2 = larger radius
    't_r1 = less radius
    't_ang_rot = rotation angle
    DIM AS DOUBLE t_x0,t_y0,t_x1,t_y1,t_n, t_x2, t_y2, t_c
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_r2 = t_r2 * t_scale
    t_r1 = t_r1 * t_scale
    t_c =0
    t_pu
    FOR  t_n = 0 TO 360 STEP 90
        t_n = t_n
        IF  t_c MOD 2  = 0  THEN
            t_x1 = (t_r1  * COS(t_radians(t_n)))
            t_y1 = (t_r1  * SIN(t_radians(t_n)))
        ELSE
            t_x1  = (t_r2  * COS(t_radians(t_n)))
            t_y1 =  (t_r2  * SIN(t_radians(t_n)))
        END IF
        t_ol (t_ang (t_x0,t_y0,t_x1,t_y1)+t_ang_rot)
        t_fd (t_long  (t_x0,t_y0,t_x1,t_y1))
        t_x0 = t_x1
        t_y0 = t_y1
        t_c = t_c  +  1
        t_pd
    NEXT t_n
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_rhombus
END SUB

SUB t_rot_cir_l (BYVAL t_distance AS DOUBLE, BYVAL t_angle AS DOUBLE)
    t_position_x = ((t_distance * t_scale) * COS(t_radians (t_angle)))+t_position_x
    t_position_y = ((t_distance * t_scale) * SIN(t_radians (t_angle)))+t_position_y
    t_heading = t_radians (t_angle * (- 1))
END SUB

SUB t_rot_cir_point (BYVAL t_ang_end AS DOUBLE)
    'retorna las coordenadas finales de un punto una vez rotado
    'PRIMERO ACTIVAR LA SUB
    'al angulo inicial, le suma o resta el angulo final
    DIM AS DOUBLE t_ang_ini, t_r1
    t_ang_ini = t_ang (0,0,t_position_x, t_position_y)
    t_r1 = t_long (0,0,t_position_x, t_position_y) * t_scale
    t_ang_ini = t_radians (t_ang_ini)
    t_ang_end = t_radians (t_ang_end)
    t_rot_point_x = (((t_r1 * COS(t_ang_end)) * COS (t_ang_ini)) - ((t_r1 * SIN(t_ang_end)) * SIN (t_ang_ini)))
    t_rot_point_y = (((t_r1 * COS(t_ang_ini)) * SIN (t_ang_end)) + ((t_r1 * SIN(t_ang_ini)) * COS (t_ang_end)))
END SUB

SUB t_rot_cir_r (BYVAL t_distance AS DOUBLE, BYVAL t_angle AS DOUBLE)
    t_position_x = ((t_distance * t_scale) * COS(t_radians (t_angle)))+t_position_x
    t_position_y = ((t_distance * t_scale) * SIN(t_radians (t_angle)))+t_position_y
    t_heading = t_radians (t_angle)
END SUB

SUB t_rot_ellipse_l (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_angle AS DOUBLE)
    t_position_x = ((t_r1 * t_scale) * COS(t_radians (t_angle)))+ t_position_x
    t_position_y = ((t_r2 * t_scale) * SIN(t_radians (t_angle)))+ t_position_y
    t_heading = t_radians (t_angle * (- 1))
END SUB

SUB t_rot_ellipse_r (BYVAL t_r1 AS DOUBLE, BYVAL t_r2 AS DOUBLE, BYVAL t_angle AS DOUBLE)
    t_position_x = ((t_r1 * t_scale) * COS(t_radians (t_angle*-1)))+ t_position_x
    t_position_y = ((t_r2 * t_scale) * SIN(t_radians (t_angle*-1)))+ t_position_y
    t_heading = t_radians (t_angle)
END SUB

SUB t_rt (BYVAL t_angle AS DOUBLE)
    t_heading = t_heading + t_radians (t_angle)
END SUB

SUB t_speed (BYVAL t_vel AS INTEGER)
    t_pause = t_vel
END SUB

SUB t_spring (t_ns AS INTEGER , t_rs AS DOUBLE , t_lo AS DOUBLE)
    'draw a t_spring
    't_ns = number of spirals
    't_rs = stretch of spiral 0...90
    't_lo = long of spiral
    DIM AS INTEGER t_n, t_c
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_c = 1
    t_lo = t_lo * t_scale
    FOR t_n = 1 TO t_ns
        t_rt t_rs
        t_fd t_lo
        t_lt t_rs * 2
        t_fd t_lo
        t_rt t_rs
    NEXT t_n
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_spring
END SUB

SUB t_star (BYVAL t_np AS INTEGER , BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
    'draw a star
    't_np = number of points
    't_r2 = larger radius
    't_r1 = radius less
    DIM AS DOUBLE t_x0,t_y0,t_x1,t_y1,t_n, t_x2, t_y2, t_c
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_c = 0
    t_pu
    FOR  t_n = 0  TO 360 STEP  360/(t_np*2)
        IF  t_c MOD 2  = 0  THEN
            t_x1 = (t_r1  * COS(t_radians(t_n)))
            t_y1 = (t_r1  * SIN(t_radians(t_n)))
        ELSE
            t_x1  = (t_r2  * COS(t_radians(t_n)))
            t_y1 =  (t_r2  * SIN(t_radians(t_n)))
        END IF
        t_ol (t_ang (t_x0,t_y0,t_x1,t_y1)+ t_ang_rot )
        t_fd (t_long  (t_x0,t_y0,t_x1,t_y1))
        t_x0 = t_x1
        t_y0 = t_y1
        t_c = t_c  +  1
        t_pd
    NEXT t_n
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_star
END SUB

SUB t_trace_ang (BYVAL t_r1 AS DOUBLE , BYVAL t_r2 AS DOUBLE , BYVAL t_ang_ini AS DOUBLE , BYVAL t_ang_end AS DOUBLE , BYVAL t_ang_rot AS DOUBLE)
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    t_ol t_ang_ini + t_ang_rot 
    t_fd t_r1
    t_position_x = t_px1
    t_position_y = t_py1
    t_ol t_ang_end + t_ang_rot
    t_fd t_r2
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_trace_ang
END SUB

SUB t_vawes (BYVAL t_amp AS DOUBLE , BYVAL t_mod AS DOUBLE , BYVAL t_fre AS DOUBLE , BYVAL t_ini AS DOUBLE , BYVAL t_end AS DOUBLE , BYVAL t_rot AS DOUBLE )
    'draw vawes
    't_amp = amplitud
    't_mod = modulation
    't_fre = frecuency
    't_ini = angle ini
    't_end = angle end
    't_rot = angle rotation
    DIM AS DOUBLE t_a, t_g, t_o, t_x, t_y
    DIM AS DOUBLE t_px1,t_py1,t_pz1
    t_px1 = t_position_x
    t_py1 = t_position_y
    t_pz1 = t_heading
    IF t_mod = 0 THEN t_mod = 1
    FOR t_o = t_ini TO t_end * t_fre
        t_g = t_radians(t_o)
        t_a = t_radians(t_rot)
        t_position_x =  ((t_o * COS(t_a)/t_mod)-((t_amp  * t_scale * SIN(t_g))* SIN(t_a))) + t_pos_rot_x
        t_position_y =  ((t_o * SIN(t_a)/t_mod)+((t_amp  * t_scale * SIN(t_g))* COS(t_a))) + t_pos_rot_y
        t_fd 1
    NEXT t_o
    t_position_x = t_px1
    t_position_y = t_py1
    t_heading = t_pz1
    SLEEP t_pause_vawes
END SUB

[Tourist Trap]

Thanks! (good mechanics stuff)

[lrcvs]

Mechanics Waves, Part #2

Code: Select all

#include "turtle_9.bi"
'program mechanics waves


DIM AS double l, n, px1,px2,px3,px4,px5



CLS
'SLEEP 5000
l = 150 'long segment

px1 = -250
px2 = -100
px3 =   50
px4 =  200
px5 =  350
t_init
    
     
FOR n = 0 TO (405*1) STEP  0.5 'revolutions and speed
    SCREENLOCK
    CLS
     t_grid_3 20
   
    'if n = 0 then n = 0.1
    t_or 0: t_thick = 0.1 : t_ink 7:t_pos(-400,200): t_fd 800 'central axe horizontal
    
    t_ink 12: t_thick = 0.1
    t_pos(px1,200):t_circle 6 'axe 1
    t_pos(px2,200):t_circle 6 'axe 2
    t_pos(px3,200):t_circle 6 'axe 3
    t_pos(px4,200):t_circle 6 'axe 4
    t_pos(px5,200):t_circle 6 'axe 5
    
    t_pos(-350,200): t_ink 8: t_circle 50:t_ink 15: t_circle 2: t_ol n:t_fd 50: t_circle 3 'rotation main
    
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px1,200): t_fd l: t_ink 15:  t_circle 3 'segment_1
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px2,200): t_fd l: t_ink 15:  t_circle 3 'segment_2
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px3,200): t_fd l: t_ink 15:  t_circle 3 'segment_3
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px4,200): t_fd l: t_ink 15:  t_circle 3 'segment_4
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px5,200): t_fd l: t_ink 15:  t_circle 3 'segment_5
 
    SCREENUNLOCK
    SLEEP 0.6
    
NEXT n
     
FOR n = 0 TO (360 * 1) STEP  10 'revolutions and speed
    SCREENLOCK
    'CLS
     't_grid_3 20
   
    'if n = 0 then n = 0.1
    t_or 0: t_thick = 0.1 : t_ink 7:t_pos(-400,0): t_fd 800 'central axe horizontal
    
    t_ink 12: t_thick = 0.1
    t_pos(px1,0):t_circle 6 'axe 1
    t_pos(px2,0):t_circle 6 'axe 2
    t_pos(px3,0):t_circle 6 'axe 3
    t_pos(px4,0):t_circle 6 'axe 4
    t_pos(px5,0):t_circle 6 'axe 5
    
    t_pos(-350,0): t_ink 8: t_circle 50:t_ink 15: t_circle 2: t_ol n:t_fd 50: t_circle 3 'rotation main
    
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px1,0): t_fd l: t_ink 15:  't_circle 3 'segment_1
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px2,0): t_fd l: t_ink 15:  't_circle 3 'segment_2
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px3,0): t_fd l: t_ink 15:  't_circle 3 'segment_3
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px4,0): t_fd l: t_ink 15:  't_circle 3 'segment_4
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px5,0): t_fd l: t_ink 15:  't_circle 3 'segment_5
 
    SCREENUNLOCK
    SLEEP 0.6
    
NEXT n

FOR n = 0 TO (360 * 1) STEP  0.5 'revolutions and speed
    SCREENLOCK
    'CLS
    't_grid_3 20
    'if n = 0 then n = 0.1
    't_or 0: t_thick = 0.1 : t_ink 7:t_pos(-400,-200): t_fd 800 'central axe horizontal
    
    t_ink 12: t_thick = 0.1
    t_pos(px1,-200):t_circle 6 'axe 1
    t_pos(px2,-200):t_circle 6 'axe 2
    t_pos(px3,-200):t_circle 6 'axe 3
    t_pos(px4,-200):t_circle 6 'axe 4
    t_pos(px5,-200):t_circle 6 'axe 5
    
    t_pos(-350,-200): t_ink 8: t_circle 50:t_ink 15: t_circle 2: t_ol n:t_fd 50: t_circle 3 'rotation main
    
 
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px1,-200): T_PU : t_fd l: t_ink 15: T_PD:  t_circle 0.1 'segment_1
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px2,-200): T_PU : t_fd l: t_ink 15: T_PD:  t_circle 0.1 'segment_2
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px3,-200): T_PU : t_fd l: t_ink 15: T_PD:  t_circle 0.1 'segment_3
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px4,-200): T_PU : t_fd l: t_ink 15: T_PD:  t_circle 0.1 'segment_4
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px5,-200): T_PU : t_fd l: t_ink 15: T_PD:  t_circle 0.1 'segment_5
   
    SCREENUNLOCK
    SLEEP 0.6
    
NEXT n

SLEEP
END

[lrcvs]

Hi:

Mechanics Waves, Part #3

https://www.youtube.com/watch?v=ZPZraZ4G80M

Code: Select all

#include "turtle_9.bi"
'program mechanics waves


DIM AS double l, n, px1,px2,px3,px4,px5,px6,px7,px8,py1,py2,py3,py4,py5,py6,py7,py8



CLS
l = 150 'long segment

px1 = -150
px2 = -150
px3 =  -100
px4 =  -100

px5 =  -100
px6 =  -100
px7 =  -50
px8 =  -50

py1 = 0
py2 = 50
py3 = 50
py4 = 0

py5 = -50
py6 = -100
py7 = -100
py8 = -150

t_init
T_SCALE = 1
FOR n = 0 TO (360 * 20) STEP  1 'revolutions and speed
    SCREENLOCK
    CLS
    
    if n = 0 then n = 0.1
    t_or 0
    line (-800,-600)-(800,600),1,bf
    t_thick = 3
    t_ink 7:t_pos(px1,py1):t_circle 6 'axe 1 
    t_ink 8:t_pos(px2,py2):t_circle 6 'axe 2 
    t_ink 9:t_pos(px3,py3):t_circle 6 'axe 3 
    t_ink 10:t_pos(px4,py4):t_circle 6 'axe 4 
    t_ink 11:t_pos(px5,py5):t_circle 6 'axe 5
    t_ink 12:t_pos(px6,py6):t_circle 6 'axe 6 
    t_ink 13:t_pos(px7,py7):t_circle 6 'axe 7 
    t_ink 14:t_pos(px8,py8):t_circle 6 'axe 8 
    
    t_pos(-250,0): t_ink 5: t_circle 50:t_ink 6: t_circle 2: t_ol n:t_fd 50: t_circle 3 'rotation main
    
    t_ink 7:t_ol t_ang(t_position_x, t_position_y,px1,py1): t_fd l: t_ink 15:  t_circle 3 'segment_1
    t_ink 8:t_ol t_ang(t_position_x, t_position_y,px2,py2): t_fd l: t_ink 15:  t_circle 3 'segment_2
    t_ink 9:t_ol t_ang(t_position_x, t_position_y,px3,py3): t_fd l: t_ink 15:  t_circle 3 'segment_3
    t_ink 10:t_ol t_ang(t_position_x, t_position_y,px4,py4): t_fd l: t_ink 15:  t_circle 3 'segment_4
    t_ink 11:t_ol t_ang(t_position_x, t_position_y,px5,py5): t_fd l: t_ink 15:  t_circle 3 'segment_5
    t_ink 12:t_ol t_ang(t_position_x, t_position_y,px6,py6): t_fd l: t_ink 15:  t_circle 3 'segment_6
    t_ink 13:t_ol t_ang(t_position_x, t_position_y,px7,py7): t_fd l: t_ink 15:  t_circle 3 'segment_7
    t_ink 14:t_ol t_ang(t_position_x, t_position_y,px8,py8): t_fd l: t_ink 15:  t_circle 3 'segment_8
    
    SCREENUNLOCK
    SLEEP 0.6
NEXT n
SLEEP
END

[lrcvs]

Hi:

Simulator Pegasus Bridge

See:
https://www.youtube.com/watch?v=h8MWFZTzTHI

Please: >>> Turtle_9.bi >>> here >>> : http://www.freebasic.net/forum/viewtopi ... 90#p222976

Code: Select all

#include "turtle_9.bi"
'Programa: Simulator Pegasus Bridge, Normandia (France)
'21.08.2016

DIM  AS DOUBLE n, a
CLS
t_init

'elevacion del puente
FOR a = 0 TO 80
    SCREENLOCK
    CLS
    t_ink 15 : t_thick = 1 : t_pos(342,-187):t_rect (100,30,0)'extremo final del puente
    t_ink 11 : t_pos(80,-280):t_rect (420,150,0):t_ink 15 'agua
    'movimiento inicial de separacion
    IF a < 21 THEN
        t_pos(-130-a,-70)
        t_ol 90
        t_fd 110
        t_ol 225
        t_fd 154
        t_bk 154
        t_ol 316
        t_fd 305
        t_bk 153
        t_ol 225
        t_fd 153
        t_pos(-130-a,40)
        t_ol 180
        t_fd 108
        t_ol 270
        t_fd 110
        t_ol 0
        t_fd 60
        t_ol 90
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        t_curves (90,90,180,270,0,0)
        t_curves (110,110,180,270,0,0)
        t_ol 270
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 180
        t_fd 100
        t_pos(-130-a,-70) 'centro eje rotacion
        'plataforma
        t_ol 270
        t_pu
        t_fd 110
        t_pd
        t_fd 20
        t_ol 0
        t_fd 420
        t_ol 90
        t_fd 30
        t_ol 180
        t_fd 420
        FOR n = 0 TO 360 STEP 30
            t_bk 30
            t_ol 270
            t_fd 30
            t_bk 30
            t_ol 180
        NEXT n
        t_fd 400
        t_ol 90
        t_fd 10
        t_ol 340
        t_fd 30
        t_pos(-130-a,-70) : t_circle 5
        'radios
        FOR n = 180 TO 270 STEP 10
            t_pos(-130-a,-70)
            t_ol n
            t_pu
            t_fd 90
            t_pd
            t_fd 18
        NEXT n
        t_pos(-135-a,-185) : t_circle 5
    END IF
    ' movimiento de separacion de retroceso y rotacion
    IF a >= 21 THEN
        t_pos(-130-a,-70)
        t_ol 90 +(a-21)
        t_fd 110
        t_ol 225 +(a-21)
        t_fd 154
        t_bk 154
        t_ol 316 +(a-21)
        t_fd 305
        t_bk 153
        t_ol 225 +(a-21)
        t_fd 153
        t_bk 153
        t_ol 136 +(a-21)
        t_fd 150
        t_ol 180 +(a-21)
        t_fd 108
        t_ol 270 +(a-21)
        t_fd 110
        t_ol 0 +(a-21)
        t_fd 60
        t_ol 90 +(a-21)
        t_fd 110
        t_pos(-130-a,-70)
        t_curves (90,90,180,270,(a-21),0)
        t_curves (110,110,180,270,a-21,0)
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 180+(a-21)
        t_fd 100
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 270+(a-21)
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        'plataforma
        t_ol 270 +(a-21)
        t_pu
        t_fd 110
        t_pd
        t_fd 20
        t_ol 0  +(a-21)
        t_fd 420
        t_ol 90  +(a-21)
        t_fd 30
        t_ol 180  +(a-21)
        t_fd 420
        FOR n = 0 TO 360 STEP 30
            t_bk 30
            t_ol 270  +(a-21)
            t_fd 30
            t_bk 30
            t_ol 180  +(a-21)
        NEXT n
        t_fd 400
        t_ol 90 +(a-21)
        t_fd 10
        t_ol 340 +(a-21)
        t_fd 30
        t_pos(-130-a,-70) : t_circle 5
        'radios
        FOR n = 180 TO 270 STEP 10
            t_pos(-130-a,-70)
            t_ol n+a-21
            t_pu
            t_fd 90
            t_pd
            t_fd 18
        NEXT n
        t_pos(-135-a,-185) : t_circle 5
    END IF
    'estructura / soporte fija

    t_thick =  3
    t_ink 2
    t_pos(-150,-33):t_rect (40,70,0)' SALA DE MAQUINAS
    'SOPORTE
    t_pos(-240,-130):t_rect (220,120,0)
    t_pos(-250,-70):t_ol 315:t_fd 168
    t_pos(-250,-70):t_ol 230:t_fd 155
    t_thick = 1
    SCREENUNLOCK
    SLEEP 150
NEXT a

':::::::::::::::::::::::::::::::::::
sleep 2000
'descenso del puente
FOR a = 80 TO 0 step -1
    SCREENLOCK
    CLS
    t_ink 15 : t_thick = 1 : t_pos(342,-187):t_rect (100,30,0)'extremo final del puente
    t_ink 11 : t_pos(80,-280):t_rect (420,150,0):t_ink 15 'agua
    'movimiento inicial de separacion
    IF a < 21 THEN
        t_pos(-130-a,-70)
        t_ol 90
        t_fd 110
        t_ol 225
        t_fd 154
        t_bk 154
        t_ol 316
        t_fd 305
        t_bk 153
        t_ol 225
        t_fd 153
        t_pos(-130-a,40)
        t_ol 180
        t_fd 108
        t_ol 270
        t_fd 110
        t_ol 0
        t_fd 60
        t_ol 90
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        t_curves (90,90,180,270,0,0)
        t_curves (110,110,180,270,0,0)
        t_ol 270
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 180
        t_fd 100
        t_pos(-130-a,-70) 'centro eje rotacion
        'plataforma
        t_ol 270
        t_pu
        t_fd 110
        t_pd
        t_fd 20
        t_ol 0
        t_fd 420
        t_ol 90
        t_fd 30
        t_ol 180
        t_fd 420
        FOR n = 0 TO 360 STEP 30
            t_bk 30
            t_ol 270
            t_fd 30
            t_bk 30
            t_ol 180
        NEXT n
        t_fd 400
        t_ol 90
        t_fd 10
        t_ol 340
        t_fd 30
        t_pos(-130-a,-70) : t_circle 5
        'radios
        FOR n = 180 TO 270 STEP 10
            t_pos(-130-a,-70)
            t_ol n
            t_pu
            t_fd 90
            t_pd
            t_fd 18
        NEXT n
        t_pos(-135-a,-185) : t_circle 5
    END IF
    ' movimiento de separacion de retroceso y rotacion
    IF a >= 21 THEN
        t_pos(-130-a,-70)
        t_ol 90 +(a-21)
        t_fd 110
        t_ol 225 +(a-21)
        t_fd 154
        t_bk 154
        t_ol 316 +(a-21)
        t_fd 305
        t_bk 153
        t_ol 225 +(a-21)
        t_fd 153
        t_bk 153
        t_ol 136 +(a-21)
        t_fd 150
        t_ol 180 +(a-21)
        t_fd 108
        t_ol 270 +(a-21)
        t_fd 110
        t_ol 0 +(a-21)
        t_fd 60
        t_ol 90 +(a-21)
        t_fd 110
        t_pos(-130-a,-70)
        t_curves (90,90,180,270,(a-21),0)
        t_curves (110,110,180,270,a-21,0)
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 180+(a-21)
        t_fd 100
        t_pos(-130-a,-70) 'centro eje rotacion
        t_ol 270+(a-21)
        t_fd 110
        t_pos(-130-a,-70) 'centro eje rotacion
        'plataforma
        t_ol 270 +(a-21)
        t_pu
        t_fd 110
        t_pd
        t_fd 20
        t_ol 0  +(a-21)
        t_fd 420
        t_ol 90  +(a-21)
        t_fd 30
        t_ol 180  +(a-21)
        t_fd 420
        FOR n = 0 TO 360 STEP 30
            t_bk 30
            t_ol 270  +(a-21)
            t_fd 30
            t_bk 30
            t_ol 180  +(a-21)
        NEXT n
        t_fd 400
        t_ol 90 +(a-21)
        t_fd 10
        t_ol 340 +(a-21)
        t_fd 30
        t_pos(-130-a,-70) : t_circle 5
        'radios
        FOR n = 180 TO 270 STEP 10
            t_pos(-130-a,-70)
            t_ol n+a-21
            t_pu
            t_fd 90
            t_pd
            t_fd 18
        NEXT n
        t_pos(-135-a,-185) : t_circle 5
    END IF
    'estructura / soporte fija

    t_thick =  3
    t_ink 2
    t_pos(-150,-33):t_rect (40,70,0)' SALA DE MAQUINAS
    'SOPORTE
    t_pos(-240,-130):t_rect (220,120,0)
    t_pos(-250,-70):t_ol 315:t_fd 168
    t_pos(-250,-70):t_ol 230:t_fd 155
    t_thick = 1
    SCREENUNLOCK
    SLEEP 150
NEXT a

SLEEP
END

[Tourist Trap]

Hi:

Simulator Pegasus Bridge

This bridge is really well done Ircvs. Exactly like the real one:

[lrcvs]

Hi, Tourist Trap:

Thanks!

[lrcvs]

HI:

This is my Hexapod Robot Wheels Telescopics

See:

https://www.youtube.com/watch?v=wen4n_q89yU

Code: Select all

#include "turtle_9.bi"
'Programa robot hexapodo con "ruedas" telescopicas

DECLARE SUB t_telescopic_cilinder (t_diam_cil AS DOUBLE, t_long_total AS DOUBLE, t_steps AS DOUBLE, t_position_step AS DOUBLE, t_rot_cil AS DOUBLE, t_radius_rot AS DOUBLE)
DIM AS integer p,r,v,x,y,z
CLS
t_init
r = 0 '<<<<< 0 = off  1 = on  show " wheels telescopics " side left, modify this !!!! <<<<<<<<<<<<<<<<
z = 60 'longitud total del cilindro telescopico
p = 120 'angulo entre cilindros

FOR x = -700 TO 500 STEP 2'posicion x
    SCREENLOCK
    CLS
        line (150,0)-(155,30),15,bf 'obstaculo
    FOR y = 0 TO 360 STEP p 'angulo de rotacion
        t_ink 11:t_thick = 1: t_pos (x+150,v+20):t_rect (300,20,0):t_thick = 0.1'cuerpo
        
        'soportes ruedas
        t_ink 14: t_pos (x,v)    : t_poly (30,3,y-x)
        t_ink 14: t_pos (x+150,v): t_poly (30,3,(y-x)+180)
        t_ink 14: t_pos (x+300,v): t_poly (30,3,y-x)
        'ruedas lado derecho
        t_ink 10: t_pos (x,v)    :t_telescopic_cilinder (10,z,3,v,y-x,0)
        t_ink 10: t_pos (x+150,v):t_telescopic_cilinder (10,z,3,v,(y-x)+(p/2),0)
        t_ink 10: t_pos (x+300,v):t_telescopic_cilinder (10,z,3,v,(y-x)+(2*p),0)
        
        'ruedas lado izquierdo
        IF r = 1 THEN 
        t_ink 11:t_thick = 1: t_pos (x+150,v+20):t_rect (300,20,0):t_thick = 0.1 'cuerpo
        'soportes ruedas lado izquierdo
        t_ink 14: t_pos (x,v)    : t_poly (30,3,y-x+180)
        t_ink 14: t_pos (x+150,v): t_poly (30,3,(y-x))
        t_ink 14: t_pos (x+300,v): t_poly (30,3,y-x+180)
        'ruedas lado izquierdo
        t_ink 12: t_pos (x,v)    :t_telescopic_cilinder (10,z,3,v,(y-x)+(p/2),0)
        t_ink 12: t_pos (x+150,v):t_telescopic_cilinder (10,z,3,v,(y-x)+(p),0)
        t_ink 12: t_pos (x+300,v):t_telescopic_cilinder (10,z,3,v,(y-x)+(p/2),0)
        end if
       
   	 'elevacion ruedas
   	 IF x >= -200 AND x < 0 THEN
   	 v = v + 1
   	 IF v >= z THEN v = z
   	 END IF

  	  'descenso ruedas
    	IF x > 130 THEN
   	 v = v - 1
  	 IF v < 0 THEN v = 0
   	 END IF
   	 
	NEXT y
    SCREENUNLOCK
    SLEEP 0.6
NEXT x

LOCATE 1,1:PRINT "end"
SLEEP
END




'init telescopic cilinder
SUB t_telescopic_cilinder (t_diam_cil AS DOUBLE, t_long_total AS DOUBLE, t_steps AS DOUBLE, t_position_step AS DOUBLE, t_rot_cil AS DOUBLE, t_radius_rot AS DOUBLE)
    DIM t_tot_steps AS INTEGER
    DIM AS DOUBLE t_long_step , t_ring , t_ntc
    't_diam_cil = diameter of cilinder
    't_long_total = long total
    't_steps = number od steps
    't_position = position extreme cilinder
    't_rot_cil = angle of rotation of cilinder
    't_radius_rot = point radius rotation
    t_tot_steps = t_steps + 1
    t_ring = (t_diam_cil/2) / (t_steps)
    t_long_step = t_long_total / t_steps
    IF t_position_step > t_long_step THEN t_position_step = t_long_step : END IF
    IF t_radius_rot > t_long_step THEN t_radius_rot = t_long_step : END IF
    t_ol t_rot_cil
    'init part radius rotation
    t_circle 5
    t_pu
    t_fd t_radius_rot  * (-1)
    t_pd
    'init_part
    t_rt 90
    t_fd (t_ring * t_steps)
    t_lt 90
    t_fd t_long_step
    t_lt 90
    t_fd (t_ring * t_steps)*2
    t_lt 90
    t_fd t_long_step
    t_lt 90
    t_fd (t_ring * t_steps)
    t_pu
    t_lt 90
    t_fd t_long_step
    t_pd
    'steps parts
    FOR t_ntc = 1 TO t_steps - 1
        t_rt 90
        t_fd (t_ring * ((t_steps - t_ntc) ))
        t_lt 90
        t_fd t_position_step
        t_lt 90
        t_fd (t_ring * ((t_steps - t_ntc) ))*2
        t_lt 90
        t_fd t_position_step
        t_lt 90
        t_fd (t_ring * ((t_steps - t_ntc)))
        t_pu
        t_lt 90
        t_fd t_position_step
        t_pd
    NEXT t_ntc
END SUB
'end telescopic cilinder

Regards

[lrcvs]

Hi, this is the Ver #2

Code: Select all

#include "turtle_9.bi"
'Programa robot hexapodo con "ruedas" telescopicas
'Ver #2

DECLARE SUB t_telescopic_cilinder (t_diam_cil AS DOUBLE, t_long_total AS DOUBLE, t_steps AS DOUBLE, t_position_step AS DOUBLE, t_rot_cil AS DOUBLE, t_radius_rot AS DOUBLE)
DIM AS integer p,r,s,v,w,x,y,z
CLS
t_init
r = 0 '<<<<< 0 = off  1 = on  show " wheels telescopics " side left, modify this !!!! <<<<<<<<<<<<<<<<
z = 60 'longitud total del cilindro telescopico
p = 120 'angulo entre cilindros
s = 3 'secciones del cilindro telescopico
FOR x = -700 TO 500 STEP 2'posicion x
    SCREENLOCK
    CLS
    t_ink 6 : t_thick = 2:t_pos_rot(-600,-25) : t_waves (3,2,8,0,360,0) 'suelo
        line (130,-25)-(135,30),15,bf 'obstaculo
    FOR y = 0 TO 360 STEP p 'angulo de rotacion
        
        'efecto radar
        for w = 0 to 50 step 10
            t_distance_points = 5
            t_ink 14
            t_thick = 0.1
            if x mod 5 = 0 then 
                t_pos (x+300,v):t_curves (w,w,0, 180,270,0)
                t_pos (x,v):t_curves (w,w,0, 180,90,0)
            end if                    
        next w
        
        t_distance_points = 0
        t_ink 11:t_thick = 1: t_pos (x+150,v+20):t_rect (300,20,0):t_thick = 0.1'cuerpo
        
        'soportes ruedas
        t_ink 14: t_pos (x,v)    : t_poly (30,3,y-x)
        t_ink 14: t_pos (x+150,v): t_poly (30,3,(y-x)+180)
        t_ink 14: t_pos (x+300,v): t_poly (30,3,y-x)
        'ruedas lado derecho
        t_ink 10: t_pos (x,v)    :t_telescopic_cilinder (10,z,s,v,y-x,0)
        t_ink 10: t_pos (x+150,v):t_telescopic_cilinder (10,z,s,v,(y-x)+(p/2),0)
        t_ink 10: t_pos (x+300,v):t_telescopic_cilinder (10,z,s,v,(y-x)+(2*p),0)
        
        'ruedas lado izquierdo
        IF r = 1 THEN 
        t_ink 11:t_thick = 1: t_pos (x+150,v+20):t_rect (300,20,0):t_thick = 0.1 'cuerpo
        'soportes ruedas lado izquierdo
        t_ink 14: t_pos (x,v)    : t_poly (30,3,y-x+180)
        t_ink 14: t_pos (x+150,v): t_poly (30,3,(y-x))
        t_ink 14: t_pos (x+300,v): t_poly (30,3,y-x+180)
        'ruedas lado izquierdo
        t_ink 12: t_pos (x,v)    :t_telescopic_cilinder (10,z,s,v,(y-x)+(p/2),0)
        t_ink 12: t_pos (x+150,v):t_telescopic_cilinder (10,z,s,v,(y-x)+(p),0)
        t_ink 12: t_pos (x+300,v):t_telescopic_cilinder (10,z,s,v,(y-x)+(p/2),0)
        end if
    
    'elevacion ruedas
    IF x >= -200 AND x < 0 THEN
    v = v + 1
    IF v >= z THEN v = z
    END IF

    'descenso ruedas
    IF x > 130 THEN
    v = v - 1
    IF v < 0 THEN v = 0
    END IF
NEXT y

    SCREENUNLOCK
    SLEEP 0.6
NEXT x

LOCATE 1,1:PRINT "end"
SLEEP
END




'init telescopic cilinder
SUB t_telescopic_cilinder (t_diam_cil AS DOUBLE, t_long_total AS DOUBLE, t_steps AS DOUBLE, t_position_step AS DOUBLE, t_rot_cil AS DOUBLE, t_radius_rot AS DOUBLE)
    DIM t_tot_steps AS INTEGER
    DIM AS DOUBLE t_long_step , t_ring , t_ntc
    't_diam_cil = diameter of cilinder
    't_long_total = long total
    't_steps = number od steps
    't_position = position extreme cilinder
    't_rot_cil = angle of rotation of cilinder
    't_radius_rot = point radius rotation
    t_tot_steps = t_steps + 1
    t_ring = (t_diam_cil/2) / (t_steps)
    t_long_step = t_long_total / t_steps
    IF t_position_step > t_long_step THEN t_position_step = t_long_step : END IF
    IF t_radius_rot > t_long_step THEN t_radius_rot = t_long_step : END IF
    t_ol t_rot_cil
    'init part radius rotation
    t_circle 5
    t_pu
    t_fd t_radius_rot  * (-1)
    t_pd
    'init_part
    t_rt 90
    t_fd (t_ring * t_steps)
    t_lt 90
    t_fd t_long_step
    t_lt 90
    t_fd (t_ring * t_steps)*2
    t_lt 90
    t_fd t_long_step
    t_lt 90
    t_fd (t_ring * t_steps)
    t_pu
    t_lt 90
    t_fd t_long_step
    t_pd
    'steps parts
    FOR t_ntc = 1 TO t_steps - 1
        t_rt 90
        t_fd (t_ring * ((t_steps - t_ntc) ))
        t_lt 90
        t_fd t_position_step
        t_lt 90
        t_fd (t_ring * ((t_steps - t_ntc) ))*2
        t_lt 90
        t_fd t_position_step
        t_lt 90
        t_fd (t_ring * ((t_steps - t_ntc)))
        t_pu
        t_lt 90
        t_fd t_position_step
        t_pd
    NEXT t_ntc
END SUB
'end telescopic cilinder