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main.cpp@22:000890b38b32, 2018-05-14 (annotated)
- Committer:
- lucasfontenla
- Date:
- Mon May 14 04:04:56 2018 +0000
- Revision:
- 22:000890b38b32
- Parent:
- 21:c6c33381fc5f
- Child:
- 23:d64d37561b4a
Interrup??o para leitura do serial funcionando.; Salvando pontos pelo serial.; Array path criado que armazena a velocidade de avan?o e o modo de despejo de cola.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| lucasfontenla | 21:c6c33381fc5f | 1 | // LIBs ------------------------------------------------------------------------------------ |
| lucasfontenla | 0:cc562f78f889 | 2 | #include "mbed.h" |
| lucasfontenla | 22:000890b38b32 | 3 | #include "string" |
| lucasfontenla | 0:cc562f78f889 | 4 | |
| lucasfontenla | 5:0cbf491f703d | 5 | // MACHINE SETUP --------------------------------------------------------------------------- |
| lucasfontenla | 22:000890b38b32 | 6 | #define tx PC_10 |
| lucasfontenla | 22:000890b38b32 | 7 | #define rx PC_11 |
| lucasfontenla | 22:000890b38b32 | 8 | |
| lucasfontenla | 22:000890b38b32 | 9 | Serial ihm(tx, rx); //tx e rx (D1 e D0) |
| lucasfontenla | 5:0cbf491f703d | 10 | |
| lucasfontenla | 5:0cbf491f703d | 11 | // drivers output signal |
| lucasfontenla | 14:7cc41420a12c | 12 | DigitalOut enable(D2); |
| lucasfontenla | 14:7cc41420a12c | 13 | |
| lucasfontenla | 4:48717b42eab2 | 14 | DigitalOut dirX(D3); |
| lucasfontenla | 15:4604a7ee9c77 | 15 | DigitalOut stepX(D4); |
| lucasfontenla | 4:48717b42eab2 | 16 | |
| lucasfontenla | 15:4604a7ee9c77 | 17 | DigitalOut dirY(D5); |
| lucasfontenla | 15:4604a7ee9c77 | 18 | DigitalOut stepY(D6); |
| lucasfontenla | 4:48717b42eab2 | 19 | |
| lucasfontenla | 15:4604a7ee9c77 | 20 | DigitalOut dirZ(D7); |
| lucasfontenla | 15:4604a7ee9c77 | 21 | DigitalOut stepZ(D8); |
| lucasfontenla | 4:48717b42eab2 | 22 | |
| lucasfontenla | 5:0cbf491f703d | 23 | // hardware input signal |
| lucasfontenla | 5:0cbf491f703d | 24 | // end-of-stroke sensors |
| lucasfontenla | 16:3adab04d42a6 | 25 | InterruptIn endX(A2); |
| lucasfontenla | 16:3adab04d42a6 | 26 | InterruptIn endY(A3); |
| lucasfontenla | 16:3adab04d42a6 | 27 | InterruptIn endZ(A4); |
| lucasfontenla | 5:0cbf491f703d | 28 | |
| lucasfontenla | 5:0cbf491f703d | 29 | // IHM for development |
| lucasfontenla | 9:d771a576e4fc | 30 | AnalogIn joyX(A0); |
| lucasfontenla | 9:d771a576e4fc | 31 | AnalogIn joyY(A1); |
| lucasfontenla | 4:48717b42eab2 | 32 | |
| lucasfontenla | 16:3adab04d42a6 | 33 | DigitalIn zUp(D15); |
| lucasfontenla | 16:3adab04d42a6 | 34 | DigitalIn zDwn(D14); |
| lucasfontenla | 4:48717b42eab2 | 35 | |
| lucasfontenla | 18:174b4ff351b5 | 36 | InterruptIn startBtn(D12); |
| lucasfontenla | 18:174b4ff351b5 | 37 | |
| lucasfontenla | 21:c6c33381fc5f | 38 | // switch to alternate between JOG and routine |
| lucasfontenla | 17:55e6270adab5 | 39 | DigitalIn botao(D11); |
| lucasfontenla | 17:55e6270adab5 | 40 | |
| lucasfontenla | 5:0cbf491f703d | 41 | // variables definition |
| lucasfontenla | 17:55e6270adab5 | 42 | int modeStatus; |
| lucasfontenla | 5:0cbf491f703d | 43 | |
| lucasfontenla | 4:48717b42eab2 | 44 | float valX; |
| lucasfontenla | 4:48717b42eab2 | 45 | float valY; |
| lucasfontenla | 4:48717b42eab2 | 46 | int valZUp; |
| lucasfontenla | 4:48717b42eab2 | 47 | int valZDwn; |
| lucasfontenla | 4:48717b42eab2 | 48 | |
| lucasfontenla | 4:48717b42eab2 | 49 | int activeX = 1; |
| lucasfontenla | 4:48717b42eab2 | 50 | int activeY = 1; |
| lucasfontenla | 4:48717b42eab2 | 51 | int activeZ = 1; |
| lucasfontenla | 4:48717b42eab2 | 52 | |
| lucasfontenla | 5:0cbf491f703d | 53 | int x_dir; |
| lucasfontenla | 5:0cbf491f703d | 54 | int y_dir; |
| lucasfontenla | 5:0cbf491f703d | 55 | int z_dir; |
| lucasfontenla | 5:0cbf491f703d | 56 | |
| lucasfontenla | 13:0f385bfe3e0d | 57 | int x_plus = 0; |
| lucasfontenla | 13:0f385bfe3e0d | 58 | int x_minus = 1; |
| lucasfontenla | 17:55e6270adab5 | 59 | int y_plus = 0; |
| lucasfontenla | 17:55e6270adab5 | 60 | int y_minus = 1; |
| lucasfontenla | 16:3adab04d42a6 | 61 | int z_plus = 0; |
| lucasfontenla | 16:3adab04d42a6 | 62 | int z_minus = 1; |
| lucasfontenla | 9:d771a576e4fc | 63 | |
| lucasfontenla | 15:4604a7ee9c77 | 64 | int x_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 65 | int x_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 66 | int x_block_min = 0; |
| lucasfontenla | 12:801e58a7137c | 67 | |
| lucasfontenla | 15:4604a7ee9c77 | 68 | int y_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 69 | int y_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 70 | int y_block_min = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 71 | |
| lucasfontenla | 15:4604a7ee9c77 | 72 | int z_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 73 | int z_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 74 | int z_block_min = 0; |
| lucasfontenla | 9:d771a576e4fc | 75 | |
| lucasfontenla | 5:0cbf491f703d | 76 | float ppsMax = 600.0; |
| lucasfontenla | 5:0cbf491f703d | 77 | |
| lucasfontenla | 7:27ea14e58788 | 78 | int totalX = 0; |
| lucasfontenla | 7:27ea14e58788 | 79 | int totalY = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 80 | int totalZ = 0; |
| lucasfontenla | 7:27ea14e58788 | 81 | |
| lucasfontenla | 17:55e6270adab5 | 82 | int x_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 83 | int y_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 84 | int z_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 85 | |
| lucasfontenla | 18:174b4ff351b5 | 86 | float x_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 87 | float y_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 88 | float z_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 89 | |
| lucasfontenla | 7:27ea14e58788 | 90 | float X = 0; |
| lucasfontenla | 7:27ea14e58788 | 91 | float Y = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 92 | float Z = 0; |
| lucasfontenla | 7:27ea14e58788 | 93 | |
| lucasfontenla | 9:d771a576e4fc | 94 | int endX1Status; |
| lucasfontenla | 9:d771a576e4fc | 95 | int endX2Status; |
| lucasfontenla | 9:d771a576e4fc | 96 | |
| lucasfontenla | 7:27ea14e58788 | 97 | // machine parameters |
| lucasfontenla | 8:de64672c240f | 98 | float xPitch = 3.0; |
| lucasfontenla | 8:de64672c240f | 99 | float yPitch = 3.0; |
| lucasfontenla | 15:4604a7ee9c77 | 100 | float zPitch = 3.0; |
| lucasfontenla | 7:27ea14e58788 | 101 | |
| lucasfontenla | 7:27ea14e58788 | 102 | float motor_steps_by_rotation = 200.0; |
| lucasfontenla | 7:27ea14e58788 | 103 | float step_mode = 0.5; |
| lucasfontenla | 7:27ea14e58788 | 104 | float steps_by_rotation = motor_steps_by_rotation/step_mode; |
| lucasfontenla | 7:27ea14e58788 | 105 | |
| lucasfontenla | 18:174b4ff351b5 | 106 | int saved = 0; |
| lucasfontenla | 19:e69ff16f35aa | 107 | const int maxPoints = 10; |
| lucasfontenla | 22:000890b38b32 | 108 | float points[3][maxPoints]; // [0] X; [1] Y; [2] Z; |
| lucasfontenla | 22:000890b38b32 | 109 | float path[2][maxPoints]; // [0] speed; [1] mode; |
| lucasfontenla | 22:000890b38b32 | 110 | int resting_points = 0; |
| lucasfontenla | 18:174b4ff351b5 | 111 | |
| lucasfontenla | 18:174b4ff351b5 | 112 | int startSaved = 0; |
| lucasfontenla | 20:1d98a6f51dee | 113 | int autoReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 114 | int exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 115 | int keepSavedPointsReload = 0; |
| lucasfontenla | 18:174b4ff351b5 | 116 | |
| lucasfontenla | 21:c6c33381fc5f | 117 | // PROTOTYPE FUNCTIONS ------------------------------------------------------------------------------- |
| lucasfontenla | 9:d771a576e4fc | 118 | void setupPins(); |
| lucasfontenla | 5:0cbf491f703d | 119 | void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step); |
| lucasfontenla | 17:55e6270adab5 | 120 | |
| lucasfontenla | 17:55e6270adab5 | 121 | float steps_to_distance(int steps, float pitch); |
| lucasfontenla | 17:55e6270adab5 | 122 | int distance_to_steps(float distance, float pitch); |
| lucasfontenla | 7:27ea14e58788 | 123 | |
| lucasfontenla | 15:4604a7ee9c77 | 124 | void endX_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 125 | void endX_release(void); |
| lucasfontenla | 11:0e22a6fc7f87 | 126 | |
| lucasfontenla | 15:4604a7ee9c77 | 127 | void endY_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 128 | void endY_release(void); |
| lucasfontenla | 15:4604a7ee9c77 | 129 | |
| lucasfontenla | 15:4604a7ee9c77 | 130 | void endZ_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 131 | void endZ_release(void); |
| lucasfontenla | 9:d771a576e4fc | 132 | |
| lucasfontenla | 12:801e58a7137c | 133 | void zeroX(int pps); |
| lucasfontenla | 11:0e22a6fc7f87 | 134 | void zeroY(int pps); |
| lucasfontenla | 11:0e22a6fc7f87 | 135 | |
| lucasfontenla | 18:174b4ff351b5 | 136 | void savePoint(void); |
| lucasfontenla | 18:174b4ff351b5 | 137 | void startSavedPoints(void); |
| lucasfontenla | 18:174b4ff351b5 | 138 | |
| lucasfontenla | 17:55e6270adab5 | 139 | void printDistance(void); |
| lucasfontenla | 17:55e6270adab5 | 140 | |
| lucasfontenla | 22:000890b38b32 | 141 | void rxCallback(void); |
| lucasfontenla | 22:000890b38b32 | 142 | |
| lucasfontenla | 21:c6c33381fc5f | 143 | // MAIN PROGRAM ---------------------------------------------------------------------------------------------- |
| lucasfontenla | 1:b2e395e50a45 | 144 | |
| lucasfontenla | 22:000890b38b32 | 145 | char buffer[8] = "Hello\r"; |
| lucasfontenla | 22:000890b38b32 | 146 | |
| lucasfontenla | 1:b2e395e50a45 | 147 | int main(){ |
| lucasfontenla | 16:3adab04d42a6 | 148 | printf("\nStarting...\r\n"); |
| lucasfontenla | 14:7cc41420a12c | 149 | |
| lucasfontenla | 22:000890b38b32 | 150 | enable = 0; |
| lucasfontenla | 17:55e6270adab5 | 151 | |
| lucasfontenla | 22:000890b38b32 | 152 | // interrupção serial |
| lucasfontenla | 22:000890b38b32 | 153 | ihm.attach(&rxCallback, Serial::RxIrq); |
| lucasfontenla | 22:000890b38b32 | 154 | |
| lucasfontenla | 21:c6c33381fc5f | 155 | // interrupções de fim de curso |
| lucasfontenla | 22:000890b38b32 | 156 | /* |
| lucasfontenla | 15:4604a7ee9c77 | 157 | endX.fall(&endX_press); |
| lucasfontenla | 15:4604a7ee9c77 | 158 | endX.rise(&endX_release); |
| lucasfontenla | 5:0cbf491f703d | 159 | |
| lucasfontenla | 15:4604a7ee9c77 | 160 | endY.fall(&endY_press); |
| lucasfontenla | 15:4604a7ee9c77 | 161 | endY.rise(&endY_release); |
| lucasfontenla | 15:4604a7ee9c77 | 162 | |
| lucasfontenla | 15:4604a7ee9c77 | 163 | endZ.fall(&endZ_press); |
| lucasfontenla | 15:4604a7ee9c77 | 164 | endZ.rise(&endZ_release); |
| lucasfontenla | 22:000890b38b32 | 165 | |
| lucasfontenla | 22:000890b38b32 | 166 | startBtn.rise(&startSavedPoints);*/ |
| lucasfontenla | 21:c6c33381fc5f | 167 | |
| lucasfontenla | 21:c6c33381fc5f | 168 | int contador = 0; |
| lucasfontenla | 21:c6c33381fc5f | 169 | |
| lucasfontenla | 21:c6c33381fc5f | 170 | // loop de movimento |
| lucasfontenla | 20:1d98a6f51dee | 171 | while(1){ |
| lucasfontenla | 21:c6c33381fc5f | 172 | // movimento em JOG e salvamento dos pontos |
| lucasfontenla | 20:1d98a6f51dee | 173 | if(modeStatus){ |
| lucasfontenla | 20:1d98a6f51dee | 174 | autoReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 175 | saved = 0; |
| lucasfontenla | 20:1d98a6f51dee | 176 | startSaved = 0; |
| lucasfontenla | 5:0cbf491f703d | 177 | |
| lucasfontenla | 20:1d98a6f51dee | 178 | //Código de JOG |
| lucasfontenla | 20:1d98a6f51dee | 179 | printf("JOG Selected\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 180 | while(1){ |
| lucasfontenla | 20:1d98a6f51dee | 181 | valX = joyX; |
| lucasfontenla | 20:1d98a6f51dee | 182 | valY = joyY; |
| lucasfontenla | 20:1d98a6f51dee | 183 | |
| lucasfontenla | 20:1d98a6f51dee | 184 | valZUp = zUp; |
| lucasfontenla | 20:1d98a6f51dee | 185 | valZDwn = zDwn; |
| lucasfontenla | 20:1d98a6f51dee | 186 | |
| lucasfontenla | 20:1d98a6f51dee | 187 | if(valX > 0.7){ |
| lucasfontenla | 20:1d98a6f51dee | 188 | if(x_dir != x_plus){ |
| lucasfontenla | 20:1d98a6f51dee | 189 | x_dir = x_plus; |
| lucasfontenla | 20:1d98a6f51dee | 190 | } |
| lucasfontenla | 20:1d98a6f51dee | 191 | activeX = 1; |
| lucasfontenla | 5:0cbf491f703d | 192 | } |
| lucasfontenla | 20:1d98a6f51dee | 193 | else if(valX < 0.3){ |
| lucasfontenla | 20:1d98a6f51dee | 194 | if(x_dir != x_minus){ |
| lucasfontenla | 20:1d98a6f51dee | 195 | x_dir = x_minus; |
| lucasfontenla | 20:1d98a6f51dee | 196 | } |
| lucasfontenla | 20:1d98a6f51dee | 197 | activeX = 1; |
| lucasfontenla | 20:1d98a6f51dee | 198 | } |
| lucasfontenla | 20:1d98a6f51dee | 199 | else{ |
| lucasfontenla | 20:1d98a6f51dee | 200 | activeX = 0; |
| lucasfontenla | 5:0cbf491f703d | 201 | } |
| lucasfontenla | 20:1d98a6f51dee | 202 | |
| lucasfontenla | 20:1d98a6f51dee | 203 | //---------------------------------------------------------------------- |
| lucasfontenla | 20:1d98a6f51dee | 204 | |
| lucasfontenla | 20:1d98a6f51dee | 205 | if(valY > 0.7){ |
| lucasfontenla | 20:1d98a6f51dee | 206 | if(y_dir != y_plus){ |
| lucasfontenla | 20:1d98a6f51dee | 207 | y_dir = y_plus; |
| lucasfontenla | 20:1d98a6f51dee | 208 | } |
| lucasfontenla | 20:1d98a6f51dee | 209 | activeY = 1; |
| lucasfontenla | 5:0cbf491f703d | 210 | } |
| lucasfontenla | 20:1d98a6f51dee | 211 | else if(valY < 0.3){ |
| lucasfontenla | 20:1d98a6f51dee | 212 | if(y_dir != y_minus){ |
| lucasfontenla | 20:1d98a6f51dee | 213 | y_dir = y_minus; |
| lucasfontenla | 20:1d98a6f51dee | 214 | } |
| lucasfontenla | 20:1d98a6f51dee | 215 | activeY = 1; |
| lucasfontenla | 20:1d98a6f51dee | 216 | } |
| lucasfontenla | 20:1d98a6f51dee | 217 | else{ |
| lucasfontenla | 20:1d98a6f51dee | 218 | activeY = 0; |
| lucasfontenla | 5:0cbf491f703d | 219 | } |
| lucasfontenla | 20:1d98a6f51dee | 220 | |
| lucasfontenla | 20:1d98a6f51dee | 221 | //---------------------------------------------------------------------- |
| lucasfontenla | 20:1d98a6f51dee | 222 | |
| lucasfontenla | 20:1d98a6f51dee | 223 | if(!valZUp && valZDwn){ |
| lucasfontenla | 20:1d98a6f51dee | 224 | if(z_dir != z_minus){ |
| lucasfontenla | 20:1d98a6f51dee | 225 | z_dir = z_minus; |
| lucasfontenla | 20:1d98a6f51dee | 226 | } |
| lucasfontenla | 20:1d98a6f51dee | 227 | activeZ = 1; |
| lucasfontenla | 5:0cbf491f703d | 228 | } |
| lucasfontenla | 20:1d98a6f51dee | 229 | else if(!valZDwn && valZUp){ |
| lucasfontenla | 20:1d98a6f51dee | 230 | if(z_dir != z_plus){ |
| lucasfontenla | 20:1d98a6f51dee | 231 | z_dir = z_plus; |
| lucasfontenla | 20:1d98a6f51dee | 232 | } |
| lucasfontenla | 20:1d98a6f51dee | 233 | activeZ = 1; |
| lucasfontenla | 20:1d98a6f51dee | 234 | } |
| lucasfontenla | 20:1d98a6f51dee | 235 | else { |
| lucasfontenla | 20:1d98a6f51dee | 236 | activeZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 237 | } |
| lucasfontenla | 20:1d98a6f51dee | 238 | |
| lucasfontenla | 20:1d98a6f51dee | 239 | //---------------------------------------------------------------------- |
| lucasfontenla | 20:1d98a6f51dee | 240 | |
| lucasfontenla | 20:1d98a6f51dee | 241 | move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ); |
| lucasfontenla | 20:1d98a6f51dee | 242 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 243 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 244 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 245 | |
| lucasfontenla | 20:1d98a6f51dee | 246 | if(contador > 10000){ |
| lucasfontenla | 20:1d98a6f51dee | 247 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 20:1d98a6f51dee | 248 | contador = 0; |
| lucasfontenla | 20:1d98a6f51dee | 249 | } |
| lucasfontenla | 20:1d98a6f51dee | 250 | |
| lucasfontenla | 20:1d98a6f51dee | 251 | contador+=1; |
| lucasfontenla | 20:1d98a6f51dee | 252 | |
| lucasfontenla | 20:1d98a6f51dee | 253 | if(startSaved){ |
| lucasfontenla | 20:1d98a6f51dee | 254 | break; |
| lucasfontenla | 20:1d98a6f51dee | 255 | } |
| lucasfontenla | 7:27ea14e58788 | 256 | } |
| lucasfontenla | 7:27ea14e58788 | 257 | |
| lucasfontenla | 21:c6c33381fc5f | 258 | // loop for executing saved points |
| lucasfontenla | 20:1d98a6f51dee | 259 | while(1){ |
| lucasfontenla | 20:1d98a6f51dee | 260 | printf("\nStarting saved points\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 261 | |
| lucasfontenla | 20:1d98a6f51dee | 262 | // home |
| lucasfontenla | 20:1d98a6f51dee | 263 | x_distance_to_run = points[0][0] - points[0][saved-1]; |
| lucasfontenla | 20:1d98a6f51dee | 264 | y_distance_to_run = points[1][0] - points[1][saved-1]; |
| lucasfontenla | 20:1d98a6f51dee | 265 | z_distance_to_run = points[2][0] - points[2][saved-1]; |
| lucasfontenla | 20:1d98a6f51dee | 266 | |
| lucasfontenla | 20:1d98a6f51dee | 267 | printf("\nGoing to first point\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 268 | |
| lucasfontenla | 20:1d98a6f51dee | 269 | if(x_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 270 | x_dir = x_minus; |
| lucasfontenla | 20:1d98a6f51dee | 271 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 272 | } else { x_dir = x_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 273 | |
| lucasfontenla | 20:1d98a6f51dee | 274 | if(y_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 275 | y_dir = y_minus; |
| lucasfontenla | 20:1d98a6f51dee | 276 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 277 | } else { y_dir = y_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 278 | |
| lucasfontenla | 20:1d98a6f51dee | 279 | if(z_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 280 | z_dir = z_minus; |
| lucasfontenla | 20:1d98a6f51dee | 281 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 282 | } else { z_dir = z_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 283 | |
| lucasfontenla | 20:1d98a6f51dee | 284 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 285 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 286 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 287 | |
| lucasfontenla | 20:1d98a6f51dee | 288 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 20:1d98a6f51dee | 289 | |
| lucasfontenla | 20:1d98a6f51dee | 290 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 20:1d98a6f51dee | 291 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 20:1d98a6f51dee | 292 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 20:1d98a6f51dee | 293 | |
| lucasfontenla | 20:1d98a6f51dee | 294 | wait(2); |
| lucasfontenla | 20:1d98a6f51dee | 295 | |
| lucasfontenla | 20:1d98a6f51dee | 296 | printf("\nSaved points\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 297 | |
| lucasfontenla | 20:1d98a6f51dee | 298 | // routine |
| lucasfontenla | 20:1d98a6f51dee | 299 | |
| lucasfontenla | 20:1d98a6f51dee | 300 | for(int i = 1; i < saved; i++){ |
| lucasfontenla | 20:1d98a6f51dee | 301 | x_distance_to_run = points[0][i]-points[0][i-1]; |
| lucasfontenla | 20:1d98a6f51dee | 302 | y_distance_to_run = points[1][i]-points[1][i-1]; |
| lucasfontenla | 20:1d98a6f51dee | 303 | z_distance_to_run = points[2][i]-points[2][i-1]; |
| lucasfontenla | 20:1d98a6f51dee | 304 | |
| lucasfontenla | 20:1d98a6f51dee | 305 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 20:1d98a6f51dee | 306 | |
| lucasfontenla | 20:1d98a6f51dee | 307 | if(x_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 308 | x_dir = x_minus; |
| lucasfontenla | 20:1d98a6f51dee | 309 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 310 | } else { x_dir = x_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 311 | |
| lucasfontenla | 20:1d98a6f51dee | 312 | if(y_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 313 | y_dir = y_minus; |
| lucasfontenla | 20:1d98a6f51dee | 314 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 315 | } else { y_dir = y_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 316 | |
| lucasfontenla | 20:1d98a6f51dee | 317 | if(z_distance_to_run < 0){ |
| lucasfontenla | 20:1d98a6f51dee | 318 | z_dir = z_minus; |
| lucasfontenla | 20:1d98a6f51dee | 319 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 20:1d98a6f51dee | 320 | } else { z_dir = z_plus; } |
| lucasfontenla | 20:1d98a6f51dee | 321 | |
| lucasfontenla | 20:1d98a6f51dee | 322 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 323 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 324 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 325 | |
| lucasfontenla | 20:1d98a6f51dee | 326 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 20:1d98a6f51dee | 327 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 20:1d98a6f51dee | 328 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 20:1d98a6f51dee | 329 | } |
| lucasfontenla | 20:1d98a6f51dee | 330 | |
| lucasfontenla | 20:1d98a6f51dee | 331 | printf("Done\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 332 | |
| lucasfontenla | 20:1d98a6f51dee | 333 | printf("\nTo restart press blue, to return to JOG press yellow.\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 334 | |
| lucasfontenla | 20:1d98a6f51dee | 335 | autoReload = 1; |
| lucasfontenla | 20:1d98a6f51dee | 336 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 337 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 338 | |
| lucasfontenla | 20:1d98a6f51dee | 339 | while(1){ |
| lucasfontenla | 20:1d98a6f51dee | 340 | if(exitSavedPointsLoop){ |
| lucasfontenla | 20:1d98a6f51dee | 341 | printf("Exiting..."); |
| lucasfontenla | 20:1d98a6f51dee | 342 | break; |
| lucasfontenla | 20:1d98a6f51dee | 343 | } else if(keepSavedPointsReload){ |
| lucasfontenla | 20:1d98a6f51dee | 344 | printf("Restarting...\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 345 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 346 | break; |
| lucasfontenla | 20:1d98a6f51dee | 347 | } |
| lucasfontenla | 20:1d98a6f51dee | 348 | |
| lucasfontenla | 20:1d98a6f51dee | 349 | wait_ms(10); |
| lucasfontenla | 20:1d98a6f51dee | 350 | } |
| lucasfontenla | 20:1d98a6f51dee | 351 | if(exitSavedPointsLoop){ |
| lucasfontenla | 20:1d98a6f51dee | 352 | break; |
| lucasfontenla | 20:1d98a6f51dee | 353 | } |
| lucasfontenla | 20:1d98a6f51dee | 354 | } |
| lucasfontenla | 20:1d98a6f51dee | 355 | } else { |
| lucasfontenla | 21:c6c33381fc5f | 356 | // specified routine |
| lucasfontenla | 18:174b4ff351b5 | 357 | } |
| lucasfontenla | 5:0cbf491f703d | 358 | } |
| lucasfontenla | 9:d771a576e4fc | 359 | } |
| lucasfontenla | 9:d771a576e4fc | 360 | |
| lucasfontenla | 9:d771a576e4fc | 361 | // FUNCTIONS ---------------------------------------------------------------- |
| lucasfontenla | 15:4604a7ee9c77 | 362 | void endX_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 363 | printf("X - press\n\r"); |
| lucasfontenla | 15:4604a7ee9c77 | 364 | if(dirX == x_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 365 | x_block_max = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 366 | } |
| lucasfontenla | 15:4604a7ee9c77 | 367 | else { |
| lucasfontenla | 16:3adab04d42a6 | 368 | x_block_min = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 369 | } |
| lucasfontenla | 12:801e58a7137c | 370 | } |
| lucasfontenla | 15:4604a7ee9c77 | 371 | void endX_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 372 | printf("X - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 373 | x_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 374 | x_block_max = 0; |
| lucasfontenla | 12:801e58a7137c | 375 | } |
| lucasfontenla | 16:3adab04d42a6 | 376 | |
| lucasfontenla | 15:4604a7ee9c77 | 377 | void endY_press(void){ |
| lucasfontenla | 16:3adab04d42a6 | 378 | printf("Y - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 379 | if(dirY == y_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 380 | y_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 381 | } |
| lucasfontenla | 16:3adab04d42a6 | 382 | else { |
| lucasfontenla | 16:3adab04d42a6 | 383 | y_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 384 | } |
| lucasfontenla | 15:4604a7ee9c77 | 385 | } |
| lucasfontenla | 15:4604a7ee9c77 | 386 | void endY_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 387 | printf("Y - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 388 | y_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 389 | y_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 390 | } |
| lucasfontenla | 9:d771a576e4fc | 391 | |
| lucasfontenla | 15:4604a7ee9c77 | 392 | void endZ_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 393 | printf("Z - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 394 | if(dirZ == z_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 395 | z_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 396 | } |
| lucasfontenla | 16:3adab04d42a6 | 397 | else { |
| lucasfontenla | 16:3adab04d42a6 | 398 | z_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 399 | } |
| lucasfontenla | 9:d771a576e4fc | 400 | } |
| lucasfontenla | 15:4604a7ee9c77 | 401 | void endZ_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 402 | printf("Z - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 403 | z_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 404 | z_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 405 | } |
| lucasfontenla | 7:27ea14e58788 | 406 | |
| lucasfontenla | 5:0cbf491f703d | 407 | void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step){ |
| lucasfontenla | 5:0cbf491f703d | 408 | float time = 1.0/pps/2.0; |
| lucasfontenla | 5:0cbf491f703d | 409 | |
| lucasfontenla | 5:0cbf491f703d | 410 | dirX = x_dir; |
| lucasfontenla | 5:0cbf491f703d | 411 | dirY = y_dir; |
| lucasfontenla | 5:0cbf491f703d | 412 | dirZ = z_dir; |
| lucasfontenla | 5:0cbf491f703d | 413 | |
| lucasfontenla | 16:3adab04d42a6 | 414 | // X |
| lucasfontenla | 16:3adab04d42a6 | 415 | if((x_dir == x_plus) && x_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 416 | x_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 417 | } |
| lucasfontenla | 16:3adab04d42a6 | 418 | if((x_dir == x_minus) && x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 419 | x_step = 0; |
| lucasfontenla | 12:801e58a7137c | 420 | } |
| lucasfontenla | 12:801e58a7137c | 421 | |
| lucasfontenla | 16:3adab04d42a6 | 422 | // Y |
| lucasfontenla | 16:3adab04d42a6 | 423 | if((y_dir == y_plus) && y_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 424 | y_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 425 | } |
| lucasfontenla | 16:3adab04d42a6 | 426 | if((y_dir == y_minus) && y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 427 | y_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 428 | } |
| lucasfontenla | 16:3adab04d42a6 | 429 | |
| lucasfontenla | 16:3adab04d42a6 | 430 | // Z |
| lucasfontenla | 16:3adab04d42a6 | 431 | if((z_dir == z_plus) && z_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 432 | z_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 433 | } |
| lucasfontenla | 16:3adab04d42a6 | 434 | if((z_dir == z_minus) && z_block_min){ |
| lucasfontenla | 15:4604a7ee9c77 | 435 | z_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 436 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 437 | |
| lucasfontenla | 5:0cbf491f703d | 438 | int max_val; |
| lucasfontenla | 5:0cbf491f703d | 439 | |
| lucasfontenla | 6:af32c68ff4cf | 440 | // maior número de passos ------- |
| lucasfontenla | 5:0cbf491f703d | 441 | if(x_step > y_step){ |
| lucasfontenla | 5:0cbf491f703d | 442 | if(x_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 443 | max_val = x_step; |
| lucasfontenla | 4:48717b42eab2 | 444 | } |
| lucasfontenla | 4:48717b42eab2 | 445 | else { |
| lucasfontenla | 5:0cbf491f703d | 446 | max_val = z_step; |
| lucasfontenla | 4:48717b42eab2 | 447 | } |
| lucasfontenla | 5:0cbf491f703d | 448 | } else if(y_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 449 | max_val = y_step; |
| lucasfontenla | 5:0cbf491f703d | 450 | } |
| lucasfontenla | 5:0cbf491f703d | 451 | else { |
| lucasfontenla | 5:0cbf491f703d | 452 | max_val = z_step; |
| lucasfontenla | 5:0cbf491f703d | 453 | } |
| lucasfontenla | 5:0cbf491f703d | 454 | |
| lucasfontenla | 5:0cbf491f703d | 455 | for(int i = 0; i < max_val; i++){ |
| lucasfontenla | 6:af32c68ff4cf | 456 | if(i >= x_step){ |
| lucasfontenla | 5:0cbf491f703d | 457 | stepX = 0; |
| lucasfontenla | 5:0cbf491f703d | 458 | } |
| lucasfontenla | 5:0cbf491f703d | 459 | else { stepX = 1; } |
| lucasfontenla | 4:48717b42eab2 | 460 | |
| lucasfontenla | 6:af32c68ff4cf | 461 | if(i >= y_step){ |
| lucasfontenla | 5:0cbf491f703d | 462 | stepY = 0; |
| lucasfontenla | 5:0cbf491f703d | 463 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 464 | else { |
| lucasfontenla | 11:0e22a6fc7f87 | 465 | stepY = 1;} |
| lucasfontenla | 5:0cbf491f703d | 466 | |
| lucasfontenla | 6:af32c68ff4cf | 467 | if(i >= z_step){ |
| lucasfontenla | 5:0cbf491f703d | 468 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 469 | } |
| lucasfontenla | 5:0cbf491f703d | 470 | else { stepZ = 1; } |
| lucasfontenla | 5:0cbf491f703d | 471 | |
| lucasfontenla | 5:0cbf491f703d | 472 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 473 | stepX = 0; |
| lucasfontenla | 4:48717b42eab2 | 474 | stepY = 0; |
| lucasfontenla | 4:48717b42eab2 | 475 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 476 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 477 | } |
| lucasfontenla | 17:55e6270adab5 | 478 | |
| lucasfontenla | 17:55e6270adab5 | 479 | if(dirX == x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 480 | totalX-=x_step; |
| lucasfontenla | 17:55e6270adab5 | 481 | } |
| lucasfontenla | 17:55e6270adab5 | 482 | else { totalX+=x_step; } |
| lucasfontenla | 17:55e6270adab5 | 483 | |
| lucasfontenla | 17:55e6270adab5 | 484 | if(dirY == y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 485 | totalY-=y_step; |
| lucasfontenla | 17:55e6270adab5 | 486 | } else { totalY+=y_step; } |
| lucasfontenla | 17:55e6270adab5 | 487 | |
| lucasfontenla | 17:55e6270adab5 | 488 | if(dirZ == z_minus){ |
| lucasfontenla | 17:55e6270adab5 | 489 | totalZ-=z_step; |
| lucasfontenla | 17:55e6270adab5 | 490 | } else { totalZ+=z_step; } |
| lucasfontenla | 5:0cbf491f703d | 491 | } |
| lucasfontenla | 17:55e6270adab5 | 492 | |
| lucasfontenla | 12:801e58a7137c | 493 | void zeroX(int pps){ |
| lucasfontenla | 12:801e58a7137c | 494 | float time = 1.0/pps/2.0; |
| lucasfontenla | 12:801e58a7137c | 495 | |
| lucasfontenla | 17:55e6270adab5 | 496 | if(dirX != x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 497 | dirX = x_minus; |
| lucasfontenla | 17:55e6270adab5 | 498 | } |
| lucasfontenla | 17:55e6270adab5 | 499 | |
| lucasfontenla | 17:55e6270adab5 | 500 | while(!x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 501 | stepX = 1; |
| lucasfontenla | 12:801e58a7137c | 502 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 503 | stepX = 0; |
| lucasfontenla | 12:801e58a7137c | 504 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 505 | } |
| lucasfontenla | 12:801e58a7137c | 506 | |
| lucasfontenla | 12:801e58a7137c | 507 | printf("X zero\n\r"); |
| lucasfontenla | 12:801e58a7137c | 508 | |
| lucasfontenla | 17:55e6270adab5 | 509 | totalX = 0; |
| lucasfontenla | 12:801e58a7137c | 510 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 511 | void zeroY(int pps){ |
| lucasfontenla | 11:0e22a6fc7f87 | 512 | float time = 1.0/pps/2.0; |
| lucasfontenla | 11:0e22a6fc7f87 | 513 | |
| lucasfontenla | 17:55e6270adab5 | 514 | if(dirY != y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 515 | dirY = y_minus; |
| lucasfontenla | 17:55e6270adab5 | 516 | } |
| lucasfontenla | 17:55e6270adab5 | 517 | |
| lucasfontenla | 17:55e6270adab5 | 518 | while(!y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 519 | stepY = 1; |
| lucasfontenla | 11:0e22a6fc7f87 | 520 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 521 | stepY = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 522 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 523 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 524 | |
| lucasfontenla | 11:0e22a6fc7f87 | 525 | printf("Y zero\n\r"); |
| lucasfontenla | 11:0e22a6fc7f87 | 526 | |
| lucasfontenla | 17:55e6270adab5 | 527 | totalY = 0; |
| lucasfontenla | 17:55e6270adab5 | 528 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 529 | |
| lucasfontenla | 17:55e6270adab5 | 530 | float steps_to_distance(int steps, float pitch){ |
| lucasfontenla | 7:27ea14e58788 | 531 | float delta_S = (((float)steps)/steps_by_rotation)*pitch; |
| lucasfontenla | 7:27ea14e58788 | 532 | return delta_S; |
| lucasfontenla | 7:27ea14e58788 | 533 | } |
| lucasfontenla | 17:55e6270adab5 | 534 | |
| lucasfontenla | 17:55e6270adab5 | 535 | int distance_to_steps(float distance, float pitch){ |
| lucasfontenla | 17:55e6270adab5 | 536 | int steps = (int)(distance*steps_by_rotation/pitch); |
| lucasfontenla | 17:55e6270adab5 | 537 | return steps; |
| lucasfontenla | 17:55e6270adab5 | 538 | } |
| lucasfontenla | 17:55e6270adab5 | 539 | |
| lucasfontenla | 17:55e6270adab5 | 540 | void printDistance(void){ |
| lucasfontenla | 17:55e6270adab5 | 541 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 17:55e6270adab5 | 542 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 17:55e6270adab5 | 543 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 17:55e6270adab5 | 544 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 18:174b4ff351b5 | 545 | } |
| lucasfontenla | 18:174b4ff351b5 | 546 | |
| lucasfontenla | 22:000890b38b32 | 547 | void savePoint(string speed, string mode){ |
| lucasfontenla | 20:1d98a6f51dee | 548 | if(!autoReload){ |
| lucasfontenla | 20:1d98a6f51dee | 549 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 550 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 551 | printf("\nSave selected\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 552 | if(saved >= maxPoints){ |
| lucasfontenla | 20:1d98a6f51dee | 553 | printf("Max points reached\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 554 | } else{ |
| lucasfontenla | 20:1d98a6f51dee | 555 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 556 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 557 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 558 | |
| lucasfontenla | 20:1d98a6f51dee | 559 | points[0][saved] = X; |
| lucasfontenla | 20:1d98a6f51dee | 560 | points[1][saved] = Y; |
| lucasfontenla | 20:1d98a6f51dee | 561 | points[2][saved] = Z; |
| lucasfontenla | 22:000890b38b32 | 562 | path[0][saved] = atof(speed.c_str()); |
| lucasfontenla | 22:000890b38b32 | 563 | path[1][saved] = atof(mode.c_str()); |
| lucasfontenla | 20:1d98a6f51dee | 564 | saved+=1; |
| lucasfontenla | 20:1d98a6f51dee | 565 | } |
| lucasfontenla | 20:1d98a6f51dee | 566 | // save code |
| lucasfontenla | 20:1d98a6f51dee | 567 | printf("Saved --> X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 22:000890b38b32 | 568 | printf("Path --> Speed: %.2f Mode: %.2f\n\r", path[0][saved-1], path[1][saved-1]); |
| lucasfontenla | 22:000890b38b32 | 569 | resting_points = maxPoints-saved; |
| lucasfontenla | 22:000890b38b32 | 570 | printf("Pontos restantes: %d\n\n\r", resting_points); |
| lucasfontenla | 20:1d98a6f51dee | 571 | } |
| lucasfontenla | 20:1d98a6f51dee | 572 | else { |
| lucasfontenla | 20:1d98a6f51dee | 573 | exitSavedPointsLoop = 1; |
| lucasfontenla | 20:1d98a6f51dee | 574 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 575 | } |
| lucasfontenla | 18:174b4ff351b5 | 576 | } |
| lucasfontenla | 18:174b4ff351b5 | 577 | |
| lucasfontenla | 18:174b4ff351b5 | 578 | void startSavedPoints(void){ |
| lucasfontenla | 20:1d98a6f51dee | 579 | if(!autoReload){ |
| lucasfontenla | 20:1d98a6f51dee | 580 | startSaved = 1; |
| lucasfontenla | 20:1d98a6f51dee | 581 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 582 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 583 | } else { |
| lucasfontenla | 20:1d98a6f51dee | 584 | keepSavedPointsReload = 1; |
| lucasfontenla | 20:1d98a6f51dee | 585 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 586 | } |
| lucasfontenla | 22:000890b38b32 | 587 | } |
| lucasfontenla | 22:000890b38b32 | 588 | |
| lucasfontenla | 22:000890b38b32 | 589 | void rxCallback(void){ |
| lucasfontenla | 22:000890b38b32 | 590 | int first_rec_c = 1; |
| lucasfontenla | 22:000890b38b32 | 591 | char mode_c; |
| lucasfontenla | 22:000890b38b32 | 592 | char recv; |
| lucasfontenla | 22:000890b38b32 | 593 | |
| lucasfontenla | 22:000890b38b32 | 594 | //save |
| lucasfontenla | 22:000890b38b32 | 595 | int save = 0; |
| lucasfontenla | 22:000890b38b32 | 596 | int mode = 0; |
| lucasfontenla | 22:000890b38b32 | 597 | int speed = 0; |
| lucasfontenla | 22:000890b38b32 | 598 | string mode_recv; |
| lucasfontenla | 22:000890b38b32 | 599 | string speed_str; |
| lucasfontenla | 22:000890b38b32 | 600 | |
| lucasfontenla | 22:000890b38b32 | 601 | printf("Receiving...\n\r"); |
| lucasfontenla | 22:000890b38b32 | 602 | |
| lucasfontenla | 22:000890b38b32 | 603 | while(1){ |
| lucasfontenla | 22:000890b38b32 | 604 | recv = ihm.getc(); |
| lucasfontenla | 22:000890b38b32 | 605 | |
| lucasfontenla | 22:000890b38b32 | 606 | if(first_rec_c && recv != 'x'){ |
| lucasfontenla | 22:000890b38b32 | 607 | mode_c = recv; |
| lucasfontenla | 22:000890b38b32 | 608 | first_rec_c = 0; |
| lucasfontenla | 22:000890b38b32 | 609 | } else if(recv == 'x'){ |
| lucasfontenla | 22:000890b38b32 | 610 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 611 | printf("Saved: mode->%s, speed->%s\n\r", mode_recv, speed_str); |
| lucasfontenla | 22:000890b38b32 | 612 | savePoint(speed_str, mode_recv); |
| lucasfontenla | 22:000890b38b32 | 613 | } |
| lucasfontenla | 22:000890b38b32 | 614 | break; |
| lucasfontenla | 22:000890b38b32 | 615 | } |
| lucasfontenla | 22:000890b38b32 | 616 | |
| lucasfontenla | 22:000890b38b32 | 617 | if(recv == 's'){ |
| lucasfontenla | 22:000890b38b32 | 618 | save = 1; |
| lucasfontenla | 22:000890b38b32 | 619 | } |
| lucasfontenla | 22:000890b38b32 | 620 | |
| lucasfontenla | 22:000890b38b32 | 621 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 622 | if(recv == 'M'){ |
| lucasfontenla | 22:000890b38b32 | 623 | mode = 1; |
| lucasfontenla | 22:000890b38b32 | 624 | speed = 0; |
| lucasfontenla | 22:000890b38b32 | 625 | } else if(recv == 'F'){ |
| lucasfontenla | 22:000890b38b32 | 626 | mode = 0; |
| lucasfontenla | 22:000890b38b32 | 627 | speed = 1; |
| lucasfontenla | 22:000890b38b32 | 628 | } |
| lucasfontenla | 22:000890b38b32 | 629 | |
| lucasfontenla | 22:000890b38b32 | 630 | if(mode){ |
| lucasfontenla | 22:000890b38b32 | 631 | if(recv != 'M'){ |
| lucasfontenla | 22:000890b38b32 | 632 | mode_recv.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 633 | } |
| lucasfontenla | 22:000890b38b32 | 634 | } else if(speed){ |
| lucasfontenla | 22:000890b38b32 | 635 | if(recv != 'F'){ |
| lucasfontenla | 22:000890b38b32 | 636 | speed_str.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 637 | } |
| lucasfontenla | 22:000890b38b32 | 638 | } |
| lucasfontenla | 22:000890b38b32 | 639 | } |
| lucasfontenla | 22:000890b38b32 | 640 | } |
| lucasfontenla | 17:55e6270adab5 | 641 | } |