Grupo T
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GRUPOT
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main.cpp@25:7b3826dddcba, 2018-05-16 (annotated)
- Committer:
- lucasfontenla
- Date:
- Wed May 16 12:19:49 2018 +0000
- Revision:
- 25:7b3826dddcba
- Parent:
- 24:92f612ca218b
- Child:
- 26:f891ff6beb33
Zeramento e cancelamento via serial.
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 | 24:92f612ca218b | 4 | #include "classes.h" |
| lucasfontenla | 0:cc562f78f889 | 5 | |
| lucasfontenla | 5:0cbf491f703d | 6 | // MACHINE SETUP --------------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 7 | Timer t; |
| lucasfontenla | 24:92f612ca218b | 8 | IHM ihm_class; |
| lucasfontenla | 5:0cbf491f703d | 9 | |
| lucasfontenla | 5:0cbf491f703d | 10 | // drivers output signal |
| lucasfontenla | 14:7cc41420a12c | 11 | DigitalOut enable(D2); |
| lucasfontenla | 14:7cc41420a12c | 12 | |
| lucasfontenla | 4:48717b42eab2 | 13 | DigitalOut dirX(D3); |
| lucasfontenla | 15:4604a7ee9c77 | 14 | DigitalOut stepX(D4); |
| lucasfontenla | 4:48717b42eab2 | 15 | |
| lucasfontenla | 15:4604a7ee9c77 | 16 | DigitalOut dirY(D5); |
| lucasfontenla | 15:4604a7ee9c77 | 17 | DigitalOut stepY(D6); |
| lucasfontenla | 4:48717b42eab2 | 18 | |
| lucasfontenla | 15:4604a7ee9c77 | 19 | DigitalOut dirZ(D7); |
| lucasfontenla | 15:4604a7ee9c77 | 20 | DigitalOut stepZ(D8); |
| lucasfontenla | 4:48717b42eab2 | 21 | |
| lucasfontenla | 5:0cbf491f703d | 22 | // hardware input signal |
| lucasfontenla | 5:0cbf491f703d | 23 | // end-of-stroke sensors |
| lucasfontenla | 16:3adab04d42a6 | 24 | InterruptIn endX(A2); |
| lucasfontenla | 16:3adab04d42a6 | 25 | InterruptIn endY(A3); |
| lucasfontenla | 16:3adab04d42a6 | 26 | InterruptIn endZ(A4); |
| lucasfontenla | 5:0cbf491f703d | 27 | |
| lucasfontenla | 23:d64d37561b4a | 28 | // JOG Controls |
| lucasfontenla | 9:d771a576e4fc | 29 | AnalogIn joyX(A0); |
| lucasfontenla | 9:d771a576e4fc | 30 | AnalogIn joyY(A1); |
| lucasfontenla | 4:48717b42eab2 | 31 | |
| lucasfontenla | 16:3adab04d42a6 | 32 | DigitalIn zUp(D15); |
| lucasfontenla | 16:3adab04d42a6 | 33 | DigitalIn zDwn(D14); |
| lucasfontenla | 4:48717b42eab2 | 34 | |
| lucasfontenla | 5:0cbf491f703d | 35 | // variables definition |
| lucasfontenla | 23:d64d37561b4a | 36 | int modeStatus = 1; |
| lucasfontenla | 5:0cbf491f703d | 37 | |
| lucasfontenla | 4:48717b42eab2 | 38 | float valX; |
| lucasfontenla | 4:48717b42eab2 | 39 | float valY; |
| lucasfontenla | 4:48717b42eab2 | 40 | int valZUp; |
| lucasfontenla | 4:48717b42eab2 | 41 | int valZDwn; |
| lucasfontenla | 4:48717b42eab2 | 42 | |
| lucasfontenla | 4:48717b42eab2 | 43 | int activeX = 1; |
| lucasfontenla | 4:48717b42eab2 | 44 | int activeY = 1; |
| lucasfontenla | 4:48717b42eab2 | 45 | int activeZ = 1; |
| lucasfontenla | 4:48717b42eab2 | 46 | |
| lucasfontenla | 5:0cbf491f703d | 47 | int x_dir; |
| lucasfontenla | 5:0cbf491f703d | 48 | int y_dir; |
| lucasfontenla | 5:0cbf491f703d | 49 | int z_dir; |
| lucasfontenla | 5:0cbf491f703d | 50 | |
| lucasfontenla | 13:0f385bfe3e0d | 51 | int x_plus = 0; |
| lucasfontenla | 13:0f385bfe3e0d | 52 | int x_minus = 1; |
| lucasfontenla | 17:55e6270adab5 | 53 | int y_plus = 0; |
| lucasfontenla | 17:55e6270adab5 | 54 | int y_minus = 1; |
| lucasfontenla | 16:3adab04d42a6 | 55 | int z_plus = 0; |
| lucasfontenla | 16:3adab04d42a6 | 56 | int z_minus = 1; |
| lucasfontenla | 9:d771a576e4fc | 57 | |
| lucasfontenla | 15:4604a7ee9c77 | 58 | int x_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 59 | int x_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 60 | int x_block_min = 0; |
| lucasfontenla | 12:801e58a7137c | 61 | |
| lucasfontenla | 15:4604a7ee9c77 | 62 | int y_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 63 | int y_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 64 | int y_block_min = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 65 | |
| lucasfontenla | 15:4604a7ee9c77 | 66 | int z_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 67 | int z_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 68 | int z_block_min = 0; |
| lucasfontenla | 9:d771a576e4fc | 69 | |
| lucasfontenla | 24:92f612ca218b | 70 | float ppsMax = 1000.0; |
| lucasfontenla | 5:0cbf491f703d | 71 | |
| lucasfontenla | 7:27ea14e58788 | 72 | int totalX = 0; |
| lucasfontenla | 7:27ea14e58788 | 73 | int totalY = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 74 | int totalZ = 0; |
| lucasfontenla | 7:27ea14e58788 | 75 | |
| lucasfontenla | 17:55e6270adab5 | 76 | int x_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 77 | int y_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 78 | int z_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 79 | |
| lucasfontenla | 18:174b4ff351b5 | 80 | float x_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 81 | float y_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 82 | float z_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 83 | |
| lucasfontenla | 7:27ea14e58788 | 84 | float X = 0; |
| lucasfontenla | 7:27ea14e58788 | 85 | float Y = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 86 | float Z = 0; |
| lucasfontenla | 7:27ea14e58788 | 87 | |
| lucasfontenla | 9:d771a576e4fc | 88 | int endX1Status; |
| lucasfontenla | 9:d771a576e4fc | 89 | int endX2Status; |
| lucasfontenla | 9:d771a576e4fc | 90 | |
| lucasfontenla | 7:27ea14e58788 | 91 | // machine parameters |
| lucasfontenla | 8:de64672c240f | 92 | float xPitch = 3.0; |
| lucasfontenla | 8:de64672c240f | 93 | float yPitch = 3.0; |
| lucasfontenla | 15:4604a7ee9c77 | 94 | float zPitch = 3.0; |
| lucasfontenla | 7:27ea14e58788 | 95 | |
| lucasfontenla | 7:27ea14e58788 | 96 | float motor_steps_by_rotation = 200.0; |
| lucasfontenla | 7:27ea14e58788 | 97 | float step_mode = 0.5; |
| lucasfontenla | 7:27ea14e58788 | 98 | float steps_by_rotation = motor_steps_by_rotation/step_mode; |
| lucasfontenla | 7:27ea14e58788 | 99 | |
| lucasfontenla | 18:174b4ff351b5 | 100 | int saved = 0; |
| lucasfontenla | 19:e69ff16f35aa | 101 | const int maxPoints = 10; |
| lucasfontenla | 22:000890b38b32 | 102 | float points[3][maxPoints]; // [0] X; [1] Y; [2] Z; |
| lucasfontenla | 22:000890b38b32 | 103 | float path[2][maxPoints]; // [0] speed; [1] mode; |
| lucasfontenla | 22:000890b38b32 | 104 | int resting_points = 0; |
| lucasfontenla | 18:174b4ff351b5 | 105 | |
| lucasfontenla | 18:174b4ff351b5 | 106 | int startSaved = 0; |
| lucasfontenla | 20:1d98a6f51dee | 107 | int autoReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 108 | int exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 109 | int keepSavedPointsReload = 0; |
| lucasfontenla | 18:174b4ff351b5 | 110 | |
| lucasfontenla | 23:d64d37561b4a | 111 | int kill_jog; |
| lucasfontenla | 23:d64d37561b4a | 112 | |
| lucasfontenla | 21:c6c33381fc5f | 113 | // PROTOTYPE FUNCTIONS ------------------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 114 | void jog(void); |
| lucasfontenla | 23:d64d37561b4a | 115 | void killJog(void); |
| lucasfontenla | 23:d64d37561b4a | 116 | |
| lucasfontenla | 23:d64d37561b4a | 117 | void automatic_run(int); |
| lucasfontenla | 23:d64d37561b4a | 118 | |
| 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 | 23:d64d37561b4a | 141 | void readSerial(void); |
| lucasfontenla | 22:000890b38b32 | 142 | |
| lucasfontenla | 21:c6c33381fc5f | 143 | // MAIN PROGRAM ---------------------------------------------------------------------------------------------- |
| lucasfontenla | 1:b2e395e50a45 | 144 | int main(){ |
| lucasfontenla | 16:3adab04d42a6 | 145 | printf("\nStarting...\r\n"); |
| lucasfontenla | 14:7cc41420a12c | 146 | |
| lucasfontenla | 22:000890b38b32 | 147 | enable = 0; |
| lucasfontenla | 24:92f612ca218b | 148 | t.start(); |
| lucasfontenla | 22:000890b38b32 | 149 | |
| lucasfontenla | 21:c6c33381fc5f | 150 | // interrupções de fim de curso |
| lucasfontenla | 22:000890b38b32 | 151 | /* |
| lucasfontenla | 15:4604a7ee9c77 | 152 | endX.fall(&endX_press); |
| lucasfontenla | 15:4604a7ee9c77 | 153 | endX.rise(&endX_release); |
| lucasfontenla | 5:0cbf491f703d | 154 | |
| lucasfontenla | 15:4604a7ee9c77 | 155 | endY.fall(&endY_press); |
| lucasfontenla | 15:4604a7ee9c77 | 156 | endY.rise(&endY_release); |
| lucasfontenla | 15:4604a7ee9c77 | 157 | |
| lucasfontenla | 15:4604a7ee9c77 | 158 | endZ.fall(&endZ_press); |
| lucasfontenla | 23:d64d37561b4a | 159 | endZ.rise(&endZ_release);*/ |
| lucasfontenla | 20:1d98a6f51dee | 160 | |
| lucasfontenla | 23:d64d37561b4a | 161 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 162 | if(ihm.readable()){ |
| lucasfontenla | 23:d64d37561b4a | 163 | readSerial(); |
| lucasfontenla | 23:d64d37561b4a | 164 | } |
| lucasfontenla | 5:0cbf491f703d | 165 | } |
| lucasfontenla | 9:d771a576e4fc | 166 | } |
| lucasfontenla | 9:d771a576e4fc | 167 | |
| lucasfontenla | 9:d771a576e4fc | 168 | // FUNCTIONS ---------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 169 | |
| lucasfontenla | 15:4604a7ee9c77 | 170 | void endX_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 171 | printf("X - press\n\r"); |
| lucasfontenla | 15:4604a7ee9c77 | 172 | if(dirX == x_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 173 | x_block_max = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 174 | } |
| lucasfontenla | 15:4604a7ee9c77 | 175 | else { |
| lucasfontenla | 16:3adab04d42a6 | 176 | x_block_min = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 177 | } |
| lucasfontenla | 12:801e58a7137c | 178 | } |
| lucasfontenla | 15:4604a7ee9c77 | 179 | void endX_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 180 | printf("X - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 181 | x_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 182 | x_block_max = 0; |
| lucasfontenla | 12:801e58a7137c | 183 | } |
| lucasfontenla | 16:3adab04d42a6 | 184 | |
| lucasfontenla | 15:4604a7ee9c77 | 185 | void endY_press(void){ |
| lucasfontenla | 16:3adab04d42a6 | 186 | printf("Y - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 187 | if(dirY == y_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 188 | y_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 189 | } |
| lucasfontenla | 16:3adab04d42a6 | 190 | else { |
| lucasfontenla | 16:3adab04d42a6 | 191 | y_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 192 | } |
| lucasfontenla | 15:4604a7ee9c77 | 193 | } |
| lucasfontenla | 15:4604a7ee9c77 | 194 | void endY_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 195 | printf("Y - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 196 | y_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 197 | y_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 198 | } |
| lucasfontenla | 9:d771a576e4fc | 199 | |
| lucasfontenla | 15:4604a7ee9c77 | 200 | void endZ_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 201 | printf("Z - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 202 | if(dirZ == z_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 203 | z_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 204 | } |
| lucasfontenla | 16:3adab04d42a6 | 205 | else { |
| lucasfontenla | 16:3adab04d42a6 | 206 | z_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 207 | } |
| lucasfontenla | 9:d771a576e4fc | 208 | } |
| lucasfontenla | 15:4604a7ee9c77 | 209 | void endZ_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 210 | printf("Z - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 211 | z_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 212 | z_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 213 | } |
| lucasfontenla | 7:27ea14e58788 | 214 | |
| lucasfontenla | 5:0cbf491f703d | 215 | 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 | 216 | float time = 1.0/pps/2.0; |
| lucasfontenla | 5:0cbf491f703d | 217 | |
| lucasfontenla | 5:0cbf491f703d | 218 | dirX = x_dir; |
| lucasfontenla | 5:0cbf491f703d | 219 | dirY = y_dir; |
| lucasfontenla | 5:0cbf491f703d | 220 | dirZ = z_dir; |
| lucasfontenla | 5:0cbf491f703d | 221 | |
| lucasfontenla | 16:3adab04d42a6 | 222 | // X |
| lucasfontenla | 16:3adab04d42a6 | 223 | if((x_dir == x_plus) && x_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 224 | x_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 225 | } |
| lucasfontenla | 16:3adab04d42a6 | 226 | if((x_dir == x_minus) && x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 227 | x_step = 0; |
| lucasfontenla | 12:801e58a7137c | 228 | } |
| lucasfontenla | 12:801e58a7137c | 229 | |
| lucasfontenla | 16:3adab04d42a6 | 230 | // Y |
| lucasfontenla | 16:3adab04d42a6 | 231 | if((y_dir == y_plus) && y_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 232 | y_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 233 | } |
| lucasfontenla | 16:3adab04d42a6 | 234 | if((y_dir == y_minus) && y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 235 | y_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 236 | } |
| lucasfontenla | 16:3adab04d42a6 | 237 | |
| lucasfontenla | 16:3adab04d42a6 | 238 | // Z |
| lucasfontenla | 16:3adab04d42a6 | 239 | if((z_dir == z_plus) && z_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 240 | z_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 241 | } |
| lucasfontenla | 16:3adab04d42a6 | 242 | if((z_dir == z_minus) && z_block_min){ |
| lucasfontenla | 15:4604a7ee9c77 | 243 | z_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 244 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 245 | |
| lucasfontenla | 5:0cbf491f703d | 246 | int max_val; |
| lucasfontenla | 5:0cbf491f703d | 247 | |
| lucasfontenla | 6:af32c68ff4cf | 248 | // maior número de passos ------- |
| lucasfontenla | 5:0cbf491f703d | 249 | if(x_step > y_step){ |
| lucasfontenla | 5:0cbf491f703d | 250 | if(x_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 251 | max_val = x_step; |
| lucasfontenla | 4:48717b42eab2 | 252 | } |
| lucasfontenla | 4:48717b42eab2 | 253 | else { |
| lucasfontenla | 5:0cbf491f703d | 254 | max_val = z_step; |
| lucasfontenla | 4:48717b42eab2 | 255 | } |
| lucasfontenla | 5:0cbf491f703d | 256 | } else if(y_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 257 | max_val = y_step; |
| lucasfontenla | 5:0cbf491f703d | 258 | } |
| lucasfontenla | 5:0cbf491f703d | 259 | else { |
| lucasfontenla | 5:0cbf491f703d | 260 | max_val = z_step; |
| lucasfontenla | 5:0cbf491f703d | 261 | } |
| lucasfontenla | 5:0cbf491f703d | 262 | |
| lucasfontenla | 5:0cbf491f703d | 263 | for(int i = 0; i < max_val; i++){ |
| lucasfontenla | 6:af32c68ff4cf | 264 | if(i >= x_step){ |
| lucasfontenla | 5:0cbf491f703d | 265 | stepX = 0; |
| lucasfontenla | 5:0cbf491f703d | 266 | } |
| lucasfontenla | 5:0cbf491f703d | 267 | else { stepX = 1; } |
| lucasfontenla | 4:48717b42eab2 | 268 | |
| lucasfontenla | 6:af32c68ff4cf | 269 | if(i >= y_step){ |
| lucasfontenla | 5:0cbf491f703d | 270 | stepY = 0; |
| lucasfontenla | 5:0cbf491f703d | 271 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 272 | else { |
| lucasfontenla | 11:0e22a6fc7f87 | 273 | stepY = 1;} |
| lucasfontenla | 5:0cbf491f703d | 274 | |
| lucasfontenla | 6:af32c68ff4cf | 275 | if(i >= z_step){ |
| lucasfontenla | 5:0cbf491f703d | 276 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 277 | } |
| lucasfontenla | 5:0cbf491f703d | 278 | else { stepZ = 1; } |
| lucasfontenla | 5:0cbf491f703d | 279 | |
| lucasfontenla | 5:0cbf491f703d | 280 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 281 | stepX = 0; |
| lucasfontenla | 4:48717b42eab2 | 282 | stepY = 0; |
| lucasfontenla | 4:48717b42eab2 | 283 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 284 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 285 | } |
| lucasfontenla | 17:55e6270adab5 | 286 | |
| lucasfontenla | 17:55e6270adab5 | 287 | if(dirX == x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 288 | totalX-=x_step; |
| lucasfontenla | 17:55e6270adab5 | 289 | } |
| lucasfontenla | 17:55e6270adab5 | 290 | else { totalX+=x_step; } |
| lucasfontenla | 17:55e6270adab5 | 291 | |
| lucasfontenla | 17:55e6270adab5 | 292 | if(dirY == y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 293 | totalY-=y_step; |
| lucasfontenla | 17:55e6270adab5 | 294 | } else { totalY+=y_step; } |
| lucasfontenla | 17:55e6270adab5 | 295 | |
| lucasfontenla | 17:55e6270adab5 | 296 | if(dirZ == z_minus){ |
| lucasfontenla | 17:55e6270adab5 | 297 | totalZ-=z_step; |
| lucasfontenla | 17:55e6270adab5 | 298 | } else { totalZ+=z_step; } |
| lucasfontenla | 5:0cbf491f703d | 299 | } |
| lucasfontenla | 17:55e6270adab5 | 300 | |
| lucasfontenla | 12:801e58a7137c | 301 | void zeroX(int pps){ |
| lucasfontenla | 25:7b3826dddcba | 302 | printf("Zero X\n\r"); |
| lucasfontenla | 12:801e58a7137c | 303 | float time = 1.0/pps/2.0; |
| lucasfontenla | 12:801e58a7137c | 304 | |
| lucasfontenla | 17:55e6270adab5 | 305 | if(dirX != x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 306 | dirX = x_minus; |
| lucasfontenla | 17:55e6270adab5 | 307 | } |
| lucasfontenla | 17:55e6270adab5 | 308 | |
| lucasfontenla | 17:55e6270adab5 | 309 | while(!x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 310 | stepX = 1; |
| lucasfontenla | 12:801e58a7137c | 311 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 312 | stepX = 0; |
| lucasfontenla | 12:801e58a7137c | 313 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 314 | } |
| lucasfontenla | 12:801e58a7137c | 315 | |
| lucasfontenla | 12:801e58a7137c | 316 | printf("X zero\n\r"); |
| lucasfontenla | 12:801e58a7137c | 317 | |
| lucasfontenla | 17:55e6270adab5 | 318 | totalX = 0; |
| lucasfontenla | 12:801e58a7137c | 319 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 320 | void zeroY(int pps){ |
| lucasfontenla | 25:7b3826dddcba | 321 | printf("Zero Y\n\r"); |
| lucasfontenla | 11:0e22a6fc7f87 | 322 | float time = 1.0/pps/2.0; |
| lucasfontenla | 11:0e22a6fc7f87 | 323 | |
| lucasfontenla | 17:55e6270adab5 | 324 | if(dirY != y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 325 | dirY = y_minus; |
| lucasfontenla | 17:55e6270adab5 | 326 | } |
| lucasfontenla | 17:55e6270adab5 | 327 | |
| lucasfontenla | 17:55e6270adab5 | 328 | while(!y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 329 | stepY = 1; |
| lucasfontenla | 11:0e22a6fc7f87 | 330 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 331 | stepY = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 332 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 333 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 334 | |
| lucasfontenla | 11:0e22a6fc7f87 | 335 | printf("Y zero\n\r"); |
| lucasfontenla | 11:0e22a6fc7f87 | 336 | |
| lucasfontenla | 17:55e6270adab5 | 337 | totalY = 0; |
| lucasfontenla | 17:55e6270adab5 | 338 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 339 | |
| lucasfontenla | 25:7b3826dddcba | 340 | void zeroZ(int pps){ |
| lucasfontenla | 25:7b3826dddcba | 341 | printf("Zero Z\n\r"); |
| lucasfontenla | 25:7b3826dddcba | 342 | float time = 1.0/pps/2.0; |
| lucasfontenla | 25:7b3826dddcba | 343 | |
| lucasfontenla | 25:7b3826dddcba | 344 | if(dirZ != z_minus){ |
| lucasfontenla | 25:7b3826dddcba | 345 | dirZ = z_minus; |
| lucasfontenla | 25:7b3826dddcba | 346 | } |
| lucasfontenla | 25:7b3826dddcba | 347 | |
| lucasfontenla | 25:7b3826dddcba | 348 | while(!z_block_min){ |
| lucasfontenla | 25:7b3826dddcba | 349 | stepZ = 1; |
| lucasfontenla | 25:7b3826dddcba | 350 | wait(time); |
| lucasfontenla | 25:7b3826dddcba | 351 | stepZ = 0; |
| lucasfontenla | 25:7b3826dddcba | 352 | wait(time); |
| lucasfontenla | 25:7b3826dddcba | 353 | } |
| lucasfontenla | 25:7b3826dddcba | 354 | |
| lucasfontenla | 25:7b3826dddcba | 355 | printf("Z zero\n\r"); |
| lucasfontenla | 25:7b3826dddcba | 356 | |
| lucasfontenla | 25:7b3826dddcba | 357 | totalZ = 0; |
| lucasfontenla | 25:7b3826dddcba | 358 | } |
| lucasfontenla | 25:7b3826dddcba | 359 | |
| lucasfontenla | 17:55e6270adab5 | 360 | float steps_to_distance(int steps, float pitch){ |
| lucasfontenla | 7:27ea14e58788 | 361 | float delta_S = (((float)steps)/steps_by_rotation)*pitch; |
| lucasfontenla | 7:27ea14e58788 | 362 | return delta_S; |
| lucasfontenla | 7:27ea14e58788 | 363 | } |
| lucasfontenla | 17:55e6270adab5 | 364 | |
| lucasfontenla | 17:55e6270adab5 | 365 | int distance_to_steps(float distance, float pitch){ |
| lucasfontenla | 17:55e6270adab5 | 366 | int steps = (int)(distance*steps_by_rotation/pitch); |
| lucasfontenla | 17:55e6270adab5 | 367 | return steps; |
| lucasfontenla | 17:55e6270adab5 | 368 | } |
| lucasfontenla | 17:55e6270adab5 | 369 | |
| lucasfontenla | 17:55e6270adab5 | 370 | void printDistance(void){ |
| lucasfontenla | 17:55e6270adab5 | 371 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 17:55e6270adab5 | 372 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 17:55e6270adab5 | 373 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 17:55e6270adab5 | 374 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 18:174b4ff351b5 | 375 | } |
| lucasfontenla | 18:174b4ff351b5 | 376 | |
| lucasfontenla | 22:000890b38b32 | 377 | void savePoint(string speed, string mode){ |
| lucasfontenla | 20:1d98a6f51dee | 378 | if(!autoReload){ |
| lucasfontenla | 20:1d98a6f51dee | 379 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 380 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 381 | printf("\nSave selected\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 382 | if(saved >= maxPoints){ |
| lucasfontenla | 20:1d98a6f51dee | 383 | printf("Max points reached\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 384 | } else{ |
| lucasfontenla | 20:1d98a6f51dee | 385 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 386 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 387 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 388 | |
| lucasfontenla | 20:1d98a6f51dee | 389 | points[0][saved] = X; |
| lucasfontenla | 20:1d98a6f51dee | 390 | points[1][saved] = Y; |
| lucasfontenla | 20:1d98a6f51dee | 391 | points[2][saved] = Z; |
| lucasfontenla | 22:000890b38b32 | 392 | path[0][saved] = atof(speed.c_str()); |
| lucasfontenla | 22:000890b38b32 | 393 | path[1][saved] = atof(mode.c_str()); |
| lucasfontenla | 20:1d98a6f51dee | 394 | saved+=1; |
| lucasfontenla | 20:1d98a6f51dee | 395 | } |
| lucasfontenla | 20:1d98a6f51dee | 396 | // save code |
| lucasfontenla | 20:1d98a6f51dee | 397 | printf("Saved --> X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 22:000890b38b32 | 398 | printf("Path --> Speed: %.2f Mode: %.2f\n\r", path[0][saved-1], path[1][saved-1]); |
| lucasfontenla | 22:000890b38b32 | 399 | resting_points = maxPoints-saved; |
| lucasfontenla | 23:d64d37561b4a | 400 | printf("Pontos restantes: %d\n\r", resting_points); |
| lucasfontenla | 20:1d98a6f51dee | 401 | } |
| lucasfontenla | 20:1d98a6f51dee | 402 | else { |
| lucasfontenla | 20:1d98a6f51dee | 403 | exitSavedPointsLoop = 1; |
| lucasfontenla | 20:1d98a6f51dee | 404 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 405 | } |
| lucasfontenla | 18:174b4ff351b5 | 406 | } |
| lucasfontenla | 18:174b4ff351b5 | 407 | |
| lucasfontenla | 23:d64d37561b4a | 408 | void jog(void){ |
| lucasfontenla | 23:d64d37561b4a | 409 | kill_jog = 0; |
| lucasfontenla | 23:d64d37561b4a | 410 | printf("JOG Selected %d\n\r", kill_jog); |
| lucasfontenla | 23:d64d37561b4a | 411 | |
| lucasfontenla | 24:92f612ca218b | 412 | t.reset(); |
| lucasfontenla | 24:92f612ca218b | 413 | |
| lucasfontenla | 23:d64d37561b4a | 414 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 415 | if(ihm.readable()){ |
| lucasfontenla | 23:d64d37561b4a | 416 | readSerial(); |
| lucasfontenla | 23:d64d37561b4a | 417 | } |
| lucasfontenla | 23:d64d37561b4a | 418 | valX = joyX; |
| lucasfontenla | 23:d64d37561b4a | 419 | valY = joyY; |
| lucasfontenla | 23:d64d37561b4a | 420 | |
| lucasfontenla | 23:d64d37561b4a | 421 | valZUp = zUp; |
| lucasfontenla | 23:d64d37561b4a | 422 | valZDwn = zDwn; |
| lucasfontenla | 23:d64d37561b4a | 423 | |
| lucasfontenla | 23:d64d37561b4a | 424 | if(valX > 0.7){ |
| lucasfontenla | 23:d64d37561b4a | 425 | if(x_dir != x_plus){ |
| lucasfontenla | 23:d64d37561b4a | 426 | x_dir = x_plus; |
| lucasfontenla | 23:d64d37561b4a | 427 | } |
| lucasfontenla | 23:d64d37561b4a | 428 | activeX = 1; |
| lucasfontenla | 23:d64d37561b4a | 429 | } |
| lucasfontenla | 23:d64d37561b4a | 430 | else if(valX < 0.3){ |
| lucasfontenla | 23:d64d37561b4a | 431 | if(x_dir != x_minus){ |
| lucasfontenla | 23:d64d37561b4a | 432 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 433 | } |
| lucasfontenla | 23:d64d37561b4a | 434 | activeX = 1; |
| lucasfontenla | 23:d64d37561b4a | 435 | } |
| lucasfontenla | 23:d64d37561b4a | 436 | else{ |
| lucasfontenla | 23:d64d37561b4a | 437 | activeX = 0; |
| lucasfontenla | 23:d64d37561b4a | 438 | } |
| lucasfontenla | 23:d64d37561b4a | 439 | |
| lucasfontenla | 23:d64d37561b4a | 440 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 441 | |
| lucasfontenla | 23:d64d37561b4a | 442 | if(valY > 0.7){ |
| lucasfontenla | 23:d64d37561b4a | 443 | if(y_dir != y_plus){ |
| lucasfontenla | 23:d64d37561b4a | 444 | y_dir = y_plus; |
| lucasfontenla | 23:d64d37561b4a | 445 | } |
| lucasfontenla | 23:d64d37561b4a | 446 | activeY = 1; |
| lucasfontenla | 23:d64d37561b4a | 447 | } |
| lucasfontenla | 23:d64d37561b4a | 448 | else if(valY < 0.3){ |
| lucasfontenla | 23:d64d37561b4a | 449 | if(y_dir != y_minus){ |
| lucasfontenla | 23:d64d37561b4a | 450 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 451 | } |
| lucasfontenla | 23:d64d37561b4a | 452 | activeY = 1; |
| lucasfontenla | 23:d64d37561b4a | 453 | } |
| lucasfontenla | 23:d64d37561b4a | 454 | else{ |
| lucasfontenla | 23:d64d37561b4a | 455 | activeY = 0; |
| lucasfontenla | 23:d64d37561b4a | 456 | } |
| lucasfontenla | 23:d64d37561b4a | 457 | |
| lucasfontenla | 23:d64d37561b4a | 458 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 459 | |
| lucasfontenla | 23:d64d37561b4a | 460 | if(!valZUp && valZDwn){ |
| lucasfontenla | 23:d64d37561b4a | 461 | if(z_dir != z_minus){ |
| lucasfontenla | 23:d64d37561b4a | 462 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 463 | } |
| lucasfontenla | 23:d64d37561b4a | 464 | activeZ = 1; |
| lucasfontenla | 23:d64d37561b4a | 465 | } |
| lucasfontenla | 23:d64d37561b4a | 466 | else if(!valZDwn && valZUp){ |
| lucasfontenla | 23:d64d37561b4a | 467 | if(z_dir != z_plus){ |
| lucasfontenla | 23:d64d37561b4a | 468 | z_dir = z_plus; |
| lucasfontenla | 23:d64d37561b4a | 469 | } |
| lucasfontenla | 23:d64d37561b4a | 470 | activeZ = 1; |
| lucasfontenla | 23:d64d37561b4a | 471 | } |
| lucasfontenla | 23:d64d37561b4a | 472 | else { |
| lucasfontenla | 23:d64d37561b4a | 473 | activeZ = 0; |
| lucasfontenla | 23:d64d37561b4a | 474 | } |
| lucasfontenla | 23:d64d37561b4a | 475 | |
| lucasfontenla | 23:d64d37561b4a | 476 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 477 | |
| lucasfontenla | 23:d64d37561b4a | 478 | move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ); |
| lucasfontenla | 23:d64d37561b4a | 479 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 480 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 481 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 482 | |
| lucasfontenla | 24:92f612ca218b | 483 | if(t.read() > sendTime){ |
| lucasfontenla | 23:d64d37561b4a | 484 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 24:92f612ca218b | 485 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 24:92f612ca218b | 486 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 24:92f612ca218b | 487 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 24:92f612ca218b | 488 | ihm_class.send_position(X, Y, Z); |
| lucasfontenla | 24:92f612ca218b | 489 | t.reset(); |
| lucasfontenla | 23:d64d37561b4a | 490 | } |
| lucasfontenla | 23:d64d37561b4a | 491 | |
| lucasfontenla | 23:d64d37561b4a | 492 | if(kill_jog){ |
| lucasfontenla | 23:d64d37561b4a | 493 | break; |
| lucasfontenla | 23:d64d37561b4a | 494 | } |
| lucasfontenla | 23:d64d37561b4a | 495 | } |
| lucasfontenla | 23:d64d37561b4a | 496 | } |
| lucasfontenla | 23:d64d37561b4a | 497 | |
| lucasfontenla | 23:d64d37561b4a | 498 | void automatic_run(int total_points){ |
| lucasfontenla | 23:d64d37561b4a | 499 | printf("\nStarting automatic routine\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 500 | |
| lucasfontenla | 23:d64d37561b4a | 501 | // home |
| lucasfontenla | 23:d64d37561b4a | 502 | x_distance_to_run = points[0][0] - points[0][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 503 | y_distance_to_run = points[1][0] - points[1][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 504 | z_distance_to_run = points[2][0] - points[2][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 505 | |
| lucasfontenla | 23:d64d37561b4a | 506 | printf("\nGoing to first point\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 507 | |
| lucasfontenla | 23:d64d37561b4a | 508 | if(x_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 509 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 510 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 511 | } else { x_dir = x_plus; } |
| lucasfontenla | 23:d64d37561b4a | 512 | |
| lucasfontenla | 23:d64d37561b4a | 513 | if(y_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 514 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 515 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 516 | } else { y_dir = y_plus; } |
| lucasfontenla | 23:d64d37561b4a | 517 | |
| lucasfontenla | 23:d64d37561b4a | 518 | if(z_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 519 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 520 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 521 | } else { z_dir = z_plus; } |
| lucasfontenla | 23:d64d37561b4a | 522 | |
| lucasfontenla | 23:d64d37561b4a | 523 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 524 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 525 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 526 | |
| lucasfontenla | 23:d64d37561b4a | 527 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 23:d64d37561b4a | 528 | |
| lucasfontenla | 23:d64d37561b4a | 529 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 23:d64d37561b4a | 530 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 23:d64d37561b4a | 531 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 23:d64d37561b4a | 532 | |
| lucasfontenla | 23:d64d37561b4a | 533 | wait(2); |
| lucasfontenla | 23:d64d37561b4a | 534 | |
| lucasfontenla | 23:d64d37561b4a | 535 | printf("\nSaved points\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 536 | |
| lucasfontenla | 23:d64d37561b4a | 537 | // routine |
| lucasfontenla | 23:d64d37561b4a | 538 | |
| lucasfontenla | 23:d64d37561b4a | 539 | for(int i = 1; i < total_points; i++){ |
| lucasfontenla | 23:d64d37561b4a | 540 | x_distance_to_run = points[0][i]-points[0][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 541 | y_distance_to_run = points[1][i]-points[1][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 542 | z_distance_to_run = points[2][i]-points[2][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 543 | |
| lucasfontenla | 23:d64d37561b4a | 544 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 23:d64d37561b4a | 545 | |
| lucasfontenla | 23:d64d37561b4a | 546 | if(x_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 547 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 548 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 549 | } else { x_dir = x_plus; } |
| lucasfontenla | 23:d64d37561b4a | 550 | |
| lucasfontenla | 23:d64d37561b4a | 551 | if(y_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 552 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 553 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 554 | } else { y_dir = y_plus; } |
| lucasfontenla | 23:d64d37561b4a | 555 | |
| lucasfontenla | 23:d64d37561b4a | 556 | if(z_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 557 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 558 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 559 | } else { z_dir = z_plus; } |
| lucasfontenla | 23:d64d37561b4a | 560 | |
| lucasfontenla | 23:d64d37561b4a | 561 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 562 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 563 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 564 | |
| lucasfontenla | 23:d64d37561b4a | 565 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 23:d64d37561b4a | 566 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 23:d64d37561b4a | 567 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 23:d64d37561b4a | 568 | } |
| lucasfontenla | 23:d64d37561b4a | 569 | killJog(); |
| lucasfontenla | 23:d64d37561b4a | 570 | printf("Done\n\r"); |
| lucasfontenla | 22:000890b38b32 | 571 | } |
| lucasfontenla | 22:000890b38b32 | 572 | |
| lucasfontenla | 23:d64d37561b4a | 573 | void killJog(void){ |
| lucasfontenla | 23:d64d37561b4a | 574 | kill_jog = 1; |
| lucasfontenla | 23:d64d37561b4a | 575 | printf("Jog killed\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 576 | } |
| lucasfontenla | 23:d64d37561b4a | 577 | |
| lucasfontenla | 25:7b3826dddcba | 578 | void cancelProgram(void){ |
| lucasfontenla | 25:7b3826dddcba | 579 | saved = 0; |
| lucasfontenla | 25:7b3826dddcba | 580 | killJog(); |
| lucasfontenla | 25:7b3826dddcba | 581 | } |
| lucasfontenla | 25:7b3826dddcba | 582 | |
| lucasfontenla | 23:d64d37561b4a | 583 | void readSerial(void){ |
| lucasfontenla | 22:000890b38b32 | 584 | char recv; |
| lucasfontenla | 25:7b3826dddcba | 585 | char last_recv; |
| lucasfontenla | 22:000890b38b32 | 586 | |
| lucasfontenla | 22:000890b38b32 | 587 | //save |
| lucasfontenla | 22:000890b38b32 | 588 | int save = 0; |
| lucasfontenla | 22:000890b38b32 | 589 | int mode = 0; |
| lucasfontenla | 22:000890b38b32 | 590 | int speed = 0; |
| lucasfontenla | 22:000890b38b32 | 591 | string mode_recv; |
| lucasfontenla | 22:000890b38b32 | 592 | string speed_str; |
| lucasfontenla | 22:000890b38b32 | 593 | |
| lucasfontenla | 23:d64d37561b4a | 594 | //begin |
| lucasfontenla | 23:d64d37561b4a | 595 | int begin = 0; |
| lucasfontenla | 23:d64d37561b4a | 596 | |
| lucasfontenla | 23:d64d37561b4a | 597 | //jog |
| lucasfontenla | 23:d64d37561b4a | 598 | int jog_mode = 0; |
| lucasfontenla | 23:d64d37561b4a | 599 | int kill_jog_mode = 0; |
| lucasfontenla | 23:d64d37561b4a | 600 | |
| lucasfontenla | 25:7b3826dddcba | 601 | //reset |
| lucasfontenla | 25:7b3826dddcba | 602 | int reset = 0; |
| lucasfontenla | 25:7b3826dddcba | 603 | |
| lucasfontenla | 25:7b3826dddcba | 604 | //cancel |
| lucasfontenla | 25:7b3826dddcba | 605 | int cancel = 0; |
| lucasfontenla | 25:7b3826dddcba | 606 | |
| lucasfontenla | 25:7b3826dddcba | 607 | //zero |
| lucasfontenla | 25:7b3826dddcba | 608 | int zero = 0; |
| lucasfontenla | 25:7b3826dddcba | 609 | int machine_zero = 0; |
| lucasfontenla | 25:7b3826dddcba | 610 | |
| lucasfontenla | 23:d64d37561b4a | 611 | printf("\n\nReceiving...\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 612 | |
| lucasfontenla | 23:d64d37561b4a | 613 | t.reset(); |
| lucasfontenla | 22:000890b38b32 | 614 | |
| lucasfontenla | 22:000890b38b32 | 615 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 616 | if(t.read()>0.2){ |
| lucasfontenla | 23:d64d37561b4a | 617 | printf("Timeout\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 618 | break; |
| lucasfontenla | 23:d64d37561b4a | 619 | } |
| lucasfontenla | 23:d64d37561b4a | 620 | |
| lucasfontenla | 22:000890b38b32 | 621 | recv = ihm.getc(); |
| lucasfontenla | 22:000890b38b32 | 622 | |
| lucasfontenla | 23:d64d37561b4a | 623 | printf("%c\n\r", recv); |
| lucasfontenla | 23:d64d37561b4a | 624 | |
| lucasfontenla | 23:d64d37561b4a | 625 | if(recv == 'x'){ |
| lucasfontenla | 22:000890b38b32 | 626 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 627 | savePoint(speed_str, mode_recv); |
| lucasfontenla | 23:d64d37561b4a | 628 | } else if(begin){ |
| lucasfontenla | 23:d64d37561b4a | 629 | automatic_run(saved); |
| lucasfontenla | 23:d64d37561b4a | 630 | } else if(jog_mode){ |
| lucasfontenla | 23:d64d37561b4a | 631 | if(kill_jog_mode){ |
| lucasfontenla | 23:d64d37561b4a | 632 | killJog(); |
| lucasfontenla | 23:d64d37561b4a | 633 | } else { |
| lucasfontenla | 23:d64d37561b4a | 634 | jog(); |
| lucasfontenla | 23:d64d37561b4a | 635 | } |
| lucasfontenla | 25:7b3826dddcba | 636 | } else if(reset){ |
| lucasfontenla | 25:7b3826dddcba | 637 | NVIC_SystemReset(); |
| lucasfontenla | 25:7b3826dddcba | 638 | } else if(cancel){ |
| lucasfontenla | 25:7b3826dddcba | 639 | cancel = 1; |
| lucasfontenla | 25:7b3826dddcba | 640 | cancelProgram(); |
| lucasfontenla | 25:7b3826dddcba | 641 | } else if(zero){ |
| lucasfontenla | 25:7b3826dddcba | 642 | if(machine_zero){ |
| lucasfontenla | 25:7b3826dddcba | 643 | zeroX(ppsMax); |
| lucasfontenla | 25:7b3826dddcba | 644 | zeroY(ppsMax); |
| lucasfontenla | 25:7b3826dddcba | 645 | zeroZ(ppsMax); |
| lucasfontenla | 25:7b3826dddcba | 646 | } else if(last_recv == 'X'){ |
| lucasfontenla | 25:7b3826dddcba | 647 | totalX = 0; |
| lucasfontenla | 25:7b3826dddcba | 648 | } else if(last_recv == 'Y'){ |
| lucasfontenla | 25:7b3826dddcba | 649 | totalY = 0; |
| lucasfontenla | 25:7b3826dddcba | 650 | } else if(last_recv == 'Z'){ |
| lucasfontenla | 25:7b3826dddcba | 651 | totalZ = 0; |
| lucasfontenla | 25:7b3826dddcba | 652 | } |
| lucasfontenla | 25:7b3826dddcba | 653 | } |
| lucasfontenla | 22:000890b38b32 | 654 | break; |
| lucasfontenla | 22:000890b38b32 | 655 | } |
| lucasfontenla | 22:000890b38b32 | 656 | |
| lucasfontenla | 22:000890b38b32 | 657 | if(recv == 's'){ |
| lucasfontenla | 22:000890b38b32 | 658 | save = 1; |
| lucasfontenla | 22:000890b38b32 | 659 | } |
| lucasfontenla | 22:000890b38b32 | 660 | |
| lucasfontenla | 23:d64d37561b4a | 661 | if(recv == 'b'){ |
| lucasfontenla | 23:d64d37561b4a | 662 | begin = 1; |
| lucasfontenla | 23:d64d37561b4a | 663 | } |
| lucasfontenla | 23:d64d37561b4a | 664 | |
| lucasfontenla | 23:d64d37561b4a | 665 | if(recv == 'j'){ |
| lucasfontenla | 23:d64d37561b4a | 666 | jog_mode = 1; |
| lucasfontenla | 23:d64d37561b4a | 667 | } |
| lucasfontenla | 23:d64d37561b4a | 668 | |
| lucasfontenla | 25:7b3826dddcba | 669 | if(recv == 'r'){ |
| lucasfontenla | 25:7b3826dddcba | 670 | reset = 1; |
| lucasfontenla | 25:7b3826dddcba | 671 | } |
| lucasfontenla | 25:7b3826dddcba | 672 | |
| lucasfontenla | 25:7b3826dddcba | 673 | if(recv == 'c'){ |
| lucasfontenla | 25:7b3826dddcba | 674 | cancel = 1; |
| lucasfontenla | 25:7b3826dddcba | 675 | } |
| lucasfontenla | 25:7b3826dddcba | 676 | |
| lucasfontenla | 25:7b3826dddcba | 677 | if(recv == 'z'){ |
| lucasfontenla | 25:7b3826dddcba | 678 | zero = 1; |
| lucasfontenla | 25:7b3826dddcba | 679 | } |
| lucasfontenla | 25:7b3826dddcba | 680 | |
| lucasfontenla | 22:000890b38b32 | 681 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 682 | if(recv == 'M'){ |
| lucasfontenla | 22:000890b38b32 | 683 | mode = 1; |
| lucasfontenla | 22:000890b38b32 | 684 | speed = 0; |
| lucasfontenla | 22:000890b38b32 | 685 | } else if(recv == 'F'){ |
| lucasfontenla | 22:000890b38b32 | 686 | mode = 0; |
| lucasfontenla | 22:000890b38b32 | 687 | speed = 1; |
| lucasfontenla | 22:000890b38b32 | 688 | } |
| lucasfontenla | 22:000890b38b32 | 689 | |
| lucasfontenla | 22:000890b38b32 | 690 | if(mode){ |
| lucasfontenla | 22:000890b38b32 | 691 | if(recv != 'M'){ |
| lucasfontenla | 22:000890b38b32 | 692 | mode_recv.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 693 | } |
| lucasfontenla | 22:000890b38b32 | 694 | } else if(speed){ |
| lucasfontenla | 22:000890b38b32 | 695 | if(recv != 'F'){ |
| lucasfontenla | 22:000890b38b32 | 696 | speed_str.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 697 | } |
| lucasfontenla | 22:000890b38b32 | 698 | } |
| lucasfontenla | 22:000890b38b32 | 699 | } |
| lucasfontenla | 23:d64d37561b4a | 700 | |
| lucasfontenla | 23:d64d37561b4a | 701 | if(jog_mode && recv == 'k'){ |
| lucasfontenla | 23:d64d37561b4a | 702 | kill_jog_mode = 1; |
| lucasfontenla | 23:d64d37561b4a | 703 | } |
| lucasfontenla | 25:7b3826dddcba | 704 | |
| lucasfontenla | 25:7b3826dddcba | 705 | if(zero && recv == 'm'){ |
| lucasfontenla | 25:7b3826dddcba | 706 | machine_zero = 1; |
| lucasfontenla | 25:7b3826dddcba | 707 | } else if(zero && recv != 'm'){ |
| lucasfontenla | 25:7b3826dddcba | 708 | last_recv = recv; |
| lucasfontenla | 25:7b3826dddcba | 709 | } |
| lucasfontenla | 22:000890b38b32 | 710 | } |
| lucasfontenla | 24:92f612ca218b | 711 | t.reset(); |
| lucasfontenla | 17:55e6270adab5 | 712 | } |