Grupo T
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GRUPOT
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main.cpp@23:d64d37561b4a, 2018-05-15 (annotated)
- Committer:
- lucasfontenla
- Date:
- Tue May 15 15:31:29 2018 +0000
- Revision:
- 23:d64d37561b4a
- Parent:
- 22:000890b38b32
- Child:
- 24:92f612ca218b
Serial funcionando, executando jog, savando pontos e executando pontos salvos.;
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 | 23:d64d37561b4a | 10 | Timer t; |
| lucasfontenla | 5:0cbf491f703d | 11 | |
| lucasfontenla | 5:0cbf491f703d | 12 | // drivers output signal |
| lucasfontenla | 14:7cc41420a12c | 13 | DigitalOut enable(D2); |
| lucasfontenla | 14:7cc41420a12c | 14 | |
| lucasfontenla | 4:48717b42eab2 | 15 | DigitalOut dirX(D3); |
| lucasfontenla | 15:4604a7ee9c77 | 16 | DigitalOut stepX(D4); |
| lucasfontenla | 4:48717b42eab2 | 17 | |
| lucasfontenla | 15:4604a7ee9c77 | 18 | DigitalOut dirY(D5); |
| lucasfontenla | 15:4604a7ee9c77 | 19 | DigitalOut stepY(D6); |
| lucasfontenla | 4:48717b42eab2 | 20 | |
| lucasfontenla | 15:4604a7ee9c77 | 21 | DigitalOut dirZ(D7); |
| lucasfontenla | 15:4604a7ee9c77 | 22 | DigitalOut stepZ(D8); |
| lucasfontenla | 4:48717b42eab2 | 23 | |
| lucasfontenla | 5:0cbf491f703d | 24 | // hardware input signal |
| lucasfontenla | 5:0cbf491f703d | 25 | // end-of-stroke sensors |
| lucasfontenla | 16:3adab04d42a6 | 26 | InterruptIn endX(A2); |
| lucasfontenla | 16:3adab04d42a6 | 27 | InterruptIn endY(A3); |
| lucasfontenla | 16:3adab04d42a6 | 28 | InterruptIn endZ(A4); |
| lucasfontenla | 5:0cbf491f703d | 29 | |
| lucasfontenla | 23:d64d37561b4a | 30 | InterruptIn user(USER_BUTTON); |
| lucasfontenla | 23:d64d37561b4a | 31 | |
| lucasfontenla | 23:d64d37561b4a | 32 | // JOG Controls |
| lucasfontenla | 9:d771a576e4fc | 33 | AnalogIn joyX(A0); |
| lucasfontenla | 9:d771a576e4fc | 34 | AnalogIn joyY(A1); |
| lucasfontenla | 4:48717b42eab2 | 35 | |
| lucasfontenla | 16:3adab04d42a6 | 36 | DigitalIn zUp(D15); |
| lucasfontenla | 16:3adab04d42a6 | 37 | DigitalIn zDwn(D14); |
| lucasfontenla | 4:48717b42eab2 | 38 | |
| lucasfontenla | 5:0cbf491f703d | 39 | // variables definition |
| lucasfontenla | 23:d64d37561b4a | 40 | int modeStatus = 1; |
| lucasfontenla | 5:0cbf491f703d | 41 | |
| lucasfontenla | 4:48717b42eab2 | 42 | float valX; |
| lucasfontenla | 4:48717b42eab2 | 43 | float valY; |
| lucasfontenla | 4:48717b42eab2 | 44 | int valZUp; |
| lucasfontenla | 4:48717b42eab2 | 45 | int valZDwn; |
| lucasfontenla | 4:48717b42eab2 | 46 | |
| lucasfontenla | 4:48717b42eab2 | 47 | int activeX = 1; |
| lucasfontenla | 4:48717b42eab2 | 48 | int activeY = 1; |
| lucasfontenla | 4:48717b42eab2 | 49 | int activeZ = 1; |
| lucasfontenla | 4:48717b42eab2 | 50 | |
| lucasfontenla | 5:0cbf491f703d | 51 | int x_dir; |
| lucasfontenla | 5:0cbf491f703d | 52 | int y_dir; |
| lucasfontenla | 5:0cbf491f703d | 53 | int z_dir; |
| lucasfontenla | 5:0cbf491f703d | 54 | |
| lucasfontenla | 13:0f385bfe3e0d | 55 | int x_plus = 0; |
| lucasfontenla | 13:0f385bfe3e0d | 56 | int x_minus = 1; |
| lucasfontenla | 17:55e6270adab5 | 57 | int y_plus = 0; |
| lucasfontenla | 17:55e6270adab5 | 58 | int y_minus = 1; |
| lucasfontenla | 16:3adab04d42a6 | 59 | int z_plus = 0; |
| lucasfontenla | 16:3adab04d42a6 | 60 | int z_minus = 1; |
| lucasfontenla | 9:d771a576e4fc | 61 | |
| lucasfontenla | 15:4604a7ee9c77 | 62 | int x_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 63 | int x_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 64 | int x_block_min = 0; |
| lucasfontenla | 12:801e58a7137c | 65 | |
| lucasfontenla | 15:4604a7ee9c77 | 66 | int y_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 67 | int y_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 68 | int y_block_min = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 69 | |
| lucasfontenla | 15:4604a7ee9c77 | 70 | int z_limit = 0; |
| lucasfontenla | 16:3adab04d42a6 | 71 | int z_block_max = 0; |
| lucasfontenla | 16:3adab04d42a6 | 72 | int z_block_min = 0; |
| lucasfontenla | 9:d771a576e4fc | 73 | |
| lucasfontenla | 5:0cbf491f703d | 74 | float ppsMax = 600.0; |
| lucasfontenla | 5:0cbf491f703d | 75 | |
| lucasfontenla | 7:27ea14e58788 | 76 | int totalX = 0; |
| lucasfontenla | 7:27ea14e58788 | 77 | int totalY = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 78 | int totalZ = 0; |
| lucasfontenla | 7:27ea14e58788 | 79 | |
| lucasfontenla | 17:55e6270adab5 | 80 | int x_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 81 | int y_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 82 | int z_steps_to_run; |
| lucasfontenla | 17:55e6270adab5 | 83 | |
| lucasfontenla | 18:174b4ff351b5 | 84 | float x_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 85 | float y_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 86 | float z_distance_to_run; |
| lucasfontenla | 18:174b4ff351b5 | 87 | |
| lucasfontenla | 7:27ea14e58788 | 88 | float X = 0; |
| lucasfontenla | 7:27ea14e58788 | 89 | float Y = 0; |
| lucasfontenla | 15:4604a7ee9c77 | 90 | float Z = 0; |
| lucasfontenla | 7:27ea14e58788 | 91 | |
| lucasfontenla | 9:d771a576e4fc | 92 | int endX1Status; |
| lucasfontenla | 9:d771a576e4fc | 93 | int endX2Status; |
| lucasfontenla | 9:d771a576e4fc | 94 | |
| lucasfontenla | 7:27ea14e58788 | 95 | // machine parameters |
| lucasfontenla | 8:de64672c240f | 96 | float xPitch = 3.0; |
| lucasfontenla | 8:de64672c240f | 97 | float yPitch = 3.0; |
| lucasfontenla | 15:4604a7ee9c77 | 98 | float zPitch = 3.0; |
| lucasfontenla | 7:27ea14e58788 | 99 | |
| lucasfontenla | 7:27ea14e58788 | 100 | float motor_steps_by_rotation = 200.0; |
| lucasfontenla | 7:27ea14e58788 | 101 | float step_mode = 0.5; |
| lucasfontenla | 7:27ea14e58788 | 102 | float steps_by_rotation = motor_steps_by_rotation/step_mode; |
| lucasfontenla | 7:27ea14e58788 | 103 | |
| lucasfontenla | 18:174b4ff351b5 | 104 | int saved = 0; |
| lucasfontenla | 19:e69ff16f35aa | 105 | const int maxPoints = 10; |
| lucasfontenla | 22:000890b38b32 | 106 | float points[3][maxPoints]; // [0] X; [1] Y; [2] Z; |
| lucasfontenla | 22:000890b38b32 | 107 | float path[2][maxPoints]; // [0] speed; [1] mode; |
| lucasfontenla | 22:000890b38b32 | 108 | int resting_points = 0; |
| lucasfontenla | 18:174b4ff351b5 | 109 | |
| lucasfontenla | 18:174b4ff351b5 | 110 | int startSaved = 0; |
| lucasfontenla | 20:1d98a6f51dee | 111 | int autoReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 112 | int exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 113 | int keepSavedPointsReload = 0; |
| lucasfontenla | 18:174b4ff351b5 | 114 | |
| lucasfontenla | 23:d64d37561b4a | 115 | int kill_jog; |
| lucasfontenla | 23:d64d37561b4a | 116 | |
| lucasfontenla | 21:c6c33381fc5f | 117 | // PROTOTYPE FUNCTIONS ------------------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 118 | void jog(void); |
| lucasfontenla | 23:d64d37561b4a | 119 | void killJog(void); |
| lucasfontenla | 23:d64d37561b4a | 120 | |
| lucasfontenla | 23:d64d37561b4a | 121 | void x(void); |
| lucasfontenla | 23:d64d37561b4a | 122 | |
| lucasfontenla | 23:d64d37561b4a | 123 | void automatic_run(int); |
| lucasfontenla | 23:d64d37561b4a | 124 | |
| lucasfontenla | 5:0cbf491f703d | 125 | 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 | 126 | |
| lucasfontenla | 17:55e6270adab5 | 127 | float steps_to_distance(int steps, float pitch); |
| lucasfontenla | 17:55e6270adab5 | 128 | int distance_to_steps(float distance, float pitch); |
| lucasfontenla | 7:27ea14e58788 | 129 | |
| lucasfontenla | 15:4604a7ee9c77 | 130 | void endX_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 131 | void endX_release(void); |
| lucasfontenla | 11:0e22a6fc7f87 | 132 | |
| lucasfontenla | 15:4604a7ee9c77 | 133 | void endY_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 134 | void endY_release(void); |
| lucasfontenla | 15:4604a7ee9c77 | 135 | |
| lucasfontenla | 15:4604a7ee9c77 | 136 | void endZ_press(void); |
| lucasfontenla | 15:4604a7ee9c77 | 137 | void endZ_release(void); |
| lucasfontenla | 9:d771a576e4fc | 138 | |
| lucasfontenla | 12:801e58a7137c | 139 | void zeroX(int pps); |
| lucasfontenla | 11:0e22a6fc7f87 | 140 | void zeroY(int pps); |
| lucasfontenla | 11:0e22a6fc7f87 | 141 | |
| lucasfontenla | 18:174b4ff351b5 | 142 | void savePoint(void); |
| lucasfontenla | 18:174b4ff351b5 | 143 | void startSavedPoints(void); |
| lucasfontenla | 18:174b4ff351b5 | 144 | |
| lucasfontenla | 17:55e6270adab5 | 145 | void printDistance(void); |
| lucasfontenla | 17:55e6270adab5 | 146 | |
| lucasfontenla | 23:d64d37561b4a | 147 | void readSerial(void); |
| lucasfontenla | 22:000890b38b32 | 148 | |
| lucasfontenla | 21:c6c33381fc5f | 149 | // MAIN PROGRAM ---------------------------------------------------------------------------------------------- |
| lucasfontenla | 1:b2e395e50a45 | 150 | int main(){ |
| lucasfontenla | 16:3adab04d42a6 | 151 | printf("\nStarting...\r\n"); |
| lucasfontenla | 14:7cc41420a12c | 152 | |
| lucasfontenla | 22:000890b38b32 | 153 | enable = 0; |
| lucasfontenla | 17:55e6270adab5 | 154 | |
| lucasfontenla | 23:d64d37561b4a | 155 | user.rise(&x); |
| lucasfontenla | 22:000890b38b32 | 156 | |
| lucasfontenla | 21:c6c33381fc5f | 157 | // interrupções de fim de curso |
| lucasfontenla | 22:000890b38b32 | 158 | /* |
| lucasfontenla | 15:4604a7ee9c77 | 159 | endX.fall(&endX_press); |
| lucasfontenla | 15:4604a7ee9c77 | 160 | endX.rise(&endX_release); |
| lucasfontenla | 5:0cbf491f703d | 161 | |
| lucasfontenla | 15:4604a7ee9c77 | 162 | endY.fall(&endY_press); |
| lucasfontenla | 15:4604a7ee9c77 | 163 | endY.rise(&endY_release); |
| lucasfontenla | 15:4604a7ee9c77 | 164 | |
| lucasfontenla | 15:4604a7ee9c77 | 165 | endZ.fall(&endZ_press); |
| lucasfontenla | 23:d64d37561b4a | 166 | endZ.rise(&endZ_release);*/ |
| lucasfontenla | 20:1d98a6f51dee | 167 | |
| lucasfontenla | 23:d64d37561b4a | 168 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 169 | if(ihm.readable()){ |
| lucasfontenla | 23:d64d37561b4a | 170 | readSerial(); |
| lucasfontenla | 23:d64d37561b4a | 171 | } |
| lucasfontenla | 5:0cbf491f703d | 172 | } |
| lucasfontenla | 9:d771a576e4fc | 173 | } |
| lucasfontenla | 9:d771a576e4fc | 174 | |
| lucasfontenla | 9:d771a576e4fc | 175 | // FUNCTIONS ---------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 176 | void x(void){ |
| lucasfontenla | 23:d64d37561b4a | 177 | printf("User\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 178 | } |
| lucasfontenla | 23:d64d37561b4a | 179 | |
| lucasfontenla | 15:4604a7ee9c77 | 180 | void endX_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 181 | printf("X - press\n\r"); |
| lucasfontenla | 15:4604a7ee9c77 | 182 | if(dirX == x_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 183 | x_block_max = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 184 | } |
| lucasfontenla | 15:4604a7ee9c77 | 185 | else { |
| lucasfontenla | 16:3adab04d42a6 | 186 | x_block_min = 1; |
| lucasfontenla | 15:4604a7ee9c77 | 187 | } |
| lucasfontenla | 12:801e58a7137c | 188 | } |
| lucasfontenla | 15:4604a7ee9c77 | 189 | void endX_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 190 | printf("X - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 191 | x_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 192 | x_block_max = 0; |
| lucasfontenla | 12:801e58a7137c | 193 | } |
| lucasfontenla | 16:3adab04d42a6 | 194 | |
| lucasfontenla | 15:4604a7ee9c77 | 195 | void endY_press(void){ |
| lucasfontenla | 16:3adab04d42a6 | 196 | printf("Y - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 197 | if(dirY == y_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 198 | y_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 199 | } |
| lucasfontenla | 16:3adab04d42a6 | 200 | else { |
| lucasfontenla | 16:3adab04d42a6 | 201 | y_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 202 | } |
| lucasfontenla | 15:4604a7ee9c77 | 203 | } |
| lucasfontenla | 15:4604a7ee9c77 | 204 | void endY_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 205 | printf("Y - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 206 | y_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 207 | y_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 208 | } |
| lucasfontenla | 9:d771a576e4fc | 209 | |
| lucasfontenla | 15:4604a7ee9c77 | 210 | void endZ_press(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 211 | printf("Z - press\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 212 | if(dirZ == z_plus){ |
| lucasfontenla | 16:3adab04d42a6 | 213 | z_block_max = 1; |
| lucasfontenla | 16:3adab04d42a6 | 214 | } |
| lucasfontenla | 16:3adab04d42a6 | 215 | else { |
| lucasfontenla | 16:3adab04d42a6 | 216 | z_block_min = 1; |
| lucasfontenla | 16:3adab04d42a6 | 217 | } |
| lucasfontenla | 9:d771a576e4fc | 218 | } |
| lucasfontenla | 15:4604a7ee9c77 | 219 | void endZ_release(void){ |
| lucasfontenla | 15:4604a7ee9c77 | 220 | printf("Z - release\n\r"); |
| lucasfontenla | 16:3adab04d42a6 | 221 | z_block_min = 0; |
| lucasfontenla | 16:3adab04d42a6 | 222 | z_block_max = 0; |
| lucasfontenla | 9:d771a576e4fc | 223 | } |
| lucasfontenla | 7:27ea14e58788 | 224 | |
| lucasfontenla | 5:0cbf491f703d | 225 | 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 | 226 | float time = 1.0/pps/2.0; |
| lucasfontenla | 5:0cbf491f703d | 227 | |
| lucasfontenla | 5:0cbf491f703d | 228 | dirX = x_dir; |
| lucasfontenla | 5:0cbf491f703d | 229 | dirY = y_dir; |
| lucasfontenla | 5:0cbf491f703d | 230 | dirZ = z_dir; |
| lucasfontenla | 5:0cbf491f703d | 231 | |
| lucasfontenla | 16:3adab04d42a6 | 232 | // X |
| lucasfontenla | 16:3adab04d42a6 | 233 | if((x_dir == x_plus) && x_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 234 | x_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 235 | } |
| lucasfontenla | 16:3adab04d42a6 | 236 | if((x_dir == x_minus) && x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 237 | x_step = 0; |
| lucasfontenla | 12:801e58a7137c | 238 | } |
| lucasfontenla | 12:801e58a7137c | 239 | |
| lucasfontenla | 16:3adab04d42a6 | 240 | // Y |
| lucasfontenla | 16:3adab04d42a6 | 241 | if((y_dir == y_plus) && y_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 242 | y_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 243 | } |
| lucasfontenla | 16:3adab04d42a6 | 244 | if((y_dir == y_minus) && y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 245 | y_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 246 | } |
| lucasfontenla | 16:3adab04d42a6 | 247 | |
| lucasfontenla | 16:3adab04d42a6 | 248 | // Z |
| lucasfontenla | 16:3adab04d42a6 | 249 | if((z_dir == z_plus) && z_block_max){ |
| lucasfontenla | 16:3adab04d42a6 | 250 | z_step = 0; |
| lucasfontenla | 16:3adab04d42a6 | 251 | } |
| lucasfontenla | 16:3adab04d42a6 | 252 | if((z_dir == z_minus) && z_block_min){ |
| lucasfontenla | 15:4604a7ee9c77 | 253 | z_step = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 254 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 255 | |
| lucasfontenla | 5:0cbf491f703d | 256 | int max_val; |
| lucasfontenla | 5:0cbf491f703d | 257 | |
| lucasfontenla | 6:af32c68ff4cf | 258 | // maior número de passos ------- |
| lucasfontenla | 5:0cbf491f703d | 259 | if(x_step > y_step){ |
| lucasfontenla | 5:0cbf491f703d | 260 | if(x_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 261 | max_val = x_step; |
| lucasfontenla | 4:48717b42eab2 | 262 | } |
| lucasfontenla | 4:48717b42eab2 | 263 | else { |
| lucasfontenla | 5:0cbf491f703d | 264 | max_val = z_step; |
| lucasfontenla | 4:48717b42eab2 | 265 | } |
| lucasfontenla | 5:0cbf491f703d | 266 | } else if(y_step > z_step){ |
| lucasfontenla | 5:0cbf491f703d | 267 | max_val = y_step; |
| lucasfontenla | 5:0cbf491f703d | 268 | } |
| lucasfontenla | 5:0cbf491f703d | 269 | else { |
| lucasfontenla | 5:0cbf491f703d | 270 | max_val = z_step; |
| lucasfontenla | 5:0cbf491f703d | 271 | } |
| lucasfontenla | 5:0cbf491f703d | 272 | |
| lucasfontenla | 5:0cbf491f703d | 273 | for(int i = 0; i < max_val; i++){ |
| lucasfontenla | 6:af32c68ff4cf | 274 | if(i >= x_step){ |
| lucasfontenla | 5:0cbf491f703d | 275 | stepX = 0; |
| lucasfontenla | 5:0cbf491f703d | 276 | } |
| lucasfontenla | 5:0cbf491f703d | 277 | else { stepX = 1; } |
| lucasfontenla | 4:48717b42eab2 | 278 | |
| lucasfontenla | 6:af32c68ff4cf | 279 | if(i >= y_step){ |
| lucasfontenla | 5:0cbf491f703d | 280 | stepY = 0; |
| lucasfontenla | 5:0cbf491f703d | 281 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 282 | else { |
| lucasfontenla | 11:0e22a6fc7f87 | 283 | stepY = 1;} |
| lucasfontenla | 5:0cbf491f703d | 284 | |
| lucasfontenla | 6:af32c68ff4cf | 285 | if(i >= z_step){ |
| lucasfontenla | 5:0cbf491f703d | 286 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 287 | } |
| lucasfontenla | 5:0cbf491f703d | 288 | else { stepZ = 1; } |
| lucasfontenla | 5:0cbf491f703d | 289 | |
| lucasfontenla | 5:0cbf491f703d | 290 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 291 | stepX = 0; |
| lucasfontenla | 4:48717b42eab2 | 292 | stepY = 0; |
| lucasfontenla | 4:48717b42eab2 | 293 | stepZ = 0; |
| lucasfontenla | 5:0cbf491f703d | 294 | wait(time); |
| lucasfontenla | 4:48717b42eab2 | 295 | } |
| lucasfontenla | 17:55e6270adab5 | 296 | |
| lucasfontenla | 17:55e6270adab5 | 297 | if(dirX == x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 298 | totalX-=x_step; |
| lucasfontenla | 17:55e6270adab5 | 299 | } |
| lucasfontenla | 17:55e6270adab5 | 300 | else { totalX+=x_step; } |
| lucasfontenla | 17:55e6270adab5 | 301 | |
| lucasfontenla | 17:55e6270adab5 | 302 | if(dirY == y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 303 | totalY-=y_step; |
| lucasfontenla | 17:55e6270adab5 | 304 | } else { totalY+=y_step; } |
| lucasfontenla | 17:55e6270adab5 | 305 | |
| lucasfontenla | 17:55e6270adab5 | 306 | if(dirZ == z_minus){ |
| lucasfontenla | 17:55e6270adab5 | 307 | totalZ-=z_step; |
| lucasfontenla | 17:55e6270adab5 | 308 | } else { totalZ+=z_step; } |
| lucasfontenla | 5:0cbf491f703d | 309 | } |
| lucasfontenla | 17:55e6270adab5 | 310 | |
| lucasfontenla | 12:801e58a7137c | 311 | void zeroX(int pps){ |
| lucasfontenla | 12:801e58a7137c | 312 | float time = 1.0/pps/2.0; |
| lucasfontenla | 12:801e58a7137c | 313 | |
| lucasfontenla | 17:55e6270adab5 | 314 | if(dirX != x_minus){ |
| lucasfontenla | 17:55e6270adab5 | 315 | dirX = x_minus; |
| lucasfontenla | 17:55e6270adab5 | 316 | } |
| lucasfontenla | 17:55e6270adab5 | 317 | |
| lucasfontenla | 17:55e6270adab5 | 318 | while(!x_block_min){ |
| lucasfontenla | 12:801e58a7137c | 319 | stepX = 1; |
| lucasfontenla | 12:801e58a7137c | 320 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 321 | stepX = 0; |
| lucasfontenla | 12:801e58a7137c | 322 | wait(time); |
| lucasfontenla | 12:801e58a7137c | 323 | } |
| lucasfontenla | 12:801e58a7137c | 324 | |
| lucasfontenla | 12:801e58a7137c | 325 | printf("X zero\n\r"); |
| lucasfontenla | 12:801e58a7137c | 326 | |
| lucasfontenla | 17:55e6270adab5 | 327 | totalX = 0; |
| lucasfontenla | 12:801e58a7137c | 328 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 329 | void zeroY(int pps){ |
| lucasfontenla | 11:0e22a6fc7f87 | 330 | float time = 1.0/pps/2.0; |
| lucasfontenla | 11:0e22a6fc7f87 | 331 | |
| lucasfontenla | 17:55e6270adab5 | 332 | if(dirY != y_minus){ |
| lucasfontenla | 17:55e6270adab5 | 333 | dirY = y_minus; |
| lucasfontenla | 17:55e6270adab5 | 334 | } |
| lucasfontenla | 17:55e6270adab5 | 335 | |
| lucasfontenla | 17:55e6270adab5 | 336 | while(!y_block_min){ |
| lucasfontenla | 11:0e22a6fc7f87 | 337 | stepY = 1; |
| lucasfontenla | 11:0e22a6fc7f87 | 338 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 339 | stepY = 0; |
| lucasfontenla | 11:0e22a6fc7f87 | 340 | wait(time); |
| lucasfontenla | 11:0e22a6fc7f87 | 341 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 342 | |
| lucasfontenla | 11:0e22a6fc7f87 | 343 | printf("Y zero\n\r"); |
| lucasfontenla | 11:0e22a6fc7f87 | 344 | |
| lucasfontenla | 17:55e6270adab5 | 345 | totalY = 0; |
| lucasfontenla | 17:55e6270adab5 | 346 | } |
| lucasfontenla | 11:0e22a6fc7f87 | 347 | |
| lucasfontenla | 17:55e6270adab5 | 348 | float steps_to_distance(int steps, float pitch){ |
| lucasfontenla | 7:27ea14e58788 | 349 | float delta_S = (((float)steps)/steps_by_rotation)*pitch; |
| lucasfontenla | 7:27ea14e58788 | 350 | return delta_S; |
| lucasfontenla | 7:27ea14e58788 | 351 | } |
| lucasfontenla | 17:55e6270adab5 | 352 | |
| lucasfontenla | 17:55e6270adab5 | 353 | int distance_to_steps(float distance, float pitch){ |
| lucasfontenla | 17:55e6270adab5 | 354 | int steps = (int)(distance*steps_by_rotation/pitch); |
| lucasfontenla | 17:55e6270adab5 | 355 | return steps; |
| lucasfontenla | 17:55e6270adab5 | 356 | } |
| lucasfontenla | 17:55e6270adab5 | 357 | |
| lucasfontenla | 17:55e6270adab5 | 358 | void printDistance(void){ |
| lucasfontenla | 17:55e6270adab5 | 359 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 17:55e6270adab5 | 360 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 17:55e6270adab5 | 361 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 17:55e6270adab5 | 362 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 18:174b4ff351b5 | 363 | } |
| lucasfontenla | 18:174b4ff351b5 | 364 | |
| lucasfontenla | 22:000890b38b32 | 365 | void savePoint(string speed, string mode){ |
| lucasfontenla | 20:1d98a6f51dee | 366 | if(!autoReload){ |
| lucasfontenla | 20:1d98a6f51dee | 367 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 368 | exitSavedPointsLoop = 0; |
| lucasfontenla | 20:1d98a6f51dee | 369 | printf("\nSave selected\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 370 | if(saved >= maxPoints){ |
| lucasfontenla | 20:1d98a6f51dee | 371 | printf("Max points reached\n\r"); |
| lucasfontenla | 20:1d98a6f51dee | 372 | } else{ |
| lucasfontenla | 20:1d98a6f51dee | 373 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 20:1d98a6f51dee | 374 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 20:1d98a6f51dee | 375 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 20:1d98a6f51dee | 376 | |
| lucasfontenla | 20:1d98a6f51dee | 377 | points[0][saved] = X; |
| lucasfontenla | 20:1d98a6f51dee | 378 | points[1][saved] = Y; |
| lucasfontenla | 20:1d98a6f51dee | 379 | points[2][saved] = Z; |
| lucasfontenla | 22:000890b38b32 | 380 | path[0][saved] = atof(speed.c_str()); |
| lucasfontenla | 22:000890b38b32 | 381 | path[1][saved] = atof(mode.c_str()); |
| lucasfontenla | 20:1d98a6f51dee | 382 | saved+=1; |
| lucasfontenla | 20:1d98a6f51dee | 383 | } |
| lucasfontenla | 20:1d98a6f51dee | 384 | // save code |
| lucasfontenla | 20:1d98a6f51dee | 385 | printf("Saved --> X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 22:000890b38b32 | 386 | printf("Path --> Speed: %.2f Mode: %.2f\n\r", path[0][saved-1], path[1][saved-1]); |
| lucasfontenla | 22:000890b38b32 | 387 | resting_points = maxPoints-saved; |
| lucasfontenla | 23:d64d37561b4a | 388 | printf("Pontos restantes: %d\n\r", resting_points); |
| lucasfontenla | 20:1d98a6f51dee | 389 | } |
| lucasfontenla | 20:1d98a6f51dee | 390 | else { |
| lucasfontenla | 20:1d98a6f51dee | 391 | exitSavedPointsLoop = 1; |
| lucasfontenla | 20:1d98a6f51dee | 392 | keepSavedPointsReload = 0; |
| lucasfontenla | 20:1d98a6f51dee | 393 | } |
| lucasfontenla | 18:174b4ff351b5 | 394 | } |
| lucasfontenla | 18:174b4ff351b5 | 395 | |
| lucasfontenla | 23:d64d37561b4a | 396 | void jog(void){ |
| lucasfontenla | 23:d64d37561b4a | 397 | kill_jog = 0; |
| lucasfontenla | 23:d64d37561b4a | 398 | int contador = 0; |
| lucasfontenla | 23:d64d37561b4a | 399 | printf("JOG Selected %d\n\r", kill_jog); |
| lucasfontenla | 23:d64d37561b4a | 400 | |
| lucasfontenla | 23:d64d37561b4a | 401 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 402 | if(ihm.readable()){ |
| lucasfontenla | 23:d64d37561b4a | 403 | readSerial(); |
| lucasfontenla | 23:d64d37561b4a | 404 | } |
| lucasfontenla | 23:d64d37561b4a | 405 | valX = joyX; |
| lucasfontenla | 23:d64d37561b4a | 406 | valY = joyY; |
| lucasfontenla | 23:d64d37561b4a | 407 | |
| lucasfontenla | 23:d64d37561b4a | 408 | valZUp = zUp; |
| lucasfontenla | 23:d64d37561b4a | 409 | valZDwn = zDwn; |
| lucasfontenla | 23:d64d37561b4a | 410 | |
| lucasfontenla | 23:d64d37561b4a | 411 | if(valX > 0.7){ |
| lucasfontenla | 23:d64d37561b4a | 412 | if(x_dir != x_plus){ |
| lucasfontenla | 23:d64d37561b4a | 413 | x_dir = x_plus; |
| lucasfontenla | 23:d64d37561b4a | 414 | } |
| lucasfontenla | 23:d64d37561b4a | 415 | activeX = 1; |
| lucasfontenla | 23:d64d37561b4a | 416 | } |
| lucasfontenla | 23:d64d37561b4a | 417 | else if(valX < 0.3){ |
| lucasfontenla | 23:d64d37561b4a | 418 | if(x_dir != x_minus){ |
| lucasfontenla | 23:d64d37561b4a | 419 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 420 | } |
| lucasfontenla | 23:d64d37561b4a | 421 | activeX = 1; |
| lucasfontenla | 23:d64d37561b4a | 422 | } |
| lucasfontenla | 23:d64d37561b4a | 423 | else{ |
| lucasfontenla | 23:d64d37561b4a | 424 | activeX = 0; |
| lucasfontenla | 23:d64d37561b4a | 425 | } |
| lucasfontenla | 23:d64d37561b4a | 426 | |
| lucasfontenla | 23:d64d37561b4a | 427 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 428 | |
| lucasfontenla | 23:d64d37561b4a | 429 | if(valY > 0.7){ |
| lucasfontenla | 23:d64d37561b4a | 430 | if(y_dir != y_plus){ |
| lucasfontenla | 23:d64d37561b4a | 431 | y_dir = y_plus; |
| lucasfontenla | 23:d64d37561b4a | 432 | } |
| lucasfontenla | 23:d64d37561b4a | 433 | activeY = 1; |
| lucasfontenla | 23:d64d37561b4a | 434 | } |
| lucasfontenla | 23:d64d37561b4a | 435 | else if(valY < 0.3){ |
| lucasfontenla | 23:d64d37561b4a | 436 | if(y_dir != y_minus){ |
| lucasfontenla | 23:d64d37561b4a | 437 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 438 | } |
| lucasfontenla | 23:d64d37561b4a | 439 | activeY = 1; |
| lucasfontenla | 23:d64d37561b4a | 440 | } |
| lucasfontenla | 23:d64d37561b4a | 441 | else{ |
| lucasfontenla | 23:d64d37561b4a | 442 | activeY = 0; |
| lucasfontenla | 23:d64d37561b4a | 443 | } |
| lucasfontenla | 23:d64d37561b4a | 444 | |
| lucasfontenla | 23:d64d37561b4a | 445 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 446 | |
| lucasfontenla | 23:d64d37561b4a | 447 | if(!valZUp && valZDwn){ |
| lucasfontenla | 23:d64d37561b4a | 448 | if(z_dir != z_minus){ |
| lucasfontenla | 23:d64d37561b4a | 449 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 450 | } |
| lucasfontenla | 23:d64d37561b4a | 451 | activeZ = 1; |
| lucasfontenla | 23:d64d37561b4a | 452 | } |
| lucasfontenla | 23:d64d37561b4a | 453 | else if(!valZDwn && valZUp){ |
| lucasfontenla | 23:d64d37561b4a | 454 | if(z_dir != z_plus){ |
| lucasfontenla | 23:d64d37561b4a | 455 | z_dir = z_plus; |
| lucasfontenla | 23:d64d37561b4a | 456 | } |
| lucasfontenla | 23:d64d37561b4a | 457 | activeZ = 1; |
| lucasfontenla | 23:d64d37561b4a | 458 | } |
| lucasfontenla | 23:d64d37561b4a | 459 | else { |
| lucasfontenla | 23:d64d37561b4a | 460 | activeZ = 0; |
| lucasfontenla | 23:d64d37561b4a | 461 | } |
| lucasfontenla | 23:d64d37561b4a | 462 | |
| lucasfontenla | 23:d64d37561b4a | 463 | //---------------------------------------------------------------------- |
| lucasfontenla | 23:d64d37561b4a | 464 | |
| lucasfontenla | 23:d64d37561b4a | 465 | move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ); |
| lucasfontenla | 23:d64d37561b4a | 466 | X = steps_to_distance(totalX, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 467 | Y = steps_to_distance(totalY, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 468 | Z = steps_to_distance(totalZ, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 469 | |
| lucasfontenla | 23:d64d37561b4a | 470 | if(contador > 10000){ |
| lucasfontenla | 23:d64d37561b4a | 471 | printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z); |
| lucasfontenla | 23:d64d37561b4a | 472 | contador = 0; |
| lucasfontenla | 23:d64d37561b4a | 473 | } |
| lucasfontenla | 23:d64d37561b4a | 474 | |
| lucasfontenla | 23:d64d37561b4a | 475 | contador+=1; |
| lucasfontenla | 23:d64d37561b4a | 476 | |
| lucasfontenla | 23:d64d37561b4a | 477 | if(kill_jog){ |
| lucasfontenla | 23:d64d37561b4a | 478 | break; |
| lucasfontenla | 23:d64d37561b4a | 479 | } |
| lucasfontenla | 23:d64d37561b4a | 480 | } |
| lucasfontenla | 23:d64d37561b4a | 481 | } |
| lucasfontenla | 23:d64d37561b4a | 482 | |
| lucasfontenla | 23:d64d37561b4a | 483 | void automatic_run(int total_points){ |
| lucasfontenla | 23:d64d37561b4a | 484 | printf("\nStarting automatic routine\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 485 | |
| lucasfontenla | 23:d64d37561b4a | 486 | // home |
| lucasfontenla | 23:d64d37561b4a | 487 | x_distance_to_run = points[0][0] - points[0][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 488 | y_distance_to_run = points[1][0] - points[1][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 489 | z_distance_to_run = points[2][0] - points[2][total_points-1]; |
| lucasfontenla | 23:d64d37561b4a | 490 | |
| lucasfontenla | 23:d64d37561b4a | 491 | printf("\nGoing to first point\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 492 | |
| lucasfontenla | 23:d64d37561b4a | 493 | if(x_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 494 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 495 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 496 | } else { x_dir = x_plus; } |
| lucasfontenla | 23:d64d37561b4a | 497 | |
| lucasfontenla | 23:d64d37561b4a | 498 | if(y_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 499 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 500 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 501 | } else { y_dir = y_plus; } |
| lucasfontenla | 23:d64d37561b4a | 502 | |
| lucasfontenla | 23:d64d37561b4a | 503 | if(z_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 504 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 505 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 506 | } else { z_dir = z_plus; } |
| lucasfontenla | 23:d64d37561b4a | 507 | |
| lucasfontenla | 23:d64d37561b4a | 508 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 509 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 510 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 511 | |
| lucasfontenla | 23:d64d37561b4a | 512 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 23:d64d37561b4a | 513 | |
| lucasfontenla | 23:d64d37561b4a | 514 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 23:d64d37561b4a | 515 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 23:d64d37561b4a | 516 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 23:d64d37561b4a | 517 | |
| lucasfontenla | 23:d64d37561b4a | 518 | wait(2); |
| lucasfontenla | 23:d64d37561b4a | 519 | |
| lucasfontenla | 23:d64d37561b4a | 520 | printf("\nSaved points\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 521 | |
| lucasfontenla | 23:d64d37561b4a | 522 | // routine |
| lucasfontenla | 23:d64d37561b4a | 523 | |
| lucasfontenla | 23:d64d37561b4a | 524 | for(int i = 1; i < total_points; i++){ |
| lucasfontenla | 23:d64d37561b4a | 525 | x_distance_to_run = points[0][i]-points[0][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 526 | y_distance_to_run = points[1][i]-points[1][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 527 | z_distance_to_run = points[2][i]-points[2][i-1]; |
| lucasfontenla | 23:d64d37561b4a | 528 | |
| lucasfontenla | 23:d64d37561b4a | 529 | printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run); |
| lucasfontenla | 23:d64d37561b4a | 530 | |
| lucasfontenla | 23:d64d37561b4a | 531 | if(x_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 532 | x_dir = x_minus; |
| lucasfontenla | 23:d64d37561b4a | 533 | x_distance_to_run = -1.0*x_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 534 | } else { x_dir = x_plus; } |
| lucasfontenla | 23:d64d37561b4a | 535 | |
| lucasfontenla | 23:d64d37561b4a | 536 | if(y_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 537 | y_dir = y_minus; |
| lucasfontenla | 23:d64d37561b4a | 538 | y_distance_to_run = -1.0*y_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 539 | } else { y_dir = y_plus; } |
| lucasfontenla | 23:d64d37561b4a | 540 | |
| lucasfontenla | 23:d64d37561b4a | 541 | if(z_distance_to_run < 0){ |
| lucasfontenla | 23:d64d37561b4a | 542 | z_dir = z_minus; |
| lucasfontenla | 23:d64d37561b4a | 543 | z_distance_to_run = -1.0*z_distance_to_run; |
| lucasfontenla | 23:d64d37561b4a | 544 | } else { z_dir = z_plus; } |
| lucasfontenla | 23:d64d37561b4a | 545 | |
| lucasfontenla | 23:d64d37561b4a | 546 | x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch); |
| lucasfontenla | 23:d64d37561b4a | 547 | y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch); |
| lucasfontenla | 23:d64d37561b4a | 548 | z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch); |
| lucasfontenla | 23:d64d37561b4a | 549 | |
| lucasfontenla | 23:d64d37561b4a | 550 | move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0); |
| lucasfontenla | 23:d64d37561b4a | 551 | move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0); |
| lucasfontenla | 23:d64d37561b4a | 552 | move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run); |
| lucasfontenla | 23:d64d37561b4a | 553 | } |
| lucasfontenla | 23:d64d37561b4a | 554 | killJog(); |
| lucasfontenla | 23:d64d37561b4a | 555 | printf("Done\n\r"); |
| lucasfontenla | 22:000890b38b32 | 556 | } |
| lucasfontenla | 22:000890b38b32 | 557 | |
| lucasfontenla | 23:d64d37561b4a | 558 | void killJog(void){ |
| lucasfontenla | 23:d64d37561b4a | 559 | saved = 0; |
| lucasfontenla | 23:d64d37561b4a | 560 | kill_jog = 1; |
| lucasfontenla | 23:d64d37561b4a | 561 | printf("Jog killed\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 562 | } |
| lucasfontenla | 23:d64d37561b4a | 563 | |
| lucasfontenla | 23:d64d37561b4a | 564 | void readSerial(void){ |
| lucasfontenla | 22:000890b38b32 | 565 | char recv; |
| lucasfontenla | 22:000890b38b32 | 566 | |
| lucasfontenla | 22:000890b38b32 | 567 | //save |
| lucasfontenla | 22:000890b38b32 | 568 | int save = 0; |
| lucasfontenla | 22:000890b38b32 | 569 | int mode = 0; |
| lucasfontenla | 22:000890b38b32 | 570 | int speed = 0; |
| lucasfontenla | 22:000890b38b32 | 571 | string mode_recv; |
| lucasfontenla | 22:000890b38b32 | 572 | string speed_str; |
| lucasfontenla | 22:000890b38b32 | 573 | |
| lucasfontenla | 23:d64d37561b4a | 574 | //begin |
| lucasfontenla | 23:d64d37561b4a | 575 | int begin = 0; |
| lucasfontenla | 23:d64d37561b4a | 576 | |
| lucasfontenla | 23:d64d37561b4a | 577 | //jog |
| lucasfontenla | 23:d64d37561b4a | 578 | int jog_mode = 0; |
| lucasfontenla | 23:d64d37561b4a | 579 | int kill_jog_mode = 0; |
| lucasfontenla | 23:d64d37561b4a | 580 | |
| lucasfontenla | 23:d64d37561b4a | 581 | printf("\n\nReceiving...\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 582 | |
| lucasfontenla | 23:d64d37561b4a | 583 | t.reset(); |
| lucasfontenla | 23:d64d37561b4a | 584 | t.start(); |
| lucasfontenla | 22:000890b38b32 | 585 | |
| lucasfontenla | 22:000890b38b32 | 586 | while(1){ |
| lucasfontenla | 23:d64d37561b4a | 587 | if(t.read()>0.2){ |
| lucasfontenla | 23:d64d37561b4a | 588 | printf("Timeout\n\r"); |
| lucasfontenla | 23:d64d37561b4a | 589 | break; |
| lucasfontenla | 23:d64d37561b4a | 590 | } |
| lucasfontenla | 23:d64d37561b4a | 591 | |
| lucasfontenla | 22:000890b38b32 | 592 | recv = ihm.getc(); |
| lucasfontenla | 22:000890b38b32 | 593 | |
| lucasfontenla | 23:d64d37561b4a | 594 | printf("%c\n\r", recv); |
| lucasfontenla | 23:d64d37561b4a | 595 | |
| lucasfontenla | 23:d64d37561b4a | 596 | if(recv == 'x'){ |
| lucasfontenla | 22:000890b38b32 | 597 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 598 | savePoint(speed_str, mode_recv); |
| lucasfontenla | 23:d64d37561b4a | 599 | } else if(begin){ |
| lucasfontenla | 23:d64d37561b4a | 600 | automatic_run(saved); |
| lucasfontenla | 23:d64d37561b4a | 601 | } else if(jog_mode){ |
| lucasfontenla | 23:d64d37561b4a | 602 | if(kill_jog_mode){ |
| lucasfontenla | 23:d64d37561b4a | 603 | killJog(); |
| lucasfontenla | 23:d64d37561b4a | 604 | } else { |
| lucasfontenla | 23:d64d37561b4a | 605 | jog(); |
| lucasfontenla | 23:d64d37561b4a | 606 | } |
| lucasfontenla | 23:d64d37561b4a | 607 | } |
| lucasfontenla | 22:000890b38b32 | 608 | break; |
| lucasfontenla | 22:000890b38b32 | 609 | } |
| lucasfontenla | 22:000890b38b32 | 610 | |
| lucasfontenla | 22:000890b38b32 | 611 | if(recv == 's'){ |
| lucasfontenla | 22:000890b38b32 | 612 | save = 1; |
| lucasfontenla | 22:000890b38b32 | 613 | } |
| lucasfontenla | 22:000890b38b32 | 614 | |
| lucasfontenla | 23:d64d37561b4a | 615 | if(recv == 'b'){ |
| lucasfontenla | 23:d64d37561b4a | 616 | begin = 1; |
| lucasfontenla | 23:d64d37561b4a | 617 | } |
| lucasfontenla | 23:d64d37561b4a | 618 | |
| lucasfontenla | 23:d64d37561b4a | 619 | if(recv == 'j'){ |
| lucasfontenla | 23:d64d37561b4a | 620 | jog_mode = 1; |
| lucasfontenla | 23:d64d37561b4a | 621 | } |
| lucasfontenla | 23:d64d37561b4a | 622 | |
| lucasfontenla | 22:000890b38b32 | 623 | if(save){ |
| lucasfontenla | 22:000890b38b32 | 624 | if(recv == 'M'){ |
| lucasfontenla | 22:000890b38b32 | 625 | mode = 1; |
| lucasfontenla | 22:000890b38b32 | 626 | speed = 0; |
| lucasfontenla | 22:000890b38b32 | 627 | } else if(recv == 'F'){ |
| lucasfontenla | 22:000890b38b32 | 628 | mode = 0; |
| lucasfontenla | 22:000890b38b32 | 629 | speed = 1; |
| lucasfontenla | 22:000890b38b32 | 630 | } |
| lucasfontenla | 22:000890b38b32 | 631 | |
| lucasfontenla | 22:000890b38b32 | 632 | if(mode){ |
| lucasfontenla | 22:000890b38b32 | 633 | if(recv != 'M'){ |
| lucasfontenla | 22:000890b38b32 | 634 | mode_recv.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 635 | } |
| lucasfontenla | 22:000890b38b32 | 636 | } else if(speed){ |
| lucasfontenla | 22:000890b38b32 | 637 | if(recv != 'F'){ |
| lucasfontenla | 22:000890b38b32 | 638 | speed_str.push_back(recv); |
| lucasfontenla | 22:000890b38b32 | 639 | } |
| lucasfontenla | 22:000890b38b32 | 640 | } |
| lucasfontenla | 22:000890b38b32 | 641 | } |
| lucasfontenla | 23:d64d37561b4a | 642 | |
| lucasfontenla | 23:d64d37561b4a | 643 | if(jog_mode && recv == 'k'){ |
| lucasfontenla | 23:d64d37561b4a | 644 | kill_jog_mode = 1; |
| lucasfontenla | 23:d64d37561b4a | 645 | } |
| lucasfontenla | 22:000890b38b32 | 646 | } |
| lucasfontenla | 17:55e6270adab5 | 647 | } |