Diff: main.cpp

Revision:

22:000890b38b32

Parent:

21:c6c33381fc5f

Child:

23:d64d37561b4a

--- a/main.cpp	Wed May 09 14:08:56 2018 +0000
+++ b/main.cpp	Mon May 14 04:04:56 2018 +0000
@@ -1,7 +1,12 @@
 // LIBs ------------------------------------------------------------------------------------
 #include "mbed.h"
+#include "string"
 
 // MACHINE SETUP ---------------------------------------------------------------------------
+#define tx PC_10
+#define rx PC_11
+
+Serial ihm(tx, rx); //tx e rx (D1 e D0)
 
 // drivers output signal
 DigitalOut enable(D2);
@@ -28,7 +33,6 @@
 DigitalIn zUp(D15);
 DigitalIn zDwn(D14);
 
-InterruptIn saveBtn(A5);
 InterruptIn startBtn(D12);
 
 // switch to alternate between JOG and routine
@@ -101,8 +105,9 @@
 
 int saved = 0;
 const int maxPoints = 10;
-float points[3][maxPoints];
-int pontos_restantes = 0;
+float points[3][maxPoints]; // [0] X; [1] Y; [2] Z;
+float path[2][maxPoints]; // [0] speed; [1] mode;
+int resting_points = 0;
 
 int startSaved = 0;
 int autoReload = 0;
@@ -133,16 +138,22 @@
 
 void printDistance(void);
 
+void rxCallback(void);
+
 // MAIN PROGRAM ----------------------------------------------------------------------------------------------
 
+char buffer[8] = "Hello\r";
+
 int main(){
     printf("\nStarting...\r\n");
     
-    modeStatus = botao;
+    enable = 0;
     
-    enable = 0;
- 
+    // interrupção serial
+    ihm.attach(&rxCallback, Serial::RxIrq);
+    
     //  interrupções de fim de curso
+    /*
     endX.fall(&endX_press);
     endX.rise(&endX_release);
     
@@ -151,9 +162,8 @@
     
     endZ.fall(&endZ_press);
     endZ.rise(&endZ_release);
-    
-    saveBtn.rise(&savePoint);
-    startBtn.rise(&startSavedPoints);
+
+    startBtn.rise(&startSavedPoints);*/
 
     int contador = 0;
     
@@ -534,7 +544,7 @@
     printf("X: %.2f     Y: %.2f     Z: %.2f\r\n", X, Y, Z);
 }
 
-void savePoint(void){
+void savePoint(string speed, string mode){
     if(!autoReload){
         keepSavedPointsReload = 0;
         exitSavedPointsLoop = 0;
@@ -549,13 +559,15 @@
             points[0][saved] = X;
             points[1][saved] = Y;
             points[2][saved] = Z;
-            
+            path[0][saved] = atof(speed.c_str());
+            path[1][saved] = atof(mode.c_str());
             saved+=1;
         }
         // save code
         printf("Saved --> X: %.2f     Y: %.2f     Z: %.2f\r\n", X, Y, Z);
-        pontos_restantes = maxPoints-saved;
-        printf("Pontos restantes: %d\n\n\r", pontos_restantes);
+        printf("Path --> Speed: %.2f      Mode: %.2f\n\r", path[0][saved-1], path[1][saved-1]);
+        resting_points = maxPoints-saved;
+        printf("Pontos restantes: %d\n\n\r", resting_points);
     }  
     else { 
         exitSavedPointsLoop = 1;
@@ -572,4 +584,58 @@
         keepSavedPointsReload = 1;
         exitSavedPointsLoop = 0;    
     } 
+}
+
+void rxCallback(void){
+    int first_rec_c = 1;
+    char mode_c;
+    char recv;
+    
+    //save
+    int save = 0;
+    int mode = 0;
+    int speed = 0;
+    string mode_recv;
+    string speed_str;
+    
+    printf("Receiving...\n\r");
+    
+    while(1){
+        recv = ihm.getc();
+        
+        if(first_rec_c && recv != 'x'){
+            mode_c = recv;
+            first_rec_c = 0;       
+        } else if(recv == 'x'){
+            if(save){
+                printf("Saved: mode->%s, speed->%s\n\r", mode_recv, speed_str);
+                savePoint(speed_str, mode_recv);
+            }            
+            break;
+        }
+        
+        if(recv == 's'){
+            save = 1;
+        }
+        
+        if(save){
+            if(recv == 'M'){
+                mode = 1;
+                speed = 0;
+            } else if(recv == 'F'){
+                mode = 0;
+                speed = 1;
+            } 
+            
+            if(mode){
+                if(recv != 'M'){
+                    mode_recv.push_back(recv);
+                }  
+            } else if(speed){
+                if(recv != 'F'){
+                    speed_str.push_back(recv);
+                }
+            }
+        }
+    }
 }
\ No newline at end of file