Diff: main.cpp

Revision:

36:4d0e131146e6

Parent:

35:4a527ba7281a

--- a/main.cpp	Mon Jun 11 20:05:47 2018 +0000
+++ b/main.cpp	Tue Feb 26 00:55:02 2019 +0000
@@ -22,7 +22,7 @@
 DigitalOut ledXY(D10);
 DigitalOut ledZ(D11);
 
-DigitalOut glueValve(D12);
+DigitalOut glueValve(D9);
 
 // hardware input signal
 // end-of-stroke sensors
@@ -162,21 +162,9 @@
     printf("\nStarting...\r\n");
     
     enable = 1;
+    glueValve = 0;
     
     t.start();
-    /*
-    enable = 0;
-    while (1){
-        moving_test();
-    }*/
-      
-    /*  
-    while(1){
-        glueValve = 1;
-        wait(1);
-        glueValve = 0;
-        wait(1);   
-    }*/
     
     //  interrupções de fim de curso
     
@@ -189,7 +177,7 @@
     endZ.fall(&endZ_press);
     endZ.rise(&endZ_release);
     
-    //joyClick.fall(&joystickClick);
+    joyClick.fall(&joystickClick);
     
     while(1){
         if(ihm.readable()){
@@ -242,7 +230,7 @@
     }
 }
 void endZ_release(void){
-    printf("Z - release\n\r");
+    //printf("Z - release\n\r");
     z_block_min = 0;
     z_block_max = 0;
 }
@@ -343,6 +331,8 @@
     printf("Zero X\n\r");
     float time = 1.0/pps/2.0;
     
+    int offsetX;
+    
     if(dirX != x_minus){
         dirX = x_minus;    
     }
@@ -360,18 +350,24 @@
         wait(time);  
     }
     
+    offsetX = distance_to_steps(10.0, xPitch);
+    
+    move(ppsMax, x_plus, y_plus, z_plus, offsetX, 0, 0);
+    
     printf("X zero\n\r");
     
     totalX = 0;
     X = steps_to_distance(totalX, xPitch);
     Y = steps_to_distance(totalY, yPitch);
     Z = steps_to_distance(totalZ, zPitch);
-    ihm_class.send_position(X, Y, Z);
+    //ihm_class.send_position(X, Y, Z);
 }
 void zeroY(int pps){
     printf("Zero Y\n\r");
     float time = 1.0/pps/2.0;
     
+    int offsetY;
+    
     if(dirY != y_minus){
         dirY = y_minus;    
     }
@@ -389,6 +385,10 @@
         wait(time);  
     }
     
+    offsetY = distance_to_steps(10.0, yPitch);
+    
+    move(ppsMax, x_plus, y_plus, z_plus, 0, offsetY, 0);
+    
     printf("Y zero\n\r");
     
     totalY = 0;
@@ -402,6 +402,8 @@
     printf("Zero Z\n\r");
     float time = 1.0/pps/2.0;
     
+    int offsetZ;
+    
     if(dirZ != z_minus){
         dirZ = z_minus;    
     }
@@ -419,6 +421,10 @@
         wait(time);  
     }
     
+    offsetZ = distance_to_steps(5.0, yPitch);
+    
+    move(ppsMax, x_plus, y_plus, z_plus, 0, 0, offsetZ);
+    
     printf("Z zero\n\r");
     
     totalZ = 0;
@@ -478,7 +484,7 @@
     resting_points = maxPoints-saved;
     printf("Pontos restantes: %d\n\r", resting_points);     
     
-    ihm_class.send_position(X, Y, Z);
+    //ihm_class.send_position(X, Y, Z);
 }
 
 void jog(void){
@@ -661,7 +667,7 @@
     
     printf("Total points: %d\n\r", total_points);
     
-    for(int i = 0; i <= total_points; i++){
+    for(int i = 0; i < total_points; i++){
         if(ihm.readable()){
             readSerial();    
         }
@@ -814,8 +820,10 @@
                 if(gcode_move_upload){
                     automatic_run(saved, false);
                     gcode_move_upload = 0;
+                    ihm_class.action_complete(); 
                 } else {
-                    automatic_run(saved, true);   
+                    automatic_run(saved, true);  
+                    ihm_class.action_complete(); 
                 } 
             } else if(jog_mode){
                 if(kill_jog_mode){