Diff: main.cpp

Revision:

9:d771a576e4fc

Parent:

8:de64672c240f

Child:

10:cd868ca9997c

--- a/main.cpp	Fri May 04 12:41:56 2018 +0000
+++ b/main.cpp	Fri May 04 15:57:10 2018 +0000
@@ -1,5 +1,8 @@
 #include "mbed.h"
 
+// Classes ---------------------------------------------------------------------------------
+Timer debounce;
+
 // MACHINE SETUP ---------------------------------------------------------------------------
 
 // drivers output signal
@@ -14,18 +17,18 @@
 
 // hardware input signal
 // end-of-stroke sensors
-DigitalIn endX1(D5);
-DigitalIn endX2(D10);
+InterruptIn endX1(D5);
+InterruptIn endX2(D13);
 
 // IHM for development
-AnalogIn joyX(A1);
-AnalogIn joyY(A0);
+AnalogIn joyX(A0);
+AnalogIn joyY(A1);
 
 DigitalIn zUp(D7);
 DigitalIn zDwn(D6);
 
 // variables definition
-int modeStatus = 1;
+int modeStatus = 0;
 
 float valX;
 float valY;
@@ -40,6 +43,16 @@
 int y_dir;
 int z_dir;
 
+int x_plus = 1;
+int x_minus = 0;
+int y_plus = 1;
+int y_minus = 0;
+int z_plus = 1;
+int z_minus = 0;
+
+int x_limit_min = 0;
+int x_limit_max = 0;
+
 float ppsMax = 600.0;
 
 int totalX = 0;
@@ -48,6 +61,9 @@
 float X = 0;
 float Y = 0;
 
+int endX1Status;
+int endX2Status;
+
 // machine parameters
 float xPitch = 3.0;
 float yPitch = 3.0;
@@ -57,9 +73,16 @@
 float steps_by_rotation = motor_steps_by_rotation/step_mode;
 
 // prototype functions
+void setupPins();
 void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step);
 float distance(int steps, float pitch);
 
+void endX1Int_press(void);
+void endX1Int_release(void);
+
+void endX2Int_press(void);
+void endX2Int_release(void);
+
 // MAIN PROGRAM ----------------------------------------------------------------
 
 int contador = 0;
@@ -67,6 +90,12 @@
 int main(){
     printf("Starting...\r\n");
     
+    endX1.fall(&endX1Int_press);
+    endX1.rise(&endX1Int_release);
+    
+    endX2.fall(&endX2Int_press);
+    endX2.rise(&endX2Int_release);
+    
     if(modeStatus){
         //Código de JOG
         printf("JOG Selected\n");
@@ -78,15 +107,15 @@
             valZDwn = zDwn;
             
             if(valX > 0.7){
-                if(!x_dir){
-                    x_dir = 1;
+                if(x_dir != x_minus){
+                    x_dir = x_minus;
                 }
                 activeX = 1; 
                 totalX-=1;    
             }
             else if(valX < 0.3){
-                if(x_dir){
-                    x_dir = 0;   
+                if(x_dir != x_plus){
+                    x_dir = x_plus;   
                 }
                 activeX = 1;   
                 totalX+=1;  
@@ -98,15 +127,15 @@
             //----------------------------------------------------------------------
             
             if(valY > 0.7){
-                if(!y_dir){
-                    y_dir = 1;   
+                if(y_dir != y_plus){
+                    y_dir = y_plus;   
                 }
                 activeY = 1;  
                 totalY+=1;   
             }
             else if(valY < 0.3){
-                if(y_dir){
-                    y_dir = 0;    
+                if(y_dir != y_minus){
+                    y_dir = y_minus;    
                 }
                 activeY = 1; 
                 totalY-=1;   
@@ -118,15 +147,15 @@
             //----------------------------------------------------------------------   
             
             if(!valZUp && valZDwn){
-                if(z_dir){
-                    z_dir = 0;
+                if(z_dir != z_minus){
+                    z_dir = z_minus;
                     //totalZ-=1;    
                 }
                 activeZ = 1;    
             }
             else if(!valZDwn && valZUp){
-                if(!z_dir){
-                    z_dir = 1;
+                if(z_dir != z_plus){
+                    z_dir = z_plus;
                     //totalZ+=1;   
                 }
                 activeZ = 1;    
@@ -153,12 +182,59 @@
     }
     
     else {
-        //Código de execução fora do JOG    
-    }
-    
+        printf("X\n\r");
+        move(ppsMax, x_plus, y_plus, z_plus, 1600, 0, 0);
+        move(ppsMax, x_minus, y_plus, z_plus, 1600, 0, 0);
+        
+        wait(2);
+        
+        printf("Y\n\r");
+        move(ppsMax, x_plus, y_plus, z_plus, 0, 1600, 0);
+        move(ppsMax, x_minus, y_minus, z_plus, 0, 1600, 0);
+        
+        wait(2);
+        
+        printf("Z\n\r");
+        move(ppsMax, x_plus, y_plus, z_plus, 0, 0, 600);
+        move(ppsMax, x_minus, y_minus, z_minus, 0, 0, 600);
+        
+        printf("Finished");
+    }  
+}  
+
+// FUNCTIONS ----------------------------------------------------------------
+void setupPins(){
+    //endX1.mode(PullUp);
+    //endX2.mode(PullUp);
 }
 
-// FUNCTIONS ----------------------------------------------------------------
+void endX1Int_press(void){
+    //if(debounce.read_ms() > 50)
+    printf("X1 - press\n\r");
+    x_limit_min = 1;
+    //debounce.reset();    
+}
+
+void endX1Int_release(void){
+    //if(debounce.read_ms() > 50)
+    printf("X1 - release\n\r");
+    x_limit_min = 0;
+    //debounce.reset();    
+}
+
+void endX2Int_press(void){
+    //if(debounce.read_ms() > 50)
+    printf("X2 - press\n\r");
+    x_limit_max = 1;
+    //debounce.reset();    
+}
+
+void endX2Int_release(void){
+    //if(debounce.read_ms() > 50)
+    printf("X2 - release\n\r");
+    x_limit_max = 0;
+    //debounce.reset();    
+}
 
 void move(int pps, int x_dir, int y_dir, int z_dir, int x_step, int y_step, int z_step){
     float time = 1.0/pps/2.0;