Grupo T
/
GRUPOT
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Diff: main.cpp
- Revision:
- 20:1d98a6f51dee
- Parent:
- 19:e69ff16f35aa
- Child:
- 21:c6c33381fc5f
diff -r e69ff16f35aa -r 1d98a6f51dee main.cpp
--- a/main.cpp Tue May 08 16:41:37 2018 +0000
+++ b/main.cpp Wed May 09 11:53:46 2018 +0000
@@ -27,7 +27,7 @@
DigitalIn zUp(D15);
DigitalIn zDwn(D14);
-InterruptIn saveBtn(D13);
+InterruptIn saveBtn(A5);
InterruptIn startBtn(D12);
DigitalIn botao(D11);
@@ -103,6 +103,9 @@
int pontos_restantes = 0;
int startSaved = 0;
+int autoReload = 0;
+int exitSavedPointsLoop = 0;
+int keepSavedPointsReload = 0;
// prototype functions
void setupPins();
@@ -150,192 +153,194 @@
saveBtn.rise(&savePoint);
startBtn.rise(&startSavedPoints);
-
- if(modeStatus){
- //Código de JOG
- printf("JOG Selected\n\r");
- while(1){
- valX = joyX;
- valY = joyY;
+
+ while(1){
+ if(modeStatus){
+ autoReload = 0;
+ saved = 0;
+ startSaved = 0;
- valZUp = zUp;
- valZDwn = zDwn;
-
- if(valX > 0.7){
- if(x_dir != x_plus){
- x_dir = x_plus;
+ //Código de JOG
+ printf("JOG Selected\n\r");
+ while(1){
+ valX = joyX;
+ valY = joyY;
+
+ valZUp = zUp;
+ valZDwn = zDwn;
+
+ if(valX > 0.7){
+ if(x_dir != x_plus){
+ x_dir = x_plus;
+ }
+ activeX = 1;
}
- activeX = 1;
- //totalX+=1;
- }
- else if(valX < 0.3){
- if(x_dir != x_minus){
- x_dir = x_minus;
+ else if(valX < 0.3){
+ if(x_dir != x_minus){
+ x_dir = x_minus;
+ }
+ activeX = 1;
+ }
+ else{
+ activeX = 0;
}
- activeX = 1;
- //totalX-=1;
- }
- else{
- activeX = 0;
- }
-
- //----------------------------------------------------------------------
-
- if(valY > 0.7){
- if(y_dir != y_plus){
- y_dir = y_plus;
+
+ //----------------------------------------------------------------------
+
+ if(valY > 0.7){
+ if(y_dir != y_plus){
+ y_dir = y_plus;
+ }
+ activeY = 1;
}
- activeY = 1;
- //totalY+=1;
- }
- else if(valY < 0.3){
- if(y_dir != y_minus){
- y_dir = y_minus;
+ else if(valY < 0.3){
+ if(y_dir != y_minus){
+ y_dir = y_minus;
+ }
+ activeY = 1;
+ }
+ else{
+ activeY = 0;
}
- activeY = 1;
- //totalY-=1;
- }
- else{
- activeY = 0;
- }
-
- //----------------------------------------------------------------------
-
- if(!valZUp && valZDwn){
- if(z_dir != z_minus){
- z_dir = z_minus;
+
+ //----------------------------------------------------------------------
+
+ if(!valZUp && valZDwn){
+ if(z_dir != z_minus){
+ z_dir = z_minus;
+ }
+ activeZ = 1;
}
- activeZ = 1;
- //totalZ-=1;
- }
- else if(!valZDwn && valZUp){
- if(z_dir != z_plus){
- z_dir = z_plus;
+ else if(!valZDwn && valZUp){
+ if(z_dir != z_plus){
+ z_dir = z_plus;
+ }
+ activeZ = 1;
+ }
+ else {
+ activeZ = 0;
}
- activeZ = 1;
- //totalZ+=1;
- }
- else {
- activeZ = 0;
- }
-
- //----------------------------------------------------------------------
-
- move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ);
- X = steps_to_distance(totalX, xPitch);
- Y = steps_to_distance(totalY, yPitch);
- Z = steps_to_distance(totalZ, zPitch);
-
- if(contador > 10000){
- printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z);
- contador = 0;
+
+ //----------------------------------------------------------------------
+
+ move(ppsMax, x_dir, y_dir, z_dir, activeX, activeY, activeZ);
+ X = steps_to_distance(totalX, xPitch);
+ Y = steps_to_distance(totalY, yPitch);
+ Z = steps_to_distance(totalZ, zPitch);
+
+ if(contador > 10000){
+ printf("X: %.2f Y: %.2f Z: %.2f\r\n", X, Y, Z);
+ contador = 0;
+ }
+
+ contador+=1;
+
+ if(startSaved){
+ break;
+ }
}
- contador+=1;
-
- if(startSaved){
- break;
- }
- }
-
- printf("\nStarting saved points\n\r");
-
- x_distance_to_run = points[0][0] - points[0][saved-1];
- y_distance_to_run = points[1][0] - points[1][saved-1];
- z_distance_to_run = points[2][0] - points[2][saved-1];
-
- printf("\nGoing to first point\n\r");
-
- if(x_distance_to_run < 0){
- x_dir = x_minus;
- x_distance_to_run = -1.0*x_distance_to_run;
- } else { x_dir = x_plus; }
-
- if(y_distance_to_run < 0){
- y_dir = y_minus;
- y_distance_to_run = -1.0*y_distance_to_run;
- } else { y_dir = y_plus; }
-
- if(z_distance_to_run < 0){
- z_dir = z_minus;
- z_distance_to_run = -1.0*z_distance_to_run;
- } else { z_dir = z_plus; }
-
- x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch);
- y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch);
- z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
-
- printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
-
- move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
- move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
- move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
-
- wait(2);
-
- printf("\nSaved points\n\r");
-
- for(int i = 1; i < saved; i++){
- x_distance_to_run = points[0][i]-points[0][i-1];
- y_distance_to_run = points[1][i]-points[1][i-1];
- z_distance_to_run = points[2][i]-points[2][i-1];
-
- printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
+ while(1){
+
+ printf("\nStarting saved points\n\r");
+
+ // home
+ x_distance_to_run = points[0][0] - points[0][saved-1];
+ y_distance_to_run = points[1][0] - points[1][saved-1];
+ z_distance_to_run = points[2][0] - points[2][saved-1];
+
+ printf("\nGoing to first point\n\r");
+
+ if(x_distance_to_run < 0){
+ x_dir = x_minus;
+ x_distance_to_run = -1.0*x_distance_to_run;
+ } else { x_dir = x_plus; }
+
+ if(y_distance_to_run < 0){
+ y_dir = y_minus;
+ y_distance_to_run = -1.0*y_distance_to_run;
+ } else { y_dir = y_plus; }
+
+ if(z_distance_to_run < 0){
+ z_dir = z_minus;
+ z_distance_to_run = -1.0*z_distance_to_run;
+ } else { z_dir = z_plus; }
+
+ x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch);
+ y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch);
+ z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
+
+ printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
+
+ move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
+ move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
+ move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
+
+ wait(2);
+
+ printf("\nSaved points\n\r");
+
+ // routine
+
+ for(int i = 1; i < saved; i++){
+ x_distance_to_run = points[0][i]-points[0][i-1];
+ y_distance_to_run = points[1][i]-points[1][i-1];
+ z_distance_to_run = points[2][i]-points[2][i-1];
+
+ printf("deltaX: %.2f deltaY: %.2f deltaZ: %.2f\n\r", x_distance_to_run, y_distance_to_run, z_distance_to_run);
+
+ if(x_distance_to_run < 0){
+ x_dir = x_minus;
+ x_distance_to_run = -1.0*x_distance_to_run;
+ } else { x_dir = x_plus; }
+
+ if(y_distance_to_run < 0){
+ y_dir = y_minus;
+ y_distance_to_run = -1.0*y_distance_to_run;
+ } else { y_dir = y_plus; }
+
+ if(z_distance_to_run < 0){
+ z_dir = z_minus;
+ z_distance_to_run = -1.0*z_distance_to_run;
+ } else { z_dir = z_plus; }
+
+ x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch);
+ y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch);
+ z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
+
+ move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
+ move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
+ move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
+ }
+
+ printf("Done\n\r");
+
+ printf("\nTo restart press blue, to return to JOG press yellow.\n\r");
+
+ autoReload = 1;
+ exitSavedPointsLoop = 0;
+ keepSavedPointsReload = 0;
+
+ while(1){
+ if(exitSavedPointsLoop){
+ printf("Exiting...");
+ break;
+ } else if(keepSavedPointsReload){
+ printf("Restarting...\n\r");
+ exitSavedPointsLoop = 0;
+ break;
+ }
+
+ wait_ms(10);
+ }
+ if(exitSavedPointsLoop){
+ break;
+ }
+ }
+ } else {
- if(x_distance_to_run < 0){
- x_dir = x_minus;
- x_distance_to_run = -1.0*x_distance_to_run;
- } else { x_dir = x_plus; }
-
- if(y_distance_to_run < 0){
- y_dir = y_minus;
- y_distance_to_run = -1.0*y_distance_to_run;
- } else { y_dir = y_plus; }
-
- if(z_distance_to_run < 0){
- z_dir = z_minus;
- z_distance_to_run = -1.0*z_distance_to_run;
- } else { z_dir = z_plus; }
-
- x_steps_to_run = distance_to_steps(x_distance_to_run, xPitch);
- y_steps_to_run = distance_to_steps(y_distance_to_run, yPitch);
- z_steps_to_run = distance_to_steps(z_distance_to_run, zPitch);
-
- move(ppsMax, x_dir, y_dir, z_dir, x_steps_to_run, 0, 0);
- move(ppsMax, x_dir, y_dir, z_dir, 0, y_steps_to_run, 0);
- move(ppsMax, x_dir, y_dir, z_dir, 0, 0, z_steps_to_run);
}
-
- printf("Done\n\r");
}
-
- else {
- printf("Routine Selected\n\r");
-
- /*
- z_steps_to_run = distance_to_steps(20.0, zPitch);
- move(ppsMax, x_plus, x_plus, z_minus, 0, 0, z_steps_to_run);
-
- y_steps_to_run = distance_to_steps(50, yPitch);
- move(ppsMax, x_plus, y_minus, z_plus, 0, y_steps_to_run, 0);
-
- x_steps_to_run = distance_to_steps(50, xPitch);
- move(ppsMax, x_plus, y_plus, z_plus, x_steps_to_run, 0, 0);
-
- y_steps_to_run = distance_to_steps(50, yPitch);
- move(ppsMax, x_plus, y_plus, z_plus, 0, y_steps_to_run, 0);
-
- x_steps_to_run = distance_to_steps(50, xPitch);
- move(ppsMax, x_minus, y_plus, z_plus, x_steps_to_run, 0, 0);
-
- move(ppsMax, x_plus, x_plus, z_plus, 0, 0, z_steps_to_run); */
-
-
- move(ppsMax, x_plus, y_plus, z_plus, 400, 0, 0);
-
-
- printf("Done\n\r");
- }
}
// FUNCTIONS ----------------------------------------------------------------
@@ -525,26 +530,41 @@
}
void savePoint(void){
- printf("\nSave selected\n\r");
- if(saved >= maxPoints){
- printf("Max points reached\n\r");
- } else{
- X = steps_to_distance(totalX, xPitch);
- Y = steps_to_distance(totalY, yPitch);
- Z = steps_to_distance(totalZ, zPitch);
-
- points[0][saved] = X;
- points[1][saved] = Y;
- points[2][saved] = Z;
-
- 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);
+ if(!autoReload){
+ keepSavedPointsReload = 0;
+ exitSavedPointsLoop = 0;
+ printf("\nSave selected\n\r");
+ if(saved >= maxPoints){
+ printf("Max points reached\n\r");
+ } else{
+ X = steps_to_distance(totalX, xPitch);
+ Y = steps_to_distance(totalY, yPitch);
+ Z = steps_to_distance(totalZ, zPitch);
+
+ points[0][saved] = X;
+ points[1][saved] = Y;
+ points[2][saved] = Z;
+
+ 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);
+ }
+ else {
+ exitSavedPointsLoop = 1;
+ keepSavedPointsReload = 0;
+ }
}
void startSavedPoints(void){
- startSaved = 1;
+ if(!autoReload){
+ startSaved = 1;
+ keepSavedPointsReload = 0;
+ exitSavedPointsLoop = 0;
+ } else {
+ keepSavedPointsReload = 1;
+ exitSavedPointsLoop = 0;
+ }
}
\ No newline at end of file