Grupo T / Mbed 2 deprecated LCD_GT

Código para o menu no LCD

Dependencies:   mbed SDFileSystemSD TextLCD

Fork of TextLCD_HelloWorld2 by Wim Huiskamp

classes.h@26:59081efdce79, 2018-05-16 (annotated)

Committer:
claraluques
Date:
Wed May 16 16:49:45 2018 +0000
Revision:
26:59081efdce79
Parent:
25:af1f99666ca9
Child:
27:83d2a710cc2f
jog funcionando, sem home ou exec (nao est? recebendo "a");

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lucasfontenla 17:0b8e489fac36 1 #define tx PC_10
lucasfontenla 17:0b8e489fac36 2 #define rx PC_11
lucasfontenla 17:0b8e489fac36 3
lucasfontenla 17:0b8e489fac36 4 Serial Mach(tx, rx);
claraluques 19:2c890ae2d187 5 //SDFileSystem sd(PB_5, PB_4, PB_3, PB_10, "sd"); //MOSI - D4, MISO - D5, SCLK - D3, CS - D6
lucasfontenla 17:0b8e489fac36 6
lucasfontenla 17:0b8e489fac36 7 class Machine {
lucasfontenla 17:0b8e489fac36 8 int n;
lucasfontenla 17:0b8e489fac36 9 string buffer;
lucasfontenla 17:0b8e489fac36 10 char buffer_char[2];
lucasfontenla 17:0b8e489fac36 11
lucasfontenla 17:0b8e489fac36 12 public:
lucasfontenla 17:0b8e489fac36 13 int debug;
lucasfontenla 17:0b8e489fac36 14
lucasfontenla 17:0b8e489fac36 15 // PUBLIC FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 17:0b8e489fac36 16 void move_to(float x, float y, float z, string type, int speed){
lucasfontenla 17:0b8e489fac36 17
lucasfontenla 17:0b8e489fac36 18 }
lucasfontenla 17:0b8e489fac36 19
lucasfontenla 17:0b8e489fac36 20 void move(int x_axis, int y_axis, int z_axis, float pct_speed){
lucasfontenla 17:0b8e489fac36 21 buffer = "";
lucasfontenla 17:0b8e489fac36 22
lucasfontenla 17:0b8e489fac36 23 buffer.append("f");
lucasfontenla 17:0b8e489fac36 24
lucasfontenla 17:0b8e489fac36 25 //buffer.append("X");
lucasfontenla 17:0b8e489fac36 26 n = sprintf(buffer_char, "%d", x_axis);
lucasfontenla 17:0b8e489fac36 27 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 28
lucasfontenla 17:0b8e489fac36 29 //buffer.append("Y");
lucasfontenla 17:0b8e489fac36 30 n = sprintf(buffer_char, "%d", y_axis);
lucasfontenla 17:0b8e489fac36 31 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 32
lucasfontenla 17:0b8e489fac36 33 //buffer.append("Z");
lucasfontenla 17:0b8e489fac36 34 n = sprintf(buffer_char, "%d", z_axis);
lucasfontenla 17:0b8e489fac36 35 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 36
lucasfontenla 17:0b8e489fac36 37 buffer.append("F");
lucasfontenla 17:0b8e489fac36 38 n = sprintf(buffer_char, "%.2f", pct_speed);
lucasfontenla 17:0b8e489fac36 39 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 40
lucasfontenla 17:0b8e489fac36 41 send(buffer);
lucasfontenla 17:0b8e489fac36 42 }
lucasfontenla 17:0b8e489fac36 43
lucasfontenla 17:0b8e489fac36 44 void save_point(int mode, float pct_speed){
lucasfontenla 17:0b8e489fac36 45 buffer = "";
lucasfontenla 17:0b8e489fac36 46
lucasfontenla 17:0b8e489fac36 47 buffer.append("s");
lucasfontenla 17:0b8e489fac36 48
lucasfontenla 17:0b8e489fac36 49 n = sprintf(buffer_char, "M%d", mode);
lucasfontenla 17:0b8e489fac36 50 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 51
lucasfontenla 17:0b8e489fac36 52 n = sprintf(buffer_char, "F%.2f", pct_speed);
lucasfontenla 17:0b8e489fac36 53 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 54
lucasfontenla 17:0b8e489fac36 55 send(buffer);
lucasfontenla 17:0b8e489fac36 56 }
lucasfontenla 17:0b8e489fac36 57
lucasfontenla 17:0b8e489fac36 58 void start_program(void){
claraluques 20:ccbd80b668ce 59 send("b");
claraluques 20:ccbd80b668ce 60 printf("b\n\r");
lucasfontenla 17:0b8e489fac36 61 }
lucasfontenla 17:0b8e489fac36 62
lucasfontenla 17:0b8e489fac36 63 void cancel_program(void){
lucasfontenla 17:0b8e489fac36 64 send("c");
lucasfontenla 17:0b8e489fac36 65 }
lucasfontenla 17:0b8e489fac36 66
lucasfontenla 17:0b8e489fac36 67 void get_status(void){
lucasfontenla 17:0b8e489fac36 68 send("s");
lucasfontenla 17:0b8e489fac36 69 }
lucasfontenla 17:0b8e489fac36 70
lucasfontenla 17:0b8e489fac36 71 void machine_zero(void){
claraluques 26:59081efdce79 72 send("zm");
lucasfontenla 17:0b8e489fac36 73 }
lucasfontenla 17:0b8e489fac36 74
lucasfontenla 17:0b8e489fac36 75 void set_zero(string axis){
lucasfontenla 17:0b8e489fac36 76 buffer = "";
lucasfontenla 17:0b8e489fac36 77
lucasfontenla 17:0b8e489fac36 78 buffer.append("z");
lucasfontenla 17:0b8e489fac36 79 buffer+=axis;
lucasfontenla 17:0b8e489fac36 80
lucasfontenla 17:0b8e489fac36 81 send(buffer);
lucasfontenla 17:0b8e489fac36 82 }
lucasfontenla 17:0b8e489fac36 83
claraluques 19:2c890ae2d187 84 void jog(void){
claraluques 19:2c890ae2d187 85 send("j");
claraluques 20:ccbd80b668ce 86 printf("j\n\r");
claraluques 19:2c890ae2d187 87 }
claraluques 19:2c890ae2d187 88
claraluques 20:ccbd80b668ce 89 void kill_jog(void){
claraluques 20:ccbd80b668ce 90 send("jk");
claraluques 20:ccbd80b668ce 91 printf("jk\n\r");
claraluques 20:ccbd80b668ce 92 }
claraluques 20:ccbd80b668ce 93
claraluques 26:59081efdce79 94 void reset (void){
claraluques 26:59081efdce79 95 send("r");
claraluques 26:59081efdce79 96 }
claraluques 26:59081efdce79 97
claraluques 20:ccbd80b668ce 98
lucasfontenla 17:0b8e489fac36 99 private:
lucasfontenla 17:0b8e489fac36 100
lucasfontenla 17:0b8e489fac36 101 // PRIVATE FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 17:0b8e489fac36 102 void send(string msg){
lucasfontenla 17:0b8e489fac36 103 msg.append("x");
lucasfontenla 17:0b8e489fac36 104
lucasfontenla 17:0b8e489fac36 105 for(int i = 0; i < msg.length(); i++){
lucasfontenla 17:0b8e489fac36 106 Mach.putc(msg[i]);
claraluques 20:ccbd80b668ce 107 wait_ms(20);
lucasfontenla 17:0b8e489fac36 108 }
lucasfontenla 17:0b8e489fac36 109 }
claraluques 18:5338b83b4de9 110 };
claraluques 18:5338b83b4de9 111
claraluques 18:5338b83b4de9 112
claraluques 18:5338b83b4de9 113 //criar classe "menu" (funções para as telas)
claraluques 18:5338b83b4de9 114 class Menu{
claraluques 19:2c890ae2d187 115
claraluques 19:2c890ae2d187 116 Machine machine;
claraluques 18:5338b83b4de9 117 public:
claraluques 18:5338b83b4de9 118 int linha;
claraluques 18:5338b83b4de9 119 int func;
claraluques 23:19c67758032d 120
claraluques 18:5338b83b4de9 121
claraluques 18:5338b83b4de9 122 void movercursor(int min, int max, int col){ //função para mover cursor de seleção
claraluques 18:5338b83b4de9 123 linha = min;
claraluques 18:5338b83b4de9 124 lcd.locate(col,min);
claraluques 18:5338b83b4de9 125 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 126 while (bot_enter==penter){
claraluques 18:5338b83b4de9 127 if (bot_cima==1){
claraluques 18:5338b83b4de9 128 if (linha==min){
claraluques 18:5338b83b4de9 129 lcd.locate(col,min);
claraluques 18:5338b83b4de9 130 lcd.printf(" ");
claraluques 18:5338b83b4de9 131 linha=max;
claraluques 18:5338b83b4de9 132 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 133 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 134 }
claraluques 18:5338b83b4de9 135 else {
claraluques 18:5338b83b4de9 136 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 137 lcd.printf(" ");
claraluques 18:5338b83b4de9 138 linha--;
claraluques 18:5338b83b4de9 139 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 140 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 141 }
claraluques 18:5338b83b4de9 142 bot_cima = 0;
claraluques 18:5338b83b4de9 143 }
claraluques 18:5338b83b4de9 144 else if (bot_baixo==1){
claraluques 18:5338b83b4de9 145 if (linha==max){
claraluques 18:5338b83b4de9 146 lcd.locate(col,max);
claraluques 18:5338b83b4de9 147 lcd.printf(" ");
claraluques 18:5338b83b4de9 148 linha=min;
claraluques 18:5338b83b4de9 149 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 150 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 151 }
claraluques 18:5338b83b4de9 152 else {
claraluques 18:5338b83b4de9 153 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 154 lcd.printf(" ");
claraluques 18:5338b83b4de9 155 linha++;
claraluques 18:5338b83b4de9 156 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 157 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 158 }
claraluques 18:5338b83b4de9 159 bot_baixo = 0;
claraluques 18:5338b83b4de9 160 }
claraluques 26:59081efdce79 161 //função para printar as coordenadas nas telas 2 e 8
claraluques 19:2c890ae2d187 162 else if (func==2 || func==8){
claraluques 26:59081efdce79 163 //x
claraluques 26:59081efdce79 164 if (cx<=-1 && cx>=-9){
claraluques 26:59081efdce79 165 lcd.locate(2,1);
claraluques 26:59081efdce79 166 lcd.printf(" %.2f", cx);
claraluques 26:59081efdce79 167 }
claraluques 26:59081efdce79 168 if (cx<=-10 && cx>=-99){
claraluques 26:59081efdce79 169 lcd.locate(2,1);
claraluques 26:59081efdce79 170 lcd.printf(" %.2f", cx);
claraluques 26:59081efdce79 171 }
claraluques 26:59081efdce79 172 if (cx<=-100){
claraluques 26:59081efdce79 173 lcd.locate(2,1);
claraluques 26:59081efdce79 174 lcd.printf("%.2f", cx);
claraluques 25:af1f99666ca9 175 }
claraluques 26:59081efdce79 176 if (cx<=9 && cx>=0){
claraluques 25:af1f99666ca9 177 lcd.locate(2,1);
claraluques 25:af1f99666ca9 178 lcd.printf(" %.2f", cx);
claraluques 25:af1f99666ca9 179 }
claraluques 25:af1f99666ca9 180 if (cx>=10 && cx<=99){
claraluques 25:af1f99666ca9 181 lcd.locate(2,1);
claraluques 25:af1f99666ca9 182 lcd.printf(" %.2f", cx);
claraluques 25:af1f99666ca9 183 }
claraluques 25:af1f99666ca9 184 if (cx>=100){
claraluques 25:af1f99666ca9 185 lcd.locate(2,1);
claraluques 25:af1f99666ca9 186 lcd.printf(" %.2f", cx);
claraluques 25:af1f99666ca9 187 }
claraluques 26:59081efdce79 188 //y
claraluques 26:59081efdce79 189 if (cy<=-1 && cy>=-9){
claraluques 26:59081efdce79 190 lcd.locate(2,2);
claraluques 26:59081efdce79 191 lcd.printf(" %.2f", cy);
claraluques 26:59081efdce79 192 }
claraluques 26:59081efdce79 193 if (cy<=-10 && cx>=-99){
claraluques 26:59081efdce79 194 lcd.locate(2,2);
claraluques 26:59081efdce79 195 lcd.printf(" %.2f", cy);
claraluques 26:59081efdce79 196 }
claraluques 26:59081efdce79 197 if (cy<=-100){
claraluques 26:59081efdce79 198 lcd.locate(2,2);
claraluques 26:59081efdce79 199 lcd.printf("%.2f", cy);
claraluques 25:af1f99666ca9 200 }
claraluques 26:59081efdce79 201 if (cy<=9 && cy>=0){
claraluques 25:af1f99666ca9 202 lcd.locate(2,2);
claraluques 25:af1f99666ca9 203 lcd.printf(" %.2f", cy);
claraluques 25:af1f99666ca9 204 }
claraluques 25:af1f99666ca9 205 if (cy>=10 && cx<=99){
claraluques 25:af1f99666ca9 206 lcd.locate(2,2);
claraluques 25:af1f99666ca9 207 lcd.printf(" %.2f", cy);
claraluques 25:af1f99666ca9 208 }
claraluques 25:af1f99666ca9 209 if (cy>=100){
claraluques 25:af1f99666ca9 210 lcd.locate(2,2);
claraluques 25:af1f99666ca9 211 lcd.printf(" %.2f", cy);
claraluques 25:af1f99666ca9 212 }
claraluques 26:59081efdce79 213 //z
claraluques 26:59081efdce79 214 if (cz<=-1 && cz>=-9){
claraluques 26:59081efdce79 215 lcd.locate(2,3);
claraluques 26:59081efdce79 216 lcd.printf(" %.2f", cz);
claraluques 26:59081efdce79 217 }
claraluques 26:59081efdce79 218 if (cz<=-10 && cx>=-99){
claraluques 26:59081efdce79 219 lcd.locate(2,3);
claraluques 26:59081efdce79 220 lcd.printf(" %.2f", cz);
claraluques 26:59081efdce79 221 }
claraluques 26:59081efdce79 222 if (cz<=-100){
claraluques 26:59081efdce79 223 lcd.locate(2,3);
claraluques 26:59081efdce79 224 lcd.printf("%.2f", cz);
claraluques 26:59081efdce79 225 }
claraluques 26:59081efdce79 226 if (cz<=9 && cz>=0){
claraluques 25:af1f99666ca9 227 lcd.locate(2,3);
claraluques 25:af1f99666ca9 228 lcd.printf(" %.2f", cz);
claraluques 25:af1f99666ca9 229 }
claraluques 25:af1f99666ca9 230 if (cz>=10 && cx<=99){
claraluques 25:af1f99666ca9 231 lcd.locate(2,3);
claraluques 25:af1f99666ca9 232 lcd.printf(" %.2f", cz);
claraluques 25:af1f99666ca9 233 }
claraluques 25:af1f99666ca9 234 if (cz>=100){
claraluques 25:af1f99666ca9 235 lcd.locate(2,3);
claraluques 25:af1f99666ca9 236 lcd.printf(" %.2f", cz);
claraluques 25:af1f99666ca9 237 }
claraluques 26:59081efdce79 238 } //até aqui, para alinhar os números
lucasfontenla 22:22ddb0b21d48 239 if (Mach.readable()){
claraluques 21:7603fe283ba4 240 readSerial();
claraluques 21:7603fe283ba4 241 }
claraluques 18:5338b83b4de9 242 }
claraluques 26:59081efdce79 243
claraluques 18:5338b83b4de9 244 }
claraluques 18:5338b83b4de9 245
claraluques 18:5338b83b4de9 246 //func 0
claraluques 18:5338b83b4de9 247 void inicializar(){ //função tela incial de boas-vindas
claraluques 26:59081efdce79 248 machine.reset();
claraluques 18:5338b83b4de9 249 lcd.cls();
claraluques 18:5338b83b4de9 250 lcd.locate(4,0);
claraluques 18:5338b83b4de9 251 lcd.printf("Bem-vindo(a)");
claraluques 18:5338b83b4de9 252 lcd.locate(0,1);
claraluques 18:5338b83b4de9 253 lcd.printf("Utilize seu EPI para operar a maquina.");
claraluques 18:5338b83b4de9 254 wait(1);
claraluques 18:5338b83b4de9 255 func = 1;
claraluques 18:5338b83b4de9 256 }
claraluques 18:5338b83b4de9 257
claraluques 18:5338b83b4de9 258 //func 1
claraluques 18:5338b83b4de9 259 void menuprincipal(){ //função menu principal
claraluques 18:5338b83b4de9 260 bot_enter = 0;
claraluques 18:5338b83b4de9 261 lcd.cls();
claraluques 18:5338b83b4de9 262 lcd.locate(1,0);
claraluques 18:5338b83b4de9 263 lcd.printf("Modo JOG");
claraluques 18:5338b83b4de9 264 lcd.locate(1,1);
claraluques 18:5338b83b4de9 265 lcd.printf("Modo Automatico");
claraluques 18:5338b83b4de9 266 lcd.locate(1,2);
claraluques 26:59081efdce79 267 lcd.printf("Zerar");
claraluques 18:5338b83b4de9 268 lcd.locate(1,3);
claraluques 26:59081efdce79 269 lcd.printf("Config");
claraluques 18:5338b83b4de9 270 movercursor(0,3,0);
claraluques 18:5338b83b4de9 271 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 272 if (linha==0){
claraluques 18:5338b83b4de9 273 func = 2;
claraluques 18:5338b83b4de9 274 }
claraluques 18:5338b83b4de9 275 else if (linha==1) {
claraluques 18:5338b83b4de9 276 func = 3;
claraluques 18:5338b83b4de9 277 }
claraluques 18:5338b83b4de9 278 else if (linha==2) {
claraluques 26:59081efdce79 279 func = 8;
claraluques 18:5338b83b4de9 280 }
claraluques 18:5338b83b4de9 281 else if (linha==3) {
claraluques 26:59081efdce79 282 func = 4;
claraluques 18:5338b83b4de9 283 }
claraluques 18:5338b83b4de9 284 }
claraluques 18:5338b83b4de9 285 }
claraluques 18:5338b83b4de9 286
claraluques 18:5338b83b4de9 287 //func 2
claraluques 18:5338b83b4de9 288 void jog(){ //função tela jog
claraluques 18:5338b83b4de9 289 bot_enter = 0;
claraluques 20:ccbd80b668ce 290 machine.kill_jog();
claraluques 20:ccbd80b668ce 291 wait(0.1);
claraluques 19:2c890ae2d187 292 machine.jog();
claraluques 18:5338b83b4de9 293 lcd.cls();
claraluques 18:5338b83b4de9 294 lcd.locate(4,0);
claraluques 18:5338b83b4de9 295 lcd.printf("Coordenadas:");
claraluques 18:5338b83b4de9 296 lcd.locate(0,1);
claraluques 18:5338b83b4de9 297 lcd.printf("X:");
claraluques 18:5338b83b4de9 298 lcd.locate(0,2);
claraluques 18:5338b83b4de9 299 lcd.printf("Y:");
claraluques 18:5338b83b4de9 300 lcd.locate(0,3);
claraluques 18:5338b83b4de9 301 lcd.printf("Z:");
claraluques 18:5338b83b4de9 302 lcd.locate(11,1);
claraluques 18:5338b83b4de9 303 lcd.printf("Salvar");
claraluques 18:5338b83b4de9 304 lcd.locate(11,2);
claraluques 18:5338b83b4de9 305 lcd.printf("Concluir");
claraluques 18:5338b83b4de9 306 lcd.locate(11,3);
claraluques 18:5338b83b4de9 307 lcd.printf("Cancelar");
claraluques 19:2c890ae2d187 308 movercursor(1,3,10);
claraluques 18:5338b83b4de9 309 if (bot_enter!=penter){
claraluques 20:ccbd80b668ce 310 if (linha==1){
claraluques 26:59081efdce79 311 if (pontos==0 && maxpontos>=1){
claraluques 26:59081efdce79 312 cx_salva = 0;
claraluques 26:59081efdce79 313 cy_salva = 0;
claraluques 26:59081efdce79 314 cz_salva = 0;
claraluques 26:59081efdce79 315 pontos++;
claraluques 26:59081efdce79 316 maxpontos--;
claraluques 26:59081efdce79 317 func = 5;
claraluques 26:59081efdce79 318 }
claraluques 26:59081efdce79 319 else if (pontos>=1 && maxpontos>=1){
claraluques 18:5338b83b4de9 320 cx_salva = cx;
claraluques 18:5338b83b4de9 321 cy_salva = cy;
claraluques 18:5338b83b4de9 322 cz_salva = cz;
claraluques 26:59081efdce79 323 pontos++;
claraluques 26:59081efdce79 324 maxpontos--;
claraluques 18:5338b83b4de9 325 func = 5;
claraluques 18:5338b83b4de9 326 }
claraluques 26:59081efdce79 327 else if (maxpontos==0){
claraluques 18:5338b83b4de9 328 func = 16;
claraluques 18:5338b83b4de9 329 }
claraluques 18:5338b83b4de9 330 }
claraluques 18:5338b83b4de9 331 else if (linha==2) {
claraluques 26:59081efdce79 332 func = 17;
claraluques 18:5338b83b4de9 333 }
claraluques 18:5338b83b4de9 334 else if (linha==3) {
claraluques 20:ccbd80b668ce 335 machine.kill_jog();
claraluques 26:59081efdce79 336 wait(0.1);
claraluques 26:59081efdce79 337 machine.cancel_program();
claraluques 18:5338b83b4de9 338 func = 1;
claraluques 18:5338b83b4de9 339 pontos = 10;
claraluques 18:5338b83b4de9 340 }
claraluques 18:5338b83b4de9 341 }
claraluques 18:5338b83b4de9 342 }
claraluques 18:5338b83b4de9 343
claraluques 18:5338b83b4de9 344 //func 3
claraluques 18:5338b83b4de9 345 void automatico(){ //tela modo automatico
claraluques 18:5338b83b4de9 346 lcd.cls();
claraluques 18:5338b83b4de9 347 bot_enter = 0;
claraluques 18:5338b83b4de9 348 lcd.printf("Modo automatico");
claraluques 18:5338b83b4de9 349 lcd.locate(7,2);
claraluques 18:5338b83b4de9 350 lcd.printf("OK");
claraluques 18:5338b83b4de9 351 lcd.locate(7,3);
claraluques 18:5338b83b4de9 352 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 353 movercursor(2,3,6);
claraluques 18:5338b83b4de9 354 if (bot_enter!=penter) {
claraluques 18:5338b83b4de9 355 if (linha==2){
claraluques 18:5338b83b4de9 356 func = 12;
claraluques 18:5338b83b4de9 357 }
claraluques 18:5338b83b4de9 358 else if (linha==3){
claraluques 18:5338b83b4de9 359 func = 1;
claraluques 18:5338b83b4de9 360 }
claraluques 18:5338b83b4de9 361 }
claraluques 18:5338b83b4de9 362 }
claraluques 18:5338b83b4de9 363
claraluques 18:5338b83b4de9 364 //func 4
claraluques 18:5338b83b4de9 365 void config() {
claraluques 18:5338b83b4de9 366 lcd.cls();
claraluques 18:5338b83b4de9 367 bot_enter = 0;
claraluques 18:5338b83b4de9 368 lcd.locate(1,0);
claraluques 18:5338b83b4de9 369 lcd.printf("Definir velocidade");
claraluques 18:5338b83b4de9 370 lcd.locate(1,1);
claraluques 18:5338b83b4de9 371 lcd.printf("Limpar seringa cola");
claraluques 18:5338b83b4de9 372 lcd.locate(1,2);
claraluques 26:59081efdce79 373 lcd.printf("Origem maquina");
claraluques 18:5338b83b4de9 374 lcd.locate(1,3);
claraluques 18:5338b83b4de9 375 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 376 movercursor(0,3,0);
claraluques 18:5338b83b4de9 377 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 378 if (linha==0) {
claraluques 18:5338b83b4de9 379 func = 13;
claraluques 18:5338b83b4de9 380 }
claraluques 18:5338b83b4de9 381 else if (linha==1) {
claraluques 18:5338b83b4de9 382 func = 14;
claraluques 18:5338b83b4de9 383 }
claraluques 18:5338b83b4de9 384 else if (linha==2) {
claraluques 18:5338b83b4de9 385 func = 15;
claraluques 18:5338b83b4de9 386 }
claraluques 18:5338b83b4de9 387 else if (linha==3) {
claraluques 18:5338b83b4de9 388 func = 1;
claraluques 18:5338b83b4de9 389 }
claraluques 18:5338b83b4de9 390 }
claraluques 18:5338b83b4de9 391 }
claraluques 18:5338b83b4de9 392
claraluques 18:5338b83b4de9 393 //func 5
claraluques 18:5338b83b4de9 394 void telasalvamento(){ //função para quando salvar um ponto
claraluques 18:5338b83b4de9 395 lcd.cls();
claraluques 18:5338b83b4de9 396 lcd.locate(0,0);
claraluques 18:5338b83b4de9 397 lcd.printf("Voce salvou");
claraluques 18:5338b83b4de9 398 lcd.locate(1,1);
claraluques 25:af1f99666ca9 399 lcd.printf("X:%.2f ", cx_salva);
claraluques 18:5338b83b4de9 400 lcd.locate(1,2);
claraluques 25:af1f99666ca9 401 lcd.printf("Y:%.2f ", cy_salva);
claraluques 18:5338b83b4de9 402 lcd.locate(1,3);
claraluques 25:af1f99666ca9 403 lcd.printf("Z:%.2f ", cz_salva);
claraluques 18:5338b83b4de9 404 lcd.locate(13,1);
claraluques 18:5338b83b4de9 405 lcd.printf("Pontos");
claraluques 18:5338b83b4de9 406 lcd.locate(13,2);
claraluques 18:5338b83b4de9 407 lcd.printf("livres");
claraluques 18:5338b83b4de9 408 lcd.locate(16,3);
claraluques 26:59081efdce79 409 lcd.printf("%d", maxpontos);
claraluques 18:5338b83b4de9 410 wait(1);
claraluques 18:5338b83b4de9 411 if (pontos>0){
claraluques 18:5338b83b4de9 412 func = 6;
claraluques 18:5338b83b4de9 413 }
claraluques 18:5338b83b4de9 414 else if (pontos==0){
claraluques 18:5338b83b4de9 415 func = 2;
claraluques 18:5338b83b4de9 416 }
claraluques 18:5338b83b4de9 417 }
claraluques 18:5338b83b4de9 418
claraluques 18:5338b83b4de9 419 //func 6
claraluques 18:5338b83b4de9 420 void telacola(){ //tela para escolher o tipo de sequencia da cola
claraluques 18:5338b83b4de9 421 lcd.cls();
claraluques 18:5338b83b4de9 422 bot_enter = 0;
claraluques 18:5338b83b4de9 423 lcd.printf("P/ o proximo ponto:");
claraluques 18:5338b83b4de9 424 lcd.locate(3,1);
claraluques 18:5338b83b4de9 425 lcd.printf("Sem cola");
claraluques 18:5338b83b4de9 426 lcd.locate(3,2);
claraluques 18:5338b83b4de9 427 lcd.printf("Cola no ponto");
claraluques 18:5338b83b4de9 428 lcd.locate(3,3);
claraluques 18:5338b83b4de9 429 lcd.printf("Cola continua");
claraluques 18:5338b83b4de9 430 movercursor(1,3,2);
claraluques 18:5338b83b4de9 431 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 432 if (linha==1){
claraluques 18:5338b83b4de9 433 cola = 0;
claraluques 18:5338b83b4de9 434 func = 2;
claraluques 18:5338b83b4de9 435 }
claraluques 18:5338b83b4de9 436 else if (linha==2) {
claraluques 18:5338b83b4de9 437 cola = 1;
claraluques 18:5338b83b4de9 438 func = 2;
claraluques 18:5338b83b4de9 439 }
claraluques 18:5338b83b4de9 440 else if (linha==3) {
claraluques 18:5338b83b4de9 441 cola = 2;
claraluques 18:5338b83b4de9 442 func = 2;
claraluques 18:5338b83b4de9 443 }
claraluques 20:ccbd80b668ce 444 machine.save_point(cola,2);
claraluques 18:5338b83b4de9 445 }
claraluques 18:5338b83b4de9 446 }
claraluques 18:5338b83b4de9 447
claraluques 18:5338b83b4de9 448 //func 7
claraluques 18:5338b83b4de9 449 void executarprograma() { //tela para selecionar se deseja executar o programa
claraluques 18:5338b83b4de9 450 lcd.cls();
claraluques 18:5338b83b4de9 451 bot_enter = 0;
claraluques 18:5338b83b4de9 452 lcd.locate(2,0);
claraluques 18:5338b83b4de9 453 lcd.printf("VOCE CONCLUIU SEU");
claraluques 18:5338b83b4de9 454 lcd.locate(5,1);
claraluques 18:5338b83b4de9 455 lcd.printf("PROGRAMA.");
claraluques 18:5338b83b4de9 456 lcd.locate(0,2);
claraluques 18:5338b83b4de9 457 lcd.printf("Deseja");
claraluques 18:5338b83b4de9 458 lcd.locate(0,3);
claraluques 18:5338b83b4de9 459 lcd.printf("executa-lo?");
claraluques 18:5338b83b4de9 460 lcd.locate(14,2);
claraluques 18:5338b83b4de9 461 lcd.printf("Sim");
claraluques 18:5338b83b4de9 462 lcd.locate(14,3);
claraluques 18:5338b83b4de9 463 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 464 movercursor(2,3,13);
claraluques 18:5338b83b4de9 465 if (bot_enter!=penter) {
claraluques 18:5338b83b4de9 466 if (linha==2){
claraluques 21:7603fe283ba4 467 machine.kill_jog();
claraluques 21:7603fe283ba4 468 wait(0.1);
claraluques 19:2c890ae2d187 469 machine.start_program();
claraluques 18:5338b83b4de9 470 exec = 1;
claraluques 18:5338b83b4de9 471 func = 9;
claraluques 18:5338b83b4de9 472 }
claraluques 18:5338b83b4de9 473 else if (linha==3){
claraluques 18:5338b83b4de9 474 exec = 0;
claraluques 18:5338b83b4de9 475 func = 2;
claraluques 18:5338b83b4de9 476 }
claraluques 18:5338b83b4de9 477 }
claraluques 18:5338b83b4de9 478 }
claraluques 18:5338b83b4de9 479
claraluques 18:5338b83b4de9 480 //func 8
claraluques 18:5338b83b4de9 481 void telazerar(){ //tela para zerar a máquina
claraluques 18:5338b83b4de9 482 lcd.cls();
claraluques 18:5338b83b4de9 483 bot_enter = 0;
claraluques 26:59081efdce79 484 machine.kill_jog();
claraluques 26:59081efdce79 485 machine.jog();
claraluques 18:5338b83b4de9 486 lcd.locate(2,0);
claraluques 19:2c890ae2d187 487 lcd.printf("Zerar:");
claraluques 19:2c890ae2d187 488 lcd.locate(0,1);
claraluques 19:2c890ae2d187 489 lcd.printf("X:");
claraluques 19:2c890ae2d187 490 lcd.locate(0,2);
claraluques 19:2c890ae2d187 491 lcd.printf("Y:");
claraluques 19:2c890ae2d187 492 lcd.locate(0,3);
claraluques 19:2c890ae2d187 493 lcd.printf("Z:");
claraluques 19:2c890ae2d187 494 lcd.locate(13,0);
claraluques 19:2c890ae2d187 495 lcd.printf("X");
claraluques 19:2c890ae2d187 496 lcd.locate(13,1);
claraluques 19:2c890ae2d187 497 lcd.printf("Y");
claraluques 19:2c890ae2d187 498 lcd.locate(13,2);
claraluques 19:2c890ae2d187 499 lcd.printf("Z");
claraluques 19:2c890ae2d187 500 lcd.locate(13,3);
claraluques 19:2c890ae2d187 501 lcd.printf("Voltar");
claraluques 19:2c890ae2d187 502 movercursor(0,3,12);
claraluques 18:5338b83b4de9 503 if (bot_enter!=penter) {
claraluques 19:2c890ae2d187 504 if (linha==0){
claraluques 18:5338b83b4de9 505 cx = 0;
claraluques 19:2c890ae2d187 506 func = 10;
claraluques 19:2c890ae2d187 507 machine.set_zero("X");
claraluques 19:2c890ae2d187 508 }
claraluques 19:2c890ae2d187 509 else if (linha==1){
claraluques 18:5338b83b4de9 510 cy = 0;
claraluques 19:2c890ae2d187 511 func = 10;
claraluques 19:2c890ae2d187 512 machine.set_zero("Y");
claraluques 19:2c890ae2d187 513 }
claraluques 19:2c890ae2d187 514 else if (linha==2){
claraluques 18:5338b83b4de9 515 cz = 0;
claraluques 18:5338b83b4de9 516 func = 10;
claraluques 19:2c890ae2d187 517 machine.set_zero("Z");
claraluques 18:5338b83b4de9 518 }
claraluques 18:5338b83b4de9 519 else if (linha==3){
claraluques 18:5338b83b4de9 520 func = 1;
claraluques 26:59081efdce79 521 machine.kill_jog();
claraluques 18:5338b83b4de9 522 }
claraluques 18:5338b83b4de9 523 }
claraluques 18:5338b83b4de9 524 }
claraluques 18:5338b83b4de9 525
claraluques 18:5338b83b4de9 526 //func 9
claraluques 18:5338b83b4de9 527 void executando(){ //tela de executando
claraluques 18:5338b83b4de9 528 lcd.cls();
claraluques 18:5338b83b4de9 529 lcd.locate(4,1);
claraluques 18:5338b83b4de9 530 lcd.printf("Executando");
claraluques 18:5338b83b4de9 531 int contador = 0;
claraluques 18:5338b83b4de9 532 while (exec==1){
claraluques 18:5338b83b4de9 533 lcd.locate(14,1);
claraluques 18:5338b83b4de9 534 lcd.printf(". ");
claraluques 18:5338b83b4de9 535 wait(0.5);
claraluques 18:5338b83b4de9 536 lcd.locate(14,1);
claraluques 18:5338b83b4de9 537 lcd.printf(".. ");
claraluques 18:5338b83b4de9 538 wait(0.5);
claraluques 18:5338b83b4de9 539 lcd.locate(14,1);
claraluques 18:5338b83b4de9 540 lcd.printf("...");
claraluques 18:5338b83b4de9 541 wait(0.5);
claraluques 18:5338b83b4de9 542 lcd.locate(14,1);
claraluques 18:5338b83b4de9 543 lcd.printf(" ");
claraluques 18:5338b83b4de9 544 wait(0.5);
claraluques 18:5338b83b4de9 545 contador++;
claraluques 18:5338b83b4de9 546 if (contador>=2){
claraluques 18:5338b83b4de9 547 exec = 0;
claraluques 18:5338b83b4de9 548 func = 11;
claraluques 18:5338b83b4de9 549 }
claraluques 18:5338b83b4de9 550 }
claraluques 18:5338b83b4de9 551 }
claraluques 18:5338b83b4de9 552
claraluques 18:5338b83b4de9 553 //func 10
claraluques 18:5338b83b4de9 554 void zerado() { //tela avisando que a máquina foi zerada
claraluques 18:5338b83b4de9 555 lcd.cls();
claraluques 18:5338b83b4de9 556 lcd.locate(5,1);
claraluques 18:5338b83b4de9 557 lcd.printf("Voce zerou");
claraluques 19:2c890ae2d187 558 lcd.locate(6,2);
claraluques 19:2c890ae2d187 559 lcd.printf("o eixo!");
claraluques 18:5338b83b4de9 560 wait(1);
claraluques 18:5338b83b4de9 561 func = 8;
claraluques 18:5338b83b4de9 562 }
claraluques 18:5338b83b4de9 563
claraluques 18:5338b83b4de9 564 //func 11
claraluques 18:5338b83b4de9 565 void finalizado() { //tela aviso programa finalizado
claraluques 18:5338b83b4de9 566 lcd.cls();
claraluques 18:5338b83b4de9 567 lcd.locate(6,1);
claraluques 18:5338b83b4de9 568 lcd.printf("PROGRAMA");
claraluques 18:5338b83b4de9 569 lcd.locate(5,2);
claraluques 18:5338b83b4de9 570 lcd.printf("FINALIZADO");
claraluques 18:5338b83b4de9 571 wait(1);
claraluques 18:5338b83b4de9 572 func = 1;
claraluques 18:5338b83b4de9 573 }
claraluques 18:5338b83b4de9 574
claraluques 18:5338b83b4de9 575 //func 12
claraluques 18:5338b83b4de9 576
claraluques 18:5338b83b4de9 577 //func 13
claraluques 18:5338b83b4de9 578
claraluques 18:5338b83b4de9 579 //func 14
claraluques 18:5338b83b4de9 580
claraluques 18:5338b83b4de9 581 //func 15
claraluques 18:5338b83b4de9 582
claraluques 18:5338b83b4de9 583 //func 16
claraluques 18:5338b83b4de9 584 void limitepontos(){ //tela para quando acabam os pontos
claraluques 18:5338b83b4de9 585 lcd.cls();
claraluques 26:59081efdce79 586 lcd.printf(" Voce atingiu o n%c maximo de pontos", 0xDF);
claraluques 26:59081efdce79 587 lcd.locate(9,2);
claraluques 26:59081efdce79 588 lcd.printf("(%d)", pontos);
claraluques 18:5338b83b4de9 589 lcd.locate(0,3);
claraluques 18:5338b83b4de9 590 lcd.printf("Conclua seu programa");
claraluques 18:5338b83b4de9 591 wait(1);
claraluques 18:5338b83b4de9 592 func = 2;
claraluques 21:7603fe283ba4 593 }
claraluques 26:59081efdce79 594
claraluques 26:59081efdce79 595 //func 17
claraluques 26:59081efdce79 596 void salvarprog(){
claraluques 26:59081efdce79 597 lcd.cls();
claraluques 26:59081efdce79 598 bot_enter = 0;
claraluques 26:59081efdce79 599 lcd.printf("Voce deseja salvar este programa?");
claraluques 26:59081efdce79 600 lcd.locate(5,2);
claraluques 26:59081efdce79 601 lcd.printf("Sim");
claraluques 26:59081efdce79 602 lcd.locate(5,3);
claraluques 26:59081efdce79 603 lcd.printf("Nao");
claraluques 26:59081efdce79 604 movercursor(2,3,4);
claraluques 26:59081efdce79 605 if (bot_enter!=penter){
claraluques 26:59081efdce79 606 if (linha==2){
claraluques 26:59081efdce79 607 salvar = 1;
claraluques 26:59081efdce79 608 func = 7;
claraluques 26:59081efdce79 609 }
claraluques 26:59081efdce79 610 if (linha==3){
claraluques 26:59081efdce79 611 salvar = 0;
claraluques 26:59081efdce79 612 func = 7;
claraluques 26:59081efdce79 613 }
claraluques 26:59081efdce79 614 }
claraluques 26:59081efdce79 615 }
claraluques 26:59081efdce79 616
claraluques 26:59081efdce79 617 //função para ler os pontos
claraluques 21:7603fe283ba4 618 void readSerial(){
claraluques 21:7603fe283ba4 619 char recv;
lucasfontenla 24:46c3be0e8273 620 int points = 0;
lucasfontenla 24:46c3be0e8273 621 int pointx = 0;
lucasfontenla 24:46c3be0e8273 622 int pointy = 0;
lucasfontenla 24:46c3be0e8273 623 int pointz = 0;
lucasfontenla 24:46c3be0e8273 624 string coordx = "";
lucasfontenla 24:46c3be0e8273 625 string coordy = "";
lucasfontenla 24:46c3be0e8273 626 string coordz = "";
claraluques 26:59081efdce79 627
claraluques 21:7603fe283ba4 628
claraluques 21:7603fe283ba4 629 while(1){
claraluques 21:7603fe283ba4 630 recv = Mach.getc();
claraluques 26:59081efdce79 631 // printf("%c\n\r", recv);
claraluques 26:59081efdce79 632 if (recv == 'a'){
claraluques 26:59081efdce79 633 printf("oi\n\r");
claraluques 26:59081efdce79 634 wait(0.1);
claraluques 26:59081efdce79 635 break;
claraluques 26:59081efdce79 636 }
lucasfontenla 24:46c3be0e8273 637 if (recv == 'p'){
claraluques 21:7603fe283ba4 638 points = 1;
claraluques 23:19c67758032d 639 }
claraluques 23:19c67758032d 640 if (points){
lucasfontenla 24:46c3be0e8273 641 if (recv == 'X'){
claraluques 21:7603fe283ba4 642 pointx = 1;
lucasfontenla 24:46c3be0e8273 643 pointy = 0;
lucasfontenla 24:46c3be0e8273 644 pointz = 0;
claraluques 21:7603fe283ba4 645 }
lucasfontenla 24:46c3be0e8273 646 else if (recv == 'Y'){
claraluques 21:7603fe283ba4 647 pointy = 1;
lucasfontenla 24:46c3be0e8273 648 pointx = 0;
lucasfontenla 24:46c3be0e8273 649 pointz = 0;
claraluques 21:7603fe283ba4 650 }
lucasfontenla 24:46c3be0e8273 651 else if (recv == 'Z'){
claraluques 21:7603fe283ba4 652 pointz = 1;
lucasfontenla 24:46c3be0e8273 653 pointx = 0;
lucasfontenla 24:46c3be0e8273 654 pointy = 0;
claraluques 23:19c67758032d 655 }
lucasfontenla 24:46c3be0e8273 656 else if (recv == 'x'){
claraluques 23:19c67758032d 657 cx = atof(coordx.c_str());
claraluques 23:19c67758032d 658 cy = atof(coordy.c_str());
claraluques 23:19c67758032d 659 cz = atof(coordz.c_str());
claraluques 23:19c67758032d 660 printf("%s,%s,%s\n\r", coordx, coordy, coordz);
claraluques 21:7603fe283ba4 661 break;
claraluques 21:7603fe283ba4 662 }
claraluques 23:19c67758032d 663 }
claraluques 23:19c67758032d 664 if (pointx){
lucasfontenla 24:46c3be0e8273 665 if (recv!='X'){
claraluques 23:19c67758032d 666 coordx.push_back(recv);
claraluques 23:19c67758032d 667 }
claraluques 23:19c67758032d 668 }
claraluques 23:19c67758032d 669 if (pointy){
lucasfontenla 24:46c3be0e8273 670 if (recv!='Y'){
claraluques 23:19c67758032d 671 coordy.push_back(recv);
claraluques 23:19c67758032d 672 }
claraluques 23:19c67758032d 673 }
claraluques 23:19c67758032d 674 if (pointz){
lucasfontenla 24:46c3be0e8273 675 if (recv!='Z'){
claraluques 23:19c67758032d 676 coordz.push_back(recv);
claraluques 23:19c67758032d 677 }
claraluques 23:19c67758032d 678 }
claraluques 23:19c67758032d 679
claraluques 23:19c67758032d 680 }
claraluques 21:7603fe283ba4 681 }
claraluques 23:19c67758032d 682
claraluques 26:59081efdce79 683
lucasfontenla 22:22ddb0b21d48 684
claraluques 21:7603fe283ba4 685 Menu(); //não apagar
lucasfontenla 17:0b8e489fac36 686 };