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@30:614dcbd74cdc, 2018-05-22 (annotated)

Committer:
claraluques
Date:
Tue May 22 13:58:18 2018 +0000
Revision:
30:614dcbd74cdc
Parent:
29:558eccdfc079
Child:
31:77eb51d4ee18
vou testar fazer o bot?o pull up, salvando por garantia

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);
lucasfontenla 28:b3c51076ebe8 5 Timer t;
lucasfontenla 17:0b8e489fac36 6
lucasfontenla 29:558eccdfc079 7 string file_name;
lucasfontenla 29:558eccdfc079 8 vector <string> filenames;
lucasfontenla 29:558eccdfc079 9
lucasfontenla 17:0b8e489fac36 10 class Machine {
lucasfontenla 17:0b8e489fac36 11 int n;
lucasfontenla 17:0b8e489fac36 12 string buffer;
lucasfontenla 17:0b8e489fac36 13 char buffer_char[2];
lucasfontenla 17:0b8e489fac36 14
lucasfontenla 17:0b8e489fac36 15 public:
lucasfontenla 17:0b8e489fac36 16 int debug;
lucasfontenla 17:0b8e489fac36 17
lucasfontenla 17:0b8e489fac36 18 // PUBLIC FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 17:0b8e489fac36 19 void move_to(float x, float y, float z, string type, int speed){
lucasfontenla 17:0b8e489fac36 20
lucasfontenla 17:0b8e489fac36 21 }
lucasfontenla 17:0b8e489fac36 22
lucasfontenla 17:0b8e489fac36 23 void move(int x_axis, int y_axis, int z_axis, float pct_speed){
lucasfontenla 17:0b8e489fac36 24 buffer = "";
lucasfontenla 17:0b8e489fac36 25
lucasfontenla 17:0b8e489fac36 26 buffer.append("f");
lucasfontenla 17:0b8e489fac36 27
lucasfontenla 17:0b8e489fac36 28 //buffer.append("X");
lucasfontenla 17:0b8e489fac36 29 n = sprintf(buffer_char, "%d", x_axis);
lucasfontenla 17:0b8e489fac36 30 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 31
lucasfontenla 17:0b8e489fac36 32 //buffer.append("Y");
lucasfontenla 17:0b8e489fac36 33 n = sprintf(buffer_char, "%d", y_axis);
lucasfontenla 17:0b8e489fac36 34 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 35
lucasfontenla 17:0b8e489fac36 36 //buffer.append("Z");
lucasfontenla 17:0b8e489fac36 37 n = sprintf(buffer_char, "%d", z_axis);
lucasfontenla 17:0b8e489fac36 38 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 39
lucasfontenla 17:0b8e489fac36 40 buffer.append("F");
lucasfontenla 17:0b8e489fac36 41 n = sprintf(buffer_char, "%.2f", pct_speed);
lucasfontenla 17:0b8e489fac36 42 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 43
lucasfontenla 17:0b8e489fac36 44 send(buffer);
lucasfontenla 17:0b8e489fac36 45 }
lucasfontenla 17:0b8e489fac36 46
lucasfontenla 17:0b8e489fac36 47 void save_point(int mode, float pct_speed){
lucasfontenla 17:0b8e489fac36 48 buffer = "";
lucasfontenla 17:0b8e489fac36 49
lucasfontenla 17:0b8e489fac36 50 buffer.append("s");
lucasfontenla 17:0b8e489fac36 51
lucasfontenla 17:0b8e489fac36 52 n = sprintf(buffer_char, "M%d", mode);
lucasfontenla 17:0b8e489fac36 53 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 54
lucasfontenla 17:0b8e489fac36 55 n = sprintf(buffer_char, "F%.2f", pct_speed);
lucasfontenla 17:0b8e489fac36 56 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 57
lucasfontenla 17:0b8e489fac36 58 send(buffer);
lucasfontenla 17:0b8e489fac36 59 }
lucasfontenla 17:0b8e489fac36 60
lucasfontenla 17:0b8e489fac36 61 void start_program(void){
claraluques 20:ccbd80b668ce 62 send("b");
claraluques 20:ccbd80b668ce 63 printf("b\n\r");
lucasfontenla 17:0b8e489fac36 64 }
lucasfontenla 17:0b8e489fac36 65
lucasfontenla 17:0b8e489fac36 66 void cancel_program(void){
lucasfontenla 17:0b8e489fac36 67 send("c");
lucasfontenla 17:0b8e489fac36 68 }
lucasfontenla 17:0b8e489fac36 69
lucasfontenla 17:0b8e489fac36 70 void get_status(void){
lucasfontenla 17:0b8e489fac36 71 send("s");
lucasfontenla 17:0b8e489fac36 72 }
lucasfontenla 17:0b8e489fac36 73
lucasfontenla 17:0b8e489fac36 74 void machine_zero(void){
claraluques 26:59081efdce79 75 send("zm");
lucasfontenla 17:0b8e489fac36 76 }
lucasfontenla 17:0b8e489fac36 77
lucasfontenla 17:0b8e489fac36 78 void set_zero(string axis){
claraluques 27:83d2a710cc2f 79 buffer = "";
lucasfontenla 17:0b8e489fac36 80 buffer.append("z");
lucasfontenla 17:0b8e489fac36 81 buffer+=axis;
lucasfontenla 17:0b8e489fac36 82 send(buffer);
lucasfontenla 17:0b8e489fac36 83 }
lucasfontenla 17:0b8e489fac36 84
claraluques 19:2c890ae2d187 85 void jog(void){
claraluques 19:2c890ae2d187 86 send("j");
claraluques 20:ccbd80b668ce 87 printf("j\n\r");
claraluques 19:2c890ae2d187 88 }
claraluques 19:2c890ae2d187 89
claraluques 20:ccbd80b668ce 90 void kill_jog(void){
claraluques 20:ccbd80b668ce 91 send("jk");
claraluques 20:ccbd80b668ce 92 printf("jk\n\r");
claraluques 20:ccbd80b668ce 93 }
claraluques 20:ccbd80b668ce 94
claraluques 26:59081efdce79 95 void reset (void){
claraluques 26:59081efdce79 96 send("r");
claraluques 26:59081efdce79 97 }
claraluques 26:59081efdce79 98
lucasfontenla 28:b3c51076ebe8 99 void upload_gcode(string gcode){
lucasfontenla 28:b3c51076ebe8 100 buffer = "";
lucasfontenla 28:b3c51076ebe8 101 buffer.append("u");
lucasfontenla 28:b3c51076ebe8 102 buffer.append(gcode);
lucasfontenla 28:b3c51076ebe8 103
lucasfontenla 28:b3c51076ebe8 104 send(buffer);
lucasfontenla 28:b3c51076ebe8 105 }
claraluques 20:ccbd80b668ce 106
lucasfontenla 29:558eccdfc079 107 void get_saved_points(void){
lucasfontenla 29:558eccdfc079 108 send("l");
lucasfontenla 29:558eccdfc079 109 }
lucasfontenla 29:558eccdfc079 110
lucasfontenla 17:0b8e489fac36 111 private:
lucasfontenla 17:0b8e489fac36 112
lucasfontenla 17:0b8e489fac36 113 // PRIVATE FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 17:0b8e489fac36 114 void send(string msg){
lucasfontenla 17:0b8e489fac36 115 msg.append("x");
lucasfontenla 17:0b8e489fac36 116
lucasfontenla 17:0b8e489fac36 117 for(int i = 0; i < msg.length(); i++){
lucasfontenla 17:0b8e489fac36 118 Mach.putc(msg[i]);
claraluques 20:ccbd80b668ce 119 wait_ms(20);
lucasfontenla 17:0b8e489fac36 120 }
lucasfontenla 17:0b8e489fac36 121 }
claraluques 18:5338b83b4de9 122 };
claraluques 18:5338b83b4de9 123
claraluques 18:5338b83b4de9 124
lucasfontenla 28:b3c51076ebe8 125 Machine machine;
lucasfontenla 28:b3c51076ebe8 126
lucasfontenla 28:b3c51076ebe8 127 SDFileSystem sd(PB_15, PB_14, PB_13, PB_1, "sd"); //MOSI - D4, MISO - D5, SCLK - D3, CS - D7
lucasfontenla 28:b3c51076ebe8 128 DIR *dp;
lucasfontenla 28:b3c51076ebe8 129
lucasfontenla 29:558eccdfc079 130 string folderString = "Programas";
lucasfontenla 28:b3c51076ebe8 131
lucasfontenla 28:b3c51076ebe8 132 class SDCard{
lucasfontenla 28:b3c51076ebe8 133 public:
lucasfontenla 28:b3c51076ebe8 134 int save_GCODE(string name, string gcode){
lucasfontenla 29:558eccdfc079 135 string file_path = "/sd/" + folderString + "/" + name;
lucasfontenla 28:b3c51076ebe8 136 char * path = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 137
lucasfontenla 28:b3c51076ebe8 138 printf(path);
lucasfontenla 28:b3c51076ebe8 139
lucasfontenla 28:b3c51076ebe8 140 printf("going...\n\r");
lucasfontenla 28:b3c51076ebe8 141
lucasfontenla 28:b3c51076ebe8 142 FILE *fp = fopen(path, "w");
lucasfontenla 28:b3c51076ebe8 143
lucasfontenla 28:b3c51076ebe8 144 if(fp == NULL) {
lucasfontenla 28:b3c51076ebe8 145 error("Could not open file for write\n\r");
lucasfontenla 28:b3c51076ebe8 146 return 0;
lucasfontenla 28:b3c51076ebe8 147 }
lucasfontenla 28:b3c51076ebe8 148
lucasfontenla 28:b3c51076ebe8 149 char * write_file = str_to_char(gcode);
lucasfontenla 28:b3c51076ebe8 150
lucasfontenla 28:b3c51076ebe8 151 fprintf(fp, write_file);
lucasfontenla 28:b3c51076ebe8 152 fclose(fp);
lucasfontenla 28:b3c51076ebe8 153
lucasfontenla 28:b3c51076ebe8 154 printf("Cool\n\r");
lucasfontenla 28:b3c51076ebe8 155
lucasfontenla 28:b3c51076ebe8 156 return 1;
lucasfontenla 28:b3c51076ebe8 157 }
lucasfontenla 28:b3c51076ebe8 158
lucasfontenla 28:b3c51076ebe8 159 int send_gcode(string name){
lucasfontenla 29:558eccdfc079 160 string file_path = "/sd/" + folderString + "/" + name;
lucasfontenla 28:b3c51076ebe8 161 char * path = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 162 unsigned char c;
lucasfontenla 28:b3c51076ebe8 163 string buffer;
lucasfontenla 28:b3c51076ebe8 164
lucasfontenla 28:b3c51076ebe8 165 printf(path);
lucasfontenla 28:b3c51076ebe8 166
lucasfontenla 28:b3c51076ebe8 167 printf("going...\n\r");
lucasfontenla 28:b3c51076ebe8 168
lucasfontenla 28:b3c51076ebe8 169 FILE *fp = fopen(path, "r");
lucasfontenla 28:b3c51076ebe8 170
lucasfontenla 28:b3c51076ebe8 171 if(fp == NULL) {
lucasfontenla 28:b3c51076ebe8 172 error("Could not open file for write\n\r");
lucasfontenla 28:b3c51076ebe8 173 return 0;
lucasfontenla 28:b3c51076ebe8 174 }
lucasfontenla 28:b3c51076ebe8 175
lucasfontenla 28:b3c51076ebe8 176 t.start();
lucasfontenla 28:b3c51076ebe8 177
lucasfontenla 28:b3c51076ebe8 178 while(1){
lucasfontenla 29:558eccdfc079 179 if(t.read() > 4.0){
lucasfontenla 28:b3c51076ebe8 180 fclose(fp);
lucasfontenla 28:b3c51076ebe8 181 return 0;
lucasfontenla 28:b3c51076ebe8 182 }
lucasfontenla 28:b3c51076ebe8 183 c = fgetc(fp);
lucasfontenla 28:b3c51076ebe8 184 printf("%c\n\r", c);
lucasfontenla 28:b3c51076ebe8 185 buffer.push_back(c);
lucasfontenla 28:b3c51076ebe8 186
lucasfontenla 28:b3c51076ebe8 187 if(c == ';'){
lucasfontenla 28:b3c51076ebe8 188 fclose(fp);
lucasfontenla 28:b3c51076ebe8 189 break;
lucasfontenla 28:b3c51076ebe8 190 }
lucasfontenla 28:b3c51076ebe8 191 }
lucasfontenla 28:b3c51076ebe8 192 fclose(fp);
lucasfontenla 28:b3c51076ebe8 193
lucasfontenla 28:b3c51076ebe8 194 printf("%s\n\r", buffer);
lucasfontenla 28:b3c51076ebe8 195
lucasfontenla 28:b3c51076ebe8 196 machine.upload_gcode(buffer);
lucasfontenla 28:b3c51076ebe8 197 return 1;
lucasfontenla 28:b3c51076ebe8 198 }
lucasfontenla 28:b3c51076ebe8 199
lucasfontenla 28:b3c51076ebe8 200 int check_name_available(string name){
lucasfontenla 29:558eccdfc079 201 string file_path = "/sd/" + folderString;
lucasfontenla 28:b3c51076ebe8 202 char * dir = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 203 struct dirent *dirp;
lucasfontenla 28:b3c51076ebe8 204 string filename;
lucasfontenla 28:b3c51076ebe8 205
lucasfontenla 28:b3c51076ebe8 206 printf(dir);
lucasfontenla 28:b3c51076ebe8 207
lucasfontenla 28:b3c51076ebe8 208 dp = opendir(dir);
lucasfontenla 28:b3c51076ebe8 209
lucasfontenla 29:558eccdfc079 210 t.start();
lucasfontenla 29:558eccdfc079 211
lucasfontenla 28:b3c51076ebe8 212 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 29:558eccdfc079 213 if(t.read() > 2.0){
lucasfontenla 29:558eccdfc079 214 t.stop();
lucasfontenla 29:558eccdfc079 215 closedir(dp);
lucasfontenla 29:558eccdfc079 216 return 0;
lucasfontenla 29:558eccdfc079 217 }
lucasfontenla 28:b3c51076ebe8 218 filename = (dirp->d_name);
lucasfontenla 28:b3c51076ebe8 219 printf("%s\n\r", filename);
lucasfontenla 28:b3c51076ebe8 220 if(filename == name){
lucasfontenla 28:b3c51076ebe8 221 closedir(dp);
lucasfontenla 28:b3c51076ebe8 222 return 0;
lucasfontenla 28:b3c51076ebe8 223 }
lucasfontenla 28:b3c51076ebe8 224 }
lucasfontenla 28:b3c51076ebe8 225 closedir(dp);
lucasfontenla 28:b3c51076ebe8 226 return 1;
lucasfontenla 28:b3c51076ebe8 227 }
lucasfontenla 28:b3c51076ebe8 228
lucasfontenla 29:558eccdfc079 229 int get_file_names(void){
lucasfontenla 29:558eccdfc079 230 string file_path = "/sd/" + folderString;
lucasfontenla 29:558eccdfc079 231 char * dir = str_to_char(file_path);
lucasfontenla 29:558eccdfc079 232 struct dirent *dirp;
lucasfontenla 29:558eccdfc079 233 string filename;
lucasfontenla 29:558eccdfc079 234
lucasfontenla 29:558eccdfc079 235 filenames.empty();
lucasfontenla 29:558eccdfc079 236
lucasfontenla 29:558eccdfc079 237 printf(dir);
lucasfontenla 29:558eccdfc079 238
lucasfontenla 29:558eccdfc079 239 dp = opendir(dir);
lucasfontenla 29:558eccdfc079 240
lucasfontenla 29:558eccdfc079 241 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 29:558eccdfc079 242 filename = (dirp->d_name);
lucasfontenla 29:558eccdfc079 243 printf("%s\n\r", filename);
lucasfontenla 29:558eccdfc079 244 filenames.push_back(filename);
lucasfontenla 29:558eccdfc079 245 }
lucasfontenla 29:558eccdfc079 246 return 1;
lucasfontenla 29:558eccdfc079 247 }
lucasfontenla 29:558eccdfc079 248
lucasfontenla 28:b3c51076ebe8 249 int create_folders(void){
lucasfontenla 29:558eccdfc079 250 int gotFolder = 0;
lucasfontenla 28:b3c51076ebe8 251 string filename;
lucasfontenla 28:b3c51076ebe8 252 struct dirent *dirp;
lucasfontenla 28:b3c51076ebe8 253
lucasfontenla 28:b3c51076ebe8 254 dp = opendir("/sd");
lucasfontenla 28:b3c51076ebe8 255
lucasfontenla 28:b3c51076ebe8 256 t.start();
lucasfontenla 28:b3c51076ebe8 257
lucasfontenla 28:b3c51076ebe8 258 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 28:b3c51076ebe8 259 if(t.read() > 2){
lucasfontenla 28:b3c51076ebe8 260 t.stop();
lucasfontenla 28:b3c51076ebe8 261 return 0;
lucasfontenla 28:b3c51076ebe8 262 }
lucasfontenla 28:b3c51076ebe8 263 filename = (dirp->d_name);
lucasfontenla 28:b3c51076ebe8 264 printf("%s\n\r", filename);
lucasfontenla 29:558eccdfc079 265 if(filename == folderString){
lucasfontenla 29:558eccdfc079 266 gotFolder = 1;
lucasfontenla 29:558eccdfc079 267 }
lucasfontenla 28:b3c51076ebe8 268 }
lucasfontenla 28:b3c51076ebe8 269
lucasfontenla 29:558eccdfc079 270 if(!gotFolder){
lucasfontenla 29:558eccdfc079 271 char * path = str_to_char(("/sd/" + folderString));
lucasfontenla 28:b3c51076ebe8 272 mkdir(path, 0777);
lucasfontenla 28:b3c51076ebe8 273 }
lucasfontenla 28:b3c51076ebe8 274
lucasfontenla 28:b3c51076ebe8 275 closedir(dp);
lucasfontenla 28:b3c51076ebe8 276 return 1;
lucasfontenla 28:b3c51076ebe8 277 }
lucasfontenla 28:b3c51076ebe8 278
lucasfontenla 28:b3c51076ebe8 279 private:
lucasfontenla 28:b3c51076ebe8 280 char * str_to_char(string str){
lucasfontenla 28:b3c51076ebe8 281 char * path = new char[str.length() + 1];
lucasfontenla 28:b3c51076ebe8 282 std::strcpy(path, str.c_str());
lucasfontenla 28:b3c51076ebe8 283 return path;
lucasfontenla 28:b3c51076ebe8 284 }
lucasfontenla 28:b3c51076ebe8 285 };
lucasfontenla 28:b3c51076ebe8 286
lucasfontenla 28:b3c51076ebe8 287 SDCard sdcard;
lucasfontenla 28:b3c51076ebe8 288
claraluques 18:5338b83b4de9 289 //criar classe "menu" (funções para as telas)
claraluques 18:5338b83b4de9 290 class Menu{
claraluques 19:2c890ae2d187 291
claraluques 18:5338b83b4de9 292 public:
claraluques 18:5338b83b4de9 293 int linha;
claraluques 18:5338b83b4de9 294 int func;
claraluques 23:19c67758032d 295
claraluques 18:5338b83b4de9 296
claraluques 18:5338b83b4de9 297 void movercursor(int min, int max, int col){ //função para mover cursor de seleção
claraluques 18:5338b83b4de9 298 linha = min;
claraluques 18:5338b83b4de9 299 lcd.locate(col,min);
claraluques 18:5338b83b4de9 300 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 301 while (bot_enter==penter){
claraluques 18:5338b83b4de9 302 if (bot_cima==1){
claraluques 18:5338b83b4de9 303 if (linha==min){
claraluques 18:5338b83b4de9 304 lcd.locate(col,min);
claraluques 18:5338b83b4de9 305 lcd.printf(" ");
claraluques 18:5338b83b4de9 306 linha=max;
claraluques 18:5338b83b4de9 307 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 308 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 309 }
claraluques 18:5338b83b4de9 310 else {
claraluques 18:5338b83b4de9 311 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 312 lcd.printf(" ");
claraluques 18:5338b83b4de9 313 linha--;
claraluques 18:5338b83b4de9 314 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 315 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 316 }
claraluques 18:5338b83b4de9 317 bot_cima = 0;
claraluques 18:5338b83b4de9 318 }
claraluques 18:5338b83b4de9 319 else if (bot_baixo==1){
claraluques 18:5338b83b4de9 320 if (linha==max){
claraluques 18:5338b83b4de9 321 lcd.locate(col,max);
claraluques 18:5338b83b4de9 322 lcd.printf(" ");
claraluques 18:5338b83b4de9 323 linha=min;
claraluques 18:5338b83b4de9 324 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 325 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 326 }
claraluques 18:5338b83b4de9 327 else {
claraluques 18:5338b83b4de9 328 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 329 lcd.printf(" ");
claraluques 18:5338b83b4de9 330 linha++;
claraluques 18:5338b83b4de9 331 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 332 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 333 }
claraluques 18:5338b83b4de9 334 bot_baixo = 0;
claraluques 18:5338b83b4de9 335 }
claraluques 26:59081efdce79 336 //função para printar as coordenadas nas telas 2 e 8
claraluques 19:2c890ae2d187 337 else if (func==2 || func==8){
claraluques 26:59081efdce79 338 //x
claraluques 26:59081efdce79 339 if (cx<=-1 && cx>=-9){
claraluques 26:59081efdce79 340 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 341 lcd.printf(" %.2f ", cx);
claraluques 26:59081efdce79 342 }
claraluques 26:59081efdce79 343 if (cx<=-10 && cx>=-99){
claraluques 26:59081efdce79 344 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 345 lcd.printf(" %.2f ", cx);
claraluques 26:59081efdce79 346 }
claraluques 26:59081efdce79 347 if (cx<=-100){
claraluques 26:59081efdce79 348 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 349 lcd.printf("%.2f ", cx);
claraluques 25:af1f99666ca9 350 }
claraluques 26:59081efdce79 351 if (cx<=9 && cx>=0){
claraluques 25:af1f99666ca9 352 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 353 lcd.printf(" %.2f ", cx);
claraluques 25:af1f99666ca9 354 }
claraluques 25:af1f99666ca9 355 if (cx>=10 && cx<=99){
claraluques 25:af1f99666ca9 356 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 357 lcd.printf(" %.2f ", cx);
claraluques 25:af1f99666ca9 358 }
claraluques 25:af1f99666ca9 359 if (cx>=100){
claraluques 25:af1f99666ca9 360 lcd.locate(2,1);
claraluques 27:83d2a710cc2f 361 lcd.printf(" %.2f ", cx);
claraluques 25:af1f99666ca9 362 }
claraluques 26:59081efdce79 363 //y
claraluques 26:59081efdce79 364 if (cy<=-1 && cy>=-9){
claraluques 26:59081efdce79 365 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 366 lcd.printf(" %.2f ", cy);
claraluques 26:59081efdce79 367 }
claraluques 26:59081efdce79 368 if (cy<=-10 && cx>=-99){
claraluques 26:59081efdce79 369 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 370 lcd.printf(" %.2f ", cy);
claraluques 26:59081efdce79 371 }
claraluques 26:59081efdce79 372 if (cy<=-100){
claraluques 26:59081efdce79 373 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 374 lcd.printf("%.2f ", cy);
claraluques 25:af1f99666ca9 375 }
claraluques 26:59081efdce79 376 if (cy<=9 && cy>=0){
claraluques 25:af1f99666ca9 377 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 378 lcd.printf(" %.2f ", cy);
claraluques 25:af1f99666ca9 379 }
claraluques 25:af1f99666ca9 380 if (cy>=10 && cx<=99){
claraluques 25:af1f99666ca9 381 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 382 lcd.printf(" %.2f ", cy);
claraluques 25:af1f99666ca9 383 }
claraluques 25:af1f99666ca9 384 if (cy>=100){
claraluques 25:af1f99666ca9 385 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 386 lcd.printf(" %.2f ", cy);
claraluques 25:af1f99666ca9 387 }
claraluques 26:59081efdce79 388 //z
claraluques 26:59081efdce79 389 if (cz<=-1 && cz>=-9){
claraluques 26:59081efdce79 390 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 391 lcd.printf(" %.2f ", cz);
claraluques 26:59081efdce79 392 }
claraluques 26:59081efdce79 393 if (cz<=-10 && cx>=-99){
claraluques 26:59081efdce79 394 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 395 lcd.printf(" %.2f ", cz);
claraluques 26:59081efdce79 396 }
claraluques 26:59081efdce79 397 if (cz<=-100){
claraluques 26:59081efdce79 398 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 399 lcd.printf("%.2f ", cz);
claraluques 26:59081efdce79 400 }
claraluques 26:59081efdce79 401 if (cz<=9 && cz>=0){
claraluques 25:af1f99666ca9 402 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 403 lcd.printf(" %.2f ", cz);
claraluques 25:af1f99666ca9 404 }
claraluques 25:af1f99666ca9 405 if (cz>=10 && cx<=99){
claraluques 25:af1f99666ca9 406 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 407 lcd.printf(" %.2f ", cz);
claraluques 25:af1f99666ca9 408 }
claraluques 25:af1f99666ca9 409 if (cz>=100){
claraluques 25:af1f99666ca9 410 lcd.locate(2,3);
claraluques 27:83d2a710cc2f 411 lcd.printf(" %.2f ", cz);
claraluques 25:af1f99666ca9 412 }
claraluques 26:59081efdce79 413 } //até aqui, para alinhar os números
lucasfontenla 22:22ddb0b21d48 414 if (Mach.readable()){
claraluques 21:7603fe283ba4 415 readSerial();
claraluques 21:7603fe283ba4 416 }
claraluques 18:5338b83b4de9 417 }
claraluques 26:59081efdce79 418
claraluques 18:5338b83b4de9 419 }
claraluques 18:5338b83b4de9 420
claraluques 18:5338b83b4de9 421 //func 0
claraluques 18:5338b83b4de9 422 void inicializar(){ //função tela incial de boas-vindas
lucasfontenla 28:b3c51076ebe8 423 int status;
lucasfontenla 28:b3c51076ebe8 424
lucasfontenla 28:b3c51076ebe8 425 printf("Starting...\n\r");
lucasfontenla 28:b3c51076ebe8 426
claraluques 26:59081efdce79 427 machine.reset();
claraluques 18:5338b83b4de9 428 lcd.cls();
claraluques 18:5338b83b4de9 429 lcd.locate(4,0);
claraluques 18:5338b83b4de9 430 lcd.printf("Bem-vindo(a)");
claraluques 18:5338b83b4de9 431 lcd.locate(0,1);
claraluques 18:5338b83b4de9 432 lcd.printf("Utilize seu EPI para operar a maquina.");
lucasfontenla 28:b3c51076ebe8 433
claraluques 18:5338b83b4de9 434 wait(1);
lucasfontenla 28:b3c51076ebe8 435
claraluques 30:614dcbd74cdc 436 /*status = sdcard.get_file_names();
lucasfontenla 29:558eccdfc079 437 if(status){
lucasfontenla 29:558eccdfc079 438 printf("Filenames: \n\r");
lucasfontenla 29:558eccdfc079 439 for(int i = 0; i < filenames.size(); i++){
lucasfontenla 29:558eccdfc079 440 printf("%s\n\r", filenames[i]);
lucasfontenla 29:558eccdfc079 441 }
claraluques 30:614dcbd74cdc 442 }*/
lucasfontenla 28:b3c51076ebe8 443
lucasfontenla 29:558eccdfc079 444 wait(1);
claraluques 18:5338b83b4de9 445 func = 1;
claraluques 18:5338b83b4de9 446 }
claraluques 18:5338b83b4de9 447
claraluques 18:5338b83b4de9 448 //func 1
claraluques 18:5338b83b4de9 449 void menuprincipal(){ //função menu principal
claraluques 18:5338b83b4de9 450 bot_enter = 0;
claraluques 18:5338b83b4de9 451 lcd.cls();
claraluques 18:5338b83b4de9 452 lcd.locate(1,0);
claraluques 18:5338b83b4de9 453 lcd.printf("Modo JOG");
claraluques 18:5338b83b4de9 454 lcd.locate(1,1);
claraluques 18:5338b83b4de9 455 lcd.printf("Modo Automatico");
claraluques 18:5338b83b4de9 456 lcd.locate(1,2);
claraluques 26:59081efdce79 457 lcd.printf("Zerar");
claraluques 18:5338b83b4de9 458 lcd.locate(1,3);
claraluques 26:59081efdce79 459 lcd.printf("Config");
claraluques 18:5338b83b4de9 460 movercursor(0,3,0);
claraluques 18:5338b83b4de9 461 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 462 if (linha==0){
claraluques 18:5338b83b4de9 463 func = 2;
claraluques 18:5338b83b4de9 464 }
claraluques 18:5338b83b4de9 465 else if (linha==1) {
claraluques 18:5338b83b4de9 466 func = 3;
claraluques 18:5338b83b4de9 467 }
claraluques 18:5338b83b4de9 468 else if (linha==2) {
claraluques 26:59081efdce79 469 func = 8;
claraluques 18:5338b83b4de9 470 }
claraluques 18:5338b83b4de9 471 else if (linha==3) {
claraluques 26:59081efdce79 472 func = 4;
claraluques 18:5338b83b4de9 473 }
claraluques 18:5338b83b4de9 474 }
claraluques 18:5338b83b4de9 475 }
claraluques 18:5338b83b4de9 476
claraluques 18:5338b83b4de9 477 //func 2
claraluques 18:5338b83b4de9 478 void jog(){ //função tela jog
claraluques 18:5338b83b4de9 479 bot_enter = 0;
claraluques 20:ccbd80b668ce 480 machine.kill_jog();
claraluques 20:ccbd80b668ce 481 wait(0.1);
claraluques 19:2c890ae2d187 482 machine.jog();
claraluques 18:5338b83b4de9 483 lcd.cls();
claraluques 18:5338b83b4de9 484 lcd.locate(4,0);
claraluques 18:5338b83b4de9 485 lcd.printf("Coordenadas:");
claraluques 18:5338b83b4de9 486 lcd.locate(0,1);
claraluques 18:5338b83b4de9 487 lcd.printf("X:");
claraluques 18:5338b83b4de9 488 lcd.locate(0,2);
claraluques 18:5338b83b4de9 489 lcd.printf("Y:");
claraluques 18:5338b83b4de9 490 lcd.locate(0,3);
claraluques 18:5338b83b4de9 491 lcd.printf("Z:");
claraluques 18:5338b83b4de9 492 lcd.locate(11,1);
claraluques 18:5338b83b4de9 493 lcd.printf("Salvar");
claraluques 18:5338b83b4de9 494 lcd.locate(11,2);
claraluques 18:5338b83b4de9 495 lcd.printf("Concluir");
claraluques 18:5338b83b4de9 496 lcd.locate(11,3);
claraluques 18:5338b83b4de9 497 lcd.printf("Cancelar");
claraluques 19:2c890ae2d187 498 movercursor(1,3,10);
claraluques 18:5338b83b4de9 499 if (bot_enter!=penter){
claraluques 20:ccbd80b668ce 500 if (linha==1){
claraluques 26:59081efdce79 501 if (pontos==0 && maxpontos>=1){
claraluques 26:59081efdce79 502 cx_salva = 0;
claraluques 26:59081efdce79 503 cy_salva = 0;
claraluques 26:59081efdce79 504 cz_salva = 0;
claraluques 26:59081efdce79 505 pontos++;
claraluques 26:59081efdce79 506 maxpontos--;
claraluques 26:59081efdce79 507 func = 5;
claraluques 26:59081efdce79 508 }
claraluques 26:59081efdce79 509 else if (pontos>=1 && maxpontos>=1){
claraluques 18:5338b83b4de9 510 cx_salva = cx;
claraluques 18:5338b83b4de9 511 cy_salva = cy;
claraluques 18:5338b83b4de9 512 cz_salva = cz;
claraluques 26:59081efdce79 513 pontos++;
claraluques 26:59081efdce79 514 maxpontos--;
claraluques 18:5338b83b4de9 515 func = 5;
claraluques 18:5338b83b4de9 516 }
claraluques 26:59081efdce79 517 else if (maxpontos==0){
claraluques 18:5338b83b4de9 518 func = 16;
claraluques 18:5338b83b4de9 519 }
claraluques 18:5338b83b4de9 520 }
claraluques 18:5338b83b4de9 521 else if (linha==2) {
claraluques 27:83d2a710cc2f 522 machine.kill_jog();
claraluques 26:59081efdce79 523 func = 17;
claraluques 18:5338b83b4de9 524 }
claraluques 18:5338b83b4de9 525 else if (linha==3) {
claraluques 20:ccbd80b668ce 526 machine.kill_jog();
claraluques 26:59081efdce79 527 wait(0.1);
claraluques 26:59081efdce79 528 machine.cancel_program();
claraluques 18:5338b83b4de9 529 func = 1;
claraluques 18:5338b83b4de9 530 pontos = 10;
claraluques 18:5338b83b4de9 531 }
claraluques 18:5338b83b4de9 532 }
claraluques 18:5338b83b4de9 533 }
claraluques 18:5338b83b4de9 534
claraluques 18:5338b83b4de9 535 //func 3
claraluques 18:5338b83b4de9 536 void automatico(){ //tela modo automatico
claraluques 18:5338b83b4de9 537 lcd.cls();
claraluques 18:5338b83b4de9 538 bot_enter = 0;
claraluques 18:5338b83b4de9 539 lcd.printf("Modo automatico");
claraluques 18:5338b83b4de9 540 lcd.locate(7,2);
claraluques 18:5338b83b4de9 541 lcd.printf("OK");
claraluques 18:5338b83b4de9 542 lcd.locate(7,3);
claraluques 18:5338b83b4de9 543 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 544 movercursor(2,3,6);
claraluques 18:5338b83b4de9 545 if (bot_enter!=penter) {
claraluques 18:5338b83b4de9 546 if (linha==2){
claraluques 18:5338b83b4de9 547 func = 12;
claraluques 18:5338b83b4de9 548 }
claraluques 18:5338b83b4de9 549 else if (linha==3){
claraluques 18:5338b83b4de9 550 func = 1;
claraluques 18:5338b83b4de9 551 }
claraluques 18:5338b83b4de9 552 }
claraluques 18:5338b83b4de9 553 }
claraluques 18:5338b83b4de9 554
claraluques 18:5338b83b4de9 555 //func 4
claraluques 18:5338b83b4de9 556 void config() {
claraluques 18:5338b83b4de9 557 lcd.cls();
claraluques 18:5338b83b4de9 558 bot_enter = 0;
claraluques 27:83d2a710cc2f 559 //printf("%d,tela\n\r", penter);
claraluques 18:5338b83b4de9 560 lcd.locate(1,0);
claraluques 18:5338b83b4de9 561 lcd.printf("Definir velocidade");
claraluques 18:5338b83b4de9 562 lcd.locate(1,1);
claraluques 18:5338b83b4de9 563 lcd.printf("Limpar seringa cola");
claraluques 18:5338b83b4de9 564 lcd.locate(1,2);
claraluques 26:59081efdce79 565 lcd.printf("Origem maquina");
claraluques 18:5338b83b4de9 566 lcd.locate(1,3);
claraluques 18:5338b83b4de9 567 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 568 movercursor(0,3,0);
claraluques 18:5338b83b4de9 569 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 570 if (linha==0) {
claraluques 18:5338b83b4de9 571 func = 13;
claraluques 18:5338b83b4de9 572 }
claraluques 18:5338b83b4de9 573 else if (linha==1) {
claraluques 18:5338b83b4de9 574 func = 14;
claraluques 18:5338b83b4de9 575 }
claraluques 18:5338b83b4de9 576 else if (linha==2) {
claraluques 27:83d2a710cc2f 577 home = 1;
claraluques 27:83d2a710cc2f 578 func = 18;
claraluques 18:5338b83b4de9 579 }
claraluques 18:5338b83b4de9 580 else if (linha==3) {
claraluques 18:5338b83b4de9 581 func = 1;
claraluques 18:5338b83b4de9 582 }
claraluques 18:5338b83b4de9 583 }
claraluques 18:5338b83b4de9 584 }
claraluques 18:5338b83b4de9 585
claraluques 18:5338b83b4de9 586 //func 5
claraluques 18:5338b83b4de9 587 void telasalvamento(){ //função para quando salvar um ponto
claraluques 18:5338b83b4de9 588 lcd.cls();
claraluques 18:5338b83b4de9 589 lcd.locate(0,0);
claraluques 18:5338b83b4de9 590 lcd.printf("Voce salvou");
claraluques 18:5338b83b4de9 591 lcd.locate(1,1);
claraluques 25:af1f99666ca9 592 lcd.printf("X:%.2f ", cx_salva);
claraluques 18:5338b83b4de9 593 lcd.locate(1,2);
claraluques 25:af1f99666ca9 594 lcd.printf("Y:%.2f ", cy_salva);
claraluques 18:5338b83b4de9 595 lcd.locate(1,3);
claraluques 25:af1f99666ca9 596 lcd.printf("Z:%.2f ", cz_salva);
claraluques 18:5338b83b4de9 597 lcd.locate(13,1);
claraluques 18:5338b83b4de9 598 lcd.printf("Pontos");
claraluques 18:5338b83b4de9 599 lcd.locate(13,2);
claraluques 18:5338b83b4de9 600 lcd.printf("livres");
claraluques 18:5338b83b4de9 601 lcd.locate(16,3);
claraluques 26:59081efdce79 602 lcd.printf("%d", maxpontos);
claraluques 18:5338b83b4de9 603 wait(1);
claraluques 18:5338b83b4de9 604 if (pontos>0){
claraluques 18:5338b83b4de9 605 func = 6;
claraluques 18:5338b83b4de9 606 }
claraluques 18:5338b83b4de9 607 else if (pontos==0){
claraluques 18:5338b83b4de9 608 func = 2;
claraluques 18:5338b83b4de9 609 }
claraluques 18:5338b83b4de9 610 }
claraluques 18:5338b83b4de9 611
claraluques 18:5338b83b4de9 612 //func 6
claraluques 18:5338b83b4de9 613 void telacola(){ //tela para escolher o tipo de sequencia da cola
claraluques 18:5338b83b4de9 614 lcd.cls();
claraluques 18:5338b83b4de9 615 bot_enter = 0;
claraluques 18:5338b83b4de9 616 lcd.printf("P/ o proximo ponto:");
claraluques 18:5338b83b4de9 617 lcd.locate(3,1);
claraluques 18:5338b83b4de9 618 lcd.printf("Sem cola");
claraluques 18:5338b83b4de9 619 lcd.locate(3,2);
claraluques 18:5338b83b4de9 620 lcd.printf("Cola no ponto");
claraluques 18:5338b83b4de9 621 lcd.locate(3,3);
claraluques 18:5338b83b4de9 622 lcd.printf("Cola continua");
claraluques 18:5338b83b4de9 623 movercursor(1,3,2);
claraluques 18:5338b83b4de9 624 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 625 if (linha==1){
claraluques 18:5338b83b4de9 626 cola = 0;
claraluques 18:5338b83b4de9 627 func = 2;
claraluques 18:5338b83b4de9 628 }
claraluques 18:5338b83b4de9 629 else if (linha==2) {
claraluques 18:5338b83b4de9 630 cola = 1;
claraluques 18:5338b83b4de9 631 func = 2;
claraluques 18:5338b83b4de9 632 }
claraluques 18:5338b83b4de9 633 else if (linha==3) {
claraluques 18:5338b83b4de9 634 cola = 2;
claraluques 18:5338b83b4de9 635 func = 2;
claraluques 18:5338b83b4de9 636 }
claraluques 20:ccbd80b668ce 637 machine.save_point(cola,2);
claraluques 18:5338b83b4de9 638 }
claraluques 18:5338b83b4de9 639 }
claraluques 18:5338b83b4de9 640
claraluques 18:5338b83b4de9 641 //func 7
claraluques 18:5338b83b4de9 642 void executarprograma() { //tela para selecionar se deseja executar o programa
claraluques 18:5338b83b4de9 643 lcd.cls();
claraluques 18:5338b83b4de9 644 bot_enter = 0;
claraluques 18:5338b83b4de9 645 lcd.locate(2,0);
claraluques 18:5338b83b4de9 646 lcd.printf("VOCE CONCLUIU SEU");
claraluques 18:5338b83b4de9 647 lcd.locate(5,1);
claraluques 18:5338b83b4de9 648 lcd.printf("PROGRAMA.");
claraluques 18:5338b83b4de9 649 lcd.locate(0,2);
claraluques 18:5338b83b4de9 650 lcd.printf("Deseja");
claraluques 18:5338b83b4de9 651 lcd.locate(0,3);
claraluques 18:5338b83b4de9 652 lcd.printf("executa-lo?");
claraluques 18:5338b83b4de9 653 lcd.locate(14,2);
claraluques 18:5338b83b4de9 654 lcd.printf("Sim");
claraluques 18:5338b83b4de9 655 lcd.locate(14,3);
claraluques 18:5338b83b4de9 656 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 657 movercursor(2,3,13);
claraluques 18:5338b83b4de9 658 if (bot_enter!=penter) {
claraluques 18:5338b83b4de9 659 if (linha==2){
claraluques 21:7603fe283ba4 660 machine.kill_jog();
claraluques 21:7603fe283ba4 661 wait(0.1);
claraluques 27:83d2a710cc2f 662 //machine.start_program();
claraluques 18:5338b83b4de9 663 exec = 1;
claraluques 18:5338b83b4de9 664 func = 9;
claraluques 18:5338b83b4de9 665 }
claraluques 18:5338b83b4de9 666 else if (linha==3){
claraluques 18:5338b83b4de9 667 exec = 0;
claraluques 18:5338b83b4de9 668 func = 2;
claraluques 18:5338b83b4de9 669 }
claraluques 18:5338b83b4de9 670 }
claraluques 18:5338b83b4de9 671 }
claraluques 18:5338b83b4de9 672
claraluques 18:5338b83b4de9 673 //func 8
claraluques 18:5338b83b4de9 674 void telazerar(){ //tela para zerar a máquina
claraluques 18:5338b83b4de9 675 lcd.cls();
claraluques 18:5338b83b4de9 676 bot_enter = 0;
claraluques 26:59081efdce79 677 machine.kill_jog();
claraluques 26:59081efdce79 678 machine.jog();
claraluques 18:5338b83b4de9 679 lcd.locate(2,0);
claraluques 19:2c890ae2d187 680 lcd.printf("Zerar:");
claraluques 19:2c890ae2d187 681 lcd.locate(0,1);
claraluques 19:2c890ae2d187 682 lcd.printf("X:");
claraluques 19:2c890ae2d187 683 lcd.locate(0,2);
claraluques 19:2c890ae2d187 684 lcd.printf("Y:");
claraluques 19:2c890ae2d187 685 lcd.locate(0,3);
claraluques 19:2c890ae2d187 686 lcd.printf("Z:");
claraluques 19:2c890ae2d187 687 lcd.locate(13,0);
claraluques 19:2c890ae2d187 688 lcd.printf("X");
claraluques 19:2c890ae2d187 689 lcd.locate(13,1);
claraluques 19:2c890ae2d187 690 lcd.printf("Y");
claraluques 19:2c890ae2d187 691 lcd.locate(13,2);
claraluques 19:2c890ae2d187 692 lcd.printf("Z");
claraluques 19:2c890ae2d187 693 lcd.locate(13,3);
claraluques 19:2c890ae2d187 694 lcd.printf("Voltar");
claraluques 19:2c890ae2d187 695 movercursor(0,3,12);
claraluques 18:5338b83b4de9 696 if (bot_enter!=penter) {
claraluques 19:2c890ae2d187 697 if (linha==0){
claraluques 18:5338b83b4de9 698 cx = 0;
claraluques 19:2c890ae2d187 699 func = 10;
claraluques 19:2c890ae2d187 700 machine.set_zero("X");
claraluques 19:2c890ae2d187 701 }
claraluques 19:2c890ae2d187 702 else if (linha==1){
claraluques 18:5338b83b4de9 703 cy = 0;
claraluques 19:2c890ae2d187 704 func = 10;
claraluques 19:2c890ae2d187 705 machine.set_zero("Y");
claraluques 19:2c890ae2d187 706 }
claraluques 19:2c890ae2d187 707 else if (linha==2){
claraluques 18:5338b83b4de9 708 cz = 0;
claraluques 18:5338b83b4de9 709 func = 10;
claraluques 19:2c890ae2d187 710 machine.set_zero("Z");
claraluques 18:5338b83b4de9 711 }
claraluques 18:5338b83b4de9 712 else if (linha==3){
claraluques 18:5338b83b4de9 713 func = 1;
claraluques 26:59081efdce79 714 machine.kill_jog();
claraluques 18:5338b83b4de9 715 }
claraluques 18:5338b83b4de9 716 }
claraluques 18:5338b83b4de9 717 }
claraluques 18:5338b83b4de9 718
claraluques 18:5338b83b4de9 719 //func 9
claraluques 18:5338b83b4de9 720 void executando(){ //tela de executando
claraluques 18:5338b83b4de9 721 lcd.cls();
claraluques 27:83d2a710cc2f 722 machine.start_program();
claraluques 18:5338b83b4de9 723 lcd.locate(4,1);
claraluques 18:5338b83b4de9 724 lcd.printf("Executando");
claraluques 27:83d2a710cc2f 725 while (exec == 1){
claraluques 27:83d2a710cc2f 726 if (Mach.readable()){
claraluques 27:83d2a710cc2f 727 readSerial();
claraluques 27:83d2a710cc2f 728 }/*
claraluques 18:5338b83b4de9 729 lcd.locate(14,1);
claraluques 18:5338b83b4de9 730 lcd.printf(". ");
claraluques 18:5338b83b4de9 731 wait(0.5);
claraluques 18:5338b83b4de9 732 lcd.locate(14,1);
claraluques 18:5338b83b4de9 733 lcd.printf(".. ");
claraluques 18:5338b83b4de9 734 wait(0.5);
claraluques 18:5338b83b4de9 735 lcd.locate(14,1);
claraluques 18:5338b83b4de9 736 lcd.printf("...");
claraluques 18:5338b83b4de9 737 wait(0.5);
claraluques 18:5338b83b4de9 738 lcd.locate(14,1);
claraluques 18:5338b83b4de9 739 lcd.printf(" ");
claraluques 27:83d2a710cc2f 740 wait(0.5);*/
claraluques 18:5338b83b4de9 741 }
claraluques 27:83d2a710cc2f 742 printf("saiu\n\r");
claraluques 27:83d2a710cc2f 743 func = 11;
claraluques 18:5338b83b4de9 744 }
claraluques 18:5338b83b4de9 745
claraluques 18:5338b83b4de9 746 //func 10
claraluques 18:5338b83b4de9 747 void zerado() { //tela avisando que a máquina foi zerada
claraluques 18:5338b83b4de9 748 lcd.cls();
claraluques 18:5338b83b4de9 749 lcd.locate(5,1);
claraluques 18:5338b83b4de9 750 lcd.printf("Voce zerou");
claraluques 19:2c890ae2d187 751 lcd.locate(6,2);
claraluques 19:2c890ae2d187 752 lcd.printf("o eixo!");
claraluques 18:5338b83b4de9 753 wait(1);
claraluques 18:5338b83b4de9 754 func = 8;
claraluques 18:5338b83b4de9 755 }
claraluques 18:5338b83b4de9 756
claraluques 18:5338b83b4de9 757 //func 11
claraluques 18:5338b83b4de9 758 void finalizado() { //tela aviso programa finalizado
claraluques 18:5338b83b4de9 759 lcd.cls();
claraluques 18:5338b83b4de9 760 lcd.locate(6,1);
claraluques 18:5338b83b4de9 761 lcd.printf("PROGRAMA");
claraluques 18:5338b83b4de9 762 lcd.locate(5,2);
claraluques 18:5338b83b4de9 763 lcd.printf("FINALIZADO");
claraluques 18:5338b83b4de9 764 wait(1);
claraluques 18:5338b83b4de9 765 func = 1;
claraluques 18:5338b83b4de9 766 }
claraluques 18:5338b83b4de9 767
claraluques 18:5338b83b4de9 768 //func 12
claraluques 18:5338b83b4de9 769
claraluques 18:5338b83b4de9 770 //func 13
claraluques 18:5338b83b4de9 771
claraluques 18:5338b83b4de9 772 //func 14
claraluques 18:5338b83b4de9 773
claraluques 18:5338b83b4de9 774 //func 15
claraluques 27:83d2a710cc2f 775 void gohome(){
claraluques 27:83d2a710cc2f 776 lcd.cls();
claraluques 27:83d2a710cc2f 777 machine.machine_zero();
claraluques 27:83d2a710cc2f 778 while (home == 1){
claraluques 27:83d2a710cc2f 779 if (Mach.readable()){
claraluques 27:83d2a710cc2f 780 readSerial();
claraluques 27:83d2a710cc2f 781 }
claraluques 27:83d2a710cc2f 782 }
claraluques 27:83d2a710cc2f 783 func = 19;
claraluques 27:83d2a710cc2f 784 }
claraluques 18:5338b83b4de9 785
claraluques 18:5338b83b4de9 786 //func 16
claraluques 18:5338b83b4de9 787 void limitepontos(){ //tela para quando acabam os pontos
claraluques 18:5338b83b4de9 788 lcd.cls();
claraluques 26:59081efdce79 789 lcd.printf(" Voce atingiu o n%c maximo de pontos", 0xDF);
claraluques 26:59081efdce79 790 lcd.locate(9,2);
claraluques 26:59081efdce79 791 lcd.printf("(%d)", pontos);
claraluques 18:5338b83b4de9 792 lcd.locate(0,3);
claraluques 18:5338b83b4de9 793 lcd.printf("Conclua seu programa");
claraluques 18:5338b83b4de9 794 wait(1);
claraluques 18:5338b83b4de9 795 func = 2;
claraluques 21:7603fe283ba4 796 }
claraluques 26:59081efdce79 797
claraluques 26:59081efdce79 798 //func 17
claraluques 26:59081efdce79 799 void salvarprog(){
claraluques 26:59081efdce79 800 lcd.cls();
claraluques 26:59081efdce79 801 bot_enter = 0;
claraluques 30:614dcbd74cdc 802 lcd.printf("Voce deseja salvar este programa?");
claraluques 26:59081efdce79 803 lcd.locate(5,2);
claraluques 26:59081efdce79 804 lcd.printf("Sim");
claraluques 26:59081efdce79 805 lcd.locate(5,3);
claraluques 26:59081efdce79 806 lcd.printf("Nao");
claraluques 26:59081efdce79 807 movercursor(2,3,4);
claraluques 26:59081efdce79 808 if (bot_enter!=penter){
claraluques 26:59081efdce79 809 if (linha==2){
claraluques 26:59081efdce79 810 salvar = 1;
claraluques 30:614dcbd74cdc 811 printf("salvar\n\r");
claraluques 30:614dcbd74cdc 812 //func = 20;
claraluques 26:59081efdce79 813 }
claraluques 26:59081efdce79 814 if (linha==3){
claraluques 26:59081efdce79 815 salvar = 0;
claraluques 30:614dcbd74cdc 816 //func = 7;
claraluques 26:59081efdce79 817 }
claraluques 26:59081efdce79 818 }
claraluques 26:59081efdce79 819 }
claraluques 27:83d2a710cc2f 820
claraluques 27:83d2a710cc2f 821 //func 18
claraluques 27:83d2a710cc2f 822 void ctzhome(){
claraluques 27:83d2a710cc2f 823 lcd.cls();
claraluques 27:83d2a710cc2f 824 bot_enter = 0;
claraluques 27:83d2a710cc2f 825 lcd.printf("Certifique-se de que a maquina pode se");
claraluques 27:83d2a710cc2f 826 lcd.locate(5,2);
claraluques 27:83d2a710cc2f 827 lcd.printf("movimentar");
claraluques 27:83d2a710cc2f 828 lcd.locate(9,3);
claraluques 27:83d2a710cc2f 829 lcd.printf("OK");
claraluques 27:83d2a710cc2f 830 movercursor(3,3,8);
claraluques 27:83d2a710cc2f 831 if (bot_enter!=penter){
claraluques 27:83d2a710cc2f 832 if (linha==3){
claraluques 27:83d2a710cc2f 833 func = 15;
claraluques 27:83d2a710cc2f 834 }
claraluques 27:83d2a710cc2f 835 }
claraluques 27:83d2a710cc2f 836 }
claraluques 27:83d2a710cc2f 837
claraluques 27:83d2a710cc2f 838 //func 19
claraluques 27:83d2a710cc2f 839 void origem(){
claraluques 27:83d2a710cc2f 840 lcd.cls();
claraluques 27:83d2a710cc2f 841 lcd.locate(5,1);
claraluques 27:83d2a710cc2f 842 lcd.printf("A MAQUINA");
claraluques 27:83d2a710cc2f 843 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 844 lcd.printf("ESTA NA ORIGEM");
claraluques 27:83d2a710cc2f 845 wait(1);
claraluques 27:83d2a710cc2f 846 func = 4;
claraluques 27:83d2a710cc2f 847 }
claraluques 26:59081efdce79 848
claraluques 30:614dcbd74cdc 849 //func 20
claraluques 30:614dcbd74cdc 850 void nomeprog(){
claraluques 30:614dcbd74cdc 851 lcd.cls();
claraluques 30:614dcbd74cdc 852 bot_enter = 0;
claraluques 30:614dcbd74cdc 853 lcd.printf("oieeee");
claraluques 30:614dcbd74cdc 854 printf("tela\n\r");
claraluques 30:614dcbd74cdc 855 escrever(3);
claraluques 30:614dcbd74cdc 856 if (bot_enter!=penter){
claraluques 30:614dcbd74cdc 857 func = 1;
claraluques 30:614dcbd74cdc 858 }
claraluques 30:614dcbd74cdc 859 }
claraluques 30:614dcbd74cdc 860
claraluques 30:614dcbd74cdc 861 //função para escrever nome arquivo
claraluques 30:614dcbd74cdc 862 void escrever(int coluna){
claraluques 30:614dcbd74cdc 863 char alfabeto[38] = {'a','b','c','d','e','f','g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v','w','x','y','z',
claraluques 30:614dcbd74cdc 864 '0','1','2','3','4','5','6','7','8','9','-','_'};
claraluques 30:614dcbd74cdc 865 /*string alfabeto = "abcdefghijklmnopqrstuvwxyz0123456789-_";*/
claraluques 30:614dcbd74cdc 866 int imax = 37;
claraluques 30:614dcbd74cdc 867 int imin = 0;
claraluques 30:614dcbd74cdc 868 int i = 0;
claraluques 30:614dcbd74cdc 869 printf("entrou\n\r");
claraluques 30:614dcbd74cdc 870 //while (){
claraluques 30:614dcbd74cdc 871 while (bot_enter==penter){
claraluques 30:614dcbd74cdc 872 if (bot_cima == 1){
claraluques 30:614dcbd74cdc 873 if (i==imin){
claraluques 30:614dcbd74cdc 874 i = imax;
claraluques 30:614dcbd74cdc 875 }
claraluques 30:614dcbd74cdc 876 else if (i>imin && i<=imax){
claraluques 30:614dcbd74cdc 877 i--;
claraluques 30:614dcbd74cdc 878 }
claraluques 30:614dcbd74cdc 879 bot_cima = 0;
claraluques 30:614dcbd74cdc 880 }
claraluques 30:614dcbd74cdc 881 else if (bot_baixo == 1){
claraluques 30:614dcbd74cdc 882 if (i==imax){
claraluques 30:614dcbd74cdc 883 i = imin;
claraluques 30:614dcbd74cdc 884 }
claraluques 30:614dcbd74cdc 885 else if (i<imax && i>=imin){
claraluques 30:614dcbd74cdc 886 i++;
claraluques 30:614dcbd74cdc 887 }
claraluques 30:614dcbd74cdc 888 bot_baixo = 0;
claraluques 30:614dcbd74cdc 889 }
claraluques 30:614dcbd74cdc 890 // }
claraluques 30:614dcbd74cdc 891 lcd.locate(coluna, 1);
claraluques 30:614dcbd74cdc 892 lcd.printf("%c", alfabeto[i]);
claraluques 30:614dcbd74cdc 893 //lcd.printf("oi");
claraluques 30:614dcbd74cdc 894 }
claraluques 30:614dcbd74cdc 895 }
claraluques 30:614dcbd74cdc 896
claraluques 26:59081efdce79 897 //função para ler os pontos
claraluques 21:7603fe283ba4 898 void readSerial(){
claraluques 21:7603fe283ba4 899 char recv;
lucasfontenla 24:46c3be0e8273 900 int points = 0;
lucasfontenla 24:46c3be0e8273 901 int pointx = 0;
lucasfontenla 24:46c3be0e8273 902 int pointy = 0;
lucasfontenla 24:46c3be0e8273 903 int pointz = 0;
claraluques 27:83d2a710cc2f 904 int action = 0;
lucasfontenla 29:558eccdfc079 905 int uploading_saved = 0;
lucasfontenla 24:46c3be0e8273 906 string coordx = "";
lucasfontenla 24:46c3be0e8273 907 string coordy = "";
lucasfontenla 24:46c3be0e8273 908 string coordz = "";
lucasfontenla 29:558eccdfc079 909 string recv_buffer;
claraluques 26:59081efdce79 910
claraluques 21:7603fe283ba4 911
claraluques 21:7603fe283ba4 912 while(1){
claraluques 21:7603fe283ba4 913 recv = Mach.getc();
claraluques 27:83d2a710cc2f 914 printf("%c\n\r", recv);
claraluques 27:83d2a710cc2f 915 if (recv == 'a' /*&& points == 0*/){
claraluques 27:83d2a710cc2f 916 home = 0;
claraluques 27:83d2a710cc2f 917 exec = 0;
claraluques 26:59081efdce79 918 printf("oi\n\r");
claraluques 27:83d2a710cc2f 919 action = 1;
claraluques 26:59081efdce79 920 }
lucasfontenla 24:46c3be0e8273 921 if (recv == 'p'){
claraluques 21:7603fe283ba4 922 points = 1;
claraluques 23:19c67758032d 923 }
lucasfontenla 29:558eccdfc079 924 if(recv == 'u'){
lucasfontenla 29:558eccdfc079 925 uploading_saved = 1;
lucasfontenla 29:558eccdfc079 926 }
claraluques 23:19c67758032d 927 if (points){
lucasfontenla 24:46c3be0e8273 928 if (recv == 'X'){
claraluques 21:7603fe283ba4 929 pointx = 1;
lucasfontenla 24:46c3be0e8273 930 pointy = 0;
lucasfontenla 24:46c3be0e8273 931 pointz = 0;
claraluques 21:7603fe283ba4 932 }
lucasfontenla 24:46c3be0e8273 933 else if (recv == 'Y'){
claraluques 21:7603fe283ba4 934 pointy = 1;
lucasfontenla 24:46c3be0e8273 935 pointx = 0;
lucasfontenla 24:46c3be0e8273 936 pointz = 0;
claraluques 21:7603fe283ba4 937 }
lucasfontenla 24:46c3be0e8273 938 else if (recv == 'Z'){
claraluques 21:7603fe283ba4 939 pointz = 1;
lucasfontenla 24:46c3be0e8273 940 pointx = 0;
lucasfontenla 24:46c3be0e8273 941 pointy = 0;
claraluques 23:19c67758032d 942 }
lucasfontenla 24:46c3be0e8273 943 else if (recv == 'x'){
claraluques 23:19c67758032d 944 cx = atof(coordx.c_str());
claraluques 23:19c67758032d 945 cy = atof(coordy.c_str());
claraluques 23:19c67758032d 946 cz = atof(coordz.c_str());
claraluques 23:19c67758032d 947 printf("%s,%s,%s\n\r", coordx, coordy, coordz);
claraluques 21:7603fe283ba4 948 break;
claraluques 21:7603fe283ba4 949 }
claraluques 23:19c67758032d 950 }
claraluques 23:19c67758032d 951 if (pointx){
lucasfontenla 24:46c3be0e8273 952 if (recv!='X'){
claraluques 23:19c67758032d 953 coordx.push_back(recv);
claraluques 23:19c67758032d 954 }
claraluques 23:19c67758032d 955 }
claraluques 23:19c67758032d 956 if (pointy){
lucasfontenla 24:46c3be0e8273 957 if (recv!='Y'){
claraluques 23:19c67758032d 958 coordy.push_back(recv);
claraluques 23:19c67758032d 959 }
claraluques 23:19c67758032d 960 }
claraluques 23:19c67758032d 961 if (pointz){
lucasfontenla 24:46c3be0e8273 962 if (recv!='Z'){
claraluques 23:19c67758032d 963 coordz.push_back(recv);
claraluques 23:19c67758032d 964 }
claraluques 23:19c67758032d 965 }
claraluques 27:83d2a710cc2f 966 if (action){
claraluques 27:83d2a710cc2f 967 if (recv=='x'){
claraluques 27:83d2a710cc2f 968 break;
claraluques 27:83d2a710cc2f 969 }
claraluques 27:83d2a710cc2f 970 }
lucasfontenla 29:558eccdfc079 971 if(recv == 'x' && uploading_saved){
lucasfontenla 29:558eccdfc079 972 sdcard.save_GCODE(file_name, recv_buffer);
lucasfontenla 29:558eccdfc079 973 break;
lucasfontenla 29:558eccdfc079 974 } else if(uploading_saved && recv != 'u'){
lucasfontenla 29:558eccdfc079 975 recv_buffer.push_back(recv);
claraluques 23:19c67758032d 976 }
claraluques 21:7603fe283ba4 977 }
lucasfontenla 29:558eccdfc079 978 }
claraluques 23:19c67758032d 979
claraluques 26:59081efdce79 980
lucasfontenla 22:22ddb0b21d48 981
claraluques 21:7603fe283ba4 982 Menu(); //não apagar
lucasfontenla 17:0b8e489fac36 983 };