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@49:ab4ab0924fd1, 2019-02-26 (annotated)

Committer:
lucasfontenla
Date:
Tue Feb 26 00:56:55 2019 +0000
Revision:
49:ab4ab0924fd1
Parent:
44:15968c7431c6 
Uploading for Projeto Mecatronico 2019;

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 40:e70f811c69dc 4 Serial WiFi(D8, D2); // tx, rx
lucasfontenla 17:0b8e489fac36 5 Serial Mach(tx, rx);
lucasfontenla 28:b3c51076ebe8 6 Timer t;
lucasfontenla 17:0b8e489fac36 7
lucasfontenla 29:558eccdfc079 8 string file_name;
lucasfontenla 29:558eccdfc079 9 vector <string> filenames;
lucasfontenla 29:558eccdfc079 10
lucasfontenla 17:0b8e489fac36 11 class Machine {
lucasfontenla 17:0b8e489fac36 12 int n;
lucasfontenla 17:0b8e489fac36 13 string buffer;
lucasfontenla 17:0b8e489fac36 14 char buffer_char[2];
lucasfontenla 17:0b8e489fac36 15
lucasfontenla 17:0b8e489fac36 16 public:
lucasfontenla 17:0b8e489fac36 17 int debug;
lucasfontenla 17:0b8e489fac36 18
lucasfontenla 41:a1ab19cc1387 19 // PUBLIC FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 41:a1ab19cc1387 20 void move(string move_code){
lucasfontenla 41:a1ab19cc1387 21 printf("Moving: %s\n\r", move_code);
lucasfontenla 41:a1ab19cc1387 22 send(move_code);
lucasfontenla 17:0b8e489fac36 23 }
lucasfontenla 17:0b8e489fac36 24
lucasfontenla 17:0b8e489fac36 25 void save_point(int mode, float pct_speed){
lucasfontenla 17:0b8e489fac36 26 buffer = "";
lucasfontenla 17:0b8e489fac36 27
lucasfontenla 17:0b8e489fac36 28 buffer.append("s");
lucasfontenla 17:0b8e489fac36 29
lucasfontenla 17:0b8e489fac36 30 n = sprintf(buffer_char, "M%d", mode);
lucasfontenla 17:0b8e489fac36 31 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 32
lucasfontenla 17:0b8e489fac36 33 n = sprintf(buffer_char, "F%.2f", pct_speed);
lucasfontenla 17:0b8e489fac36 34 buffer.append(buffer_char);
lucasfontenla 17:0b8e489fac36 35
lucasfontenla 17:0b8e489fac36 36 send(buffer);
lucasfontenla 17:0b8e489fac36 37 }
lucasfontenla 17:0b8e489fac36 38
lucasfontenla 17:0b8e489fac36 39 void start_program(void){
claraluques 20:ccbd80b668ce 40 send("b");
lucasfontenla 41:a1ab19cc1387 41 printf("Starting Program\n\r");
lucasfontenla 17:0b8e489fac36 42 }
lucasfontenla 17:0b8e489fac36 43
lucasfontenla 17:0b8e489fac36 44 void cancel_program(void){
lucasfontenla 17:0b8e489fac36 45 send("c");
lucasfontenla 17:0b8e489fac36 46 }
lucasfontenla 17:0b8e489fac36 47
lucasfontenla 17:0b8e489fac36 48 void get_status(void){
lucasfontenla 17:0b8e489fac36 49 send("s");
lucasfontenla 17:0b8e489fac36 50 }
lucasfontenla 17:0b8e489fac36 51
lucasfontenla 17:0b8e489fac36 52 void machine_zero(void){
claraluques 26:59081efdce79 53 send("zm");
lucasfontenla 41:a1ab19cc1387 54 printf("Zero Machine\n\r");
lucasfontenla 17:0b8e489fac36 55 }
lucasfontenla 17:0b8e489fac36 56
lucasfontenla 17:0b8e489fac36 57 void set_zero(string axis){
claraluques 27:83d2a710cc2f 58 buffer = "";
lucasfontenla 17:0b8e489fac36 59 buffer.append("z");
lucasfontenla 17:0b8e489fac36 60 buffer+=axis;
lucasfontenla 17:0b8e489fac36 61 send(buffer);
lucasfontenla 17:0b8e489fac36 62 }
lucasfontenla 17:0b8e489fac36 63
claraluques 19:2c890ae2d187 64 void jog(void){
claraluques 19:2c890ae2d187 65 send("j");
lucasfontenla 41:a1ab19cc1387 66 printf("Starting Jog\n\r");
claraluques 19:2c890ae2d187 67 }
claraluques 19:2c890ae2d187 68
claraluques 20:ccbd80b668ce 69 void kill_jog(void){
claraluques 20:ccbd80b668ce 70 send("jk");
lucasfontenla 41:a1ab19cc1387 71 printf("Killing Jog\n\r");
claraluques 20:ccbd80b668ce 72 }
claraluques 20:ccbd80b668ce 73
lucasfontenla 41:a1ab19cc1387 74 void reset(void){
claraluques 26:59081efdce79 75 send("r");
claraluques 26:59081efdce79 76 }
claraluques 26:59081efdce79 77
lucasfontenla 28:b3c51076ebe8 78 void upload_gcode(string gcode){
lucasfontenla 28:b3c51076ebe8 79 buffer = "";
lucasfontenla 28:b3c51076ebe8 80 buffer.append("u");
lucasfontenla 28:b3c51076ebe8 81 buffer.append(gcode);
lucasfontenla 28:b3c51076ebe8 82
lucasfontenla 41:a1ab19cc1387 83 printf("Uploading GCODE: %s\n\r", gcode);
lucasfontenla 41:a1ab19cc1387 84
lucasfontenla 28:b3c51076ebe8 85 send(buffer);
lucasfontenla 28:b3c51076ebe8 86 }
claraluques 20:ccbd80b668ce 87
lucasfontenla 29:558eccdfc079 88 void get_saved_points(void){
lucasfontenla 29:558eccdfc079 89 send("l");
lucasfontenla 29:558eccdfc079 90 }
lucasfontenla 29:558eccdfc079 91
claraluques 34:7c7fac39a250 92 void delete_last_saved(void){
claraluques 34:7c7fac39a250 93 send("d");
claraluques 34:7c7fac39a250 94 }
claraluques 34:7c7fac39a250 95
claraluques 34:7c7fac39a250 96 void clean_glue(void){
claraluques 36:12d202855231 97 send("g");
lucasfontenla 41:a1ab19cc1387 98 printf("Cleaning Glue\n\r");
claraluques 34:7c7fac39a250 99 }
claraluques 34:7c7fac39a250 100
lucasfontenla 17:0b8e489fac36 101 private:
lucasfontenla 17:0b8e489fac36 102
lucasfontenla 17:0b8e489fac36 103 // PRIVATE FUNCTIONS ----------------------------------------------------------------------------------------------------------------------------------------
lucasfontenla 17:0b8e489fac36 104 void send(string msg){
lucasfontenla 17:0b8e489fac36 105 msg.append("x");
lucasfontenla 17:0b8e489fac36 106
lucasfontenla 17:0b8e489fac36 107 for(int i = 0; i < msg.length(); i++){
lucasfontenla 17:0b8e489fac36 108 Mach.putc(msg[i]);
claraluques 20:ccbd80b668ce 109 wait_ms(20);
lucasfontenla 17:0b8e489fac36 110 }
lucasfontenla 17:0b8e489fac36 111 }
claraluques 18:5338b83b4de9 112 };
claraluques 18:5338b83b4de9 113
claraluques 18:5338b83b4de9 114
lucasfontenla 28:b3c51076ebe8 115 Machine machine;
lucasfontenla 28:b3c51076ebe8 116
lucasfontenla 28:b3c51076ebe8 117 SDFileSystem sd(PB_15, PB_14, PB_13, PB_1, "sd"); //MOSI - D4, MISO - D5, SCLK - D3, CS - D7
lucasfontenla 28:b3c51076ebe8 118 DIR *dp;
lucasfontenla 28:b3c51076ebe8 119
lucasfontenla 29:558eccdfc079 120 string folderString = "Programas";
lucasfontenla 28:b3c51076ebe8 121
lucasfontenla 28:b3c51076ebe8 122 class SDCard{
lucasfontenla 28:b3c51076ebe8 123 public:
lucasfontenla 28:b3c51076ebe8 124 int save_GCODE(string name, string gcode){
claraluques 34:7c7fac39a250 125 printf("Saving: %s\n\r", name);
claraluques 35:11e3f3c8cb4e 126 //printf("Code: %s\n\r", gcode);
claraluques 34:7c7fac39a250 127
lucasfontenla 29:558eccdfc079 128 string file_path = "/sd/" + folderString + "/" + name;
lucasfontenla 28:b3c51076ebe8 129 char * path = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 130
lucasfontenla 28:b3c51076ebe8 131 printf(path);
lucasfontenla 28:b3c51076ebe8 132
claraluques 34:7c7fac39a250 133 //printf("going...\n\r");
lucasfontenla 28:b3c51076ebe8 134
lucasfontenla 28:b3c51076ebe8 135 FILE *fp = fopen(path, "w");
lucasfontenla 28:b3c51076ebe8 136
lucasfontenla 28:b3c51076ebe8 137 if(fp == NULL) {
lucasfontenla 28:b3c51076ebe8 138 error("Could not open file for write\n\r");
lucasfontenla 28:b3c51076ebe8 139 return 0;
lucasfontenla 28:b3c51076ebe8 140 }
lucasfontenla 28:b3c51076ebe8 141
lucasfontenla 28:b3c51076ebe8 142 char * write_file = str_to_char(gcode);
lucasfontenla 28:b3c51076ebe8 143
lucasfontenla 28:b3c51076ebe8 144 fprintf(fp, write_file);
lucasfontenla 28:b3c51076ebe8 145 fclose(fp);
lucasfontenla 28:b3c51076ebe8 146
claraluques 34:7c7fac39a250 147 printf("Saving done!\n\r");
lucasfontenla 28:b3c51076ebe8 148
lucasfontenla 28:b3c51076ebe8 149 return 1;
lucasfontenla 28:b3c51076ebe8 150 }
lucasfontenla 28:b3c51076ebe8 151
lucasfontenla 28:b3c51076ebe8 152 int send_gcode(string name){
claraluques 34:7c7fac39a250 153 printf("Sending gcode...\n\r");
lucasfontenla 29:558eccdfc079 154 string file_path = "/sd/" + folderString + "/" + name;
lucasfontenla 28:b3c51076ebe8 155 char * path = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 156 unsigned char c;
lucasfontenla 28:b3c51076ebe8 157 string buffer;
lucasfontenla 28:b3c51076ebe8 158
lucasfontenla 28:b3c51076ebe8 159 FILE *fp = fopen(path, "r");
lucasfontenla 28:b3c51076ebe8 160
lucasfontenla 28:b3c51076ebe8 161 if(fp == NULL) {
lucasfontenla 28:b3c51076ebe8 162 error("Could not open file for write\n\r");
lucasfontenla 28:b3c51076ebe8 163 return 0;
lucasfontenla 28:b3c51076ebe8 164 }
claraluques 38:6c94230e5ecd 165 t.reset();
lucasfontenla 28:b3c51076ebe8 166 t.start();
lucasfontenla 28:b3c51076ebe8 167
lucasfontenla 28:b3c51076ebe8 168 while(1){
lucasfontenla 29:558eccdfc079 169 if(t.read() > 4.0){
lucasfontenla 28:b3c51076ebe8 170 fclose(fp);
lucasfontenla 28:b3c51076ebe8 171 return 0;
lucasfontenla 28:b3c51076ebe8 172 }
lucasfontenla 28:b3c51076ebe8 173 c = fgetc(fp);
lucasfontenla 28:b3c51076ebe8 174 buffer.push_back(c);
claraluques 35:11e3f3c8cb4e 175 printf("%c\n\r", c);
lucasfontenla 28:b3c51076ebe8 176 if(c == ';'){
lucasfontenla 28:b3c51076ebe8 177 fclose(fp);
lucasfontenla 28:b3c51076ebe8 178 break;
lucasfontenla 28:b3c51076ebe8 179 }
lucasfontenla 28:b3c51076ebe8 180 }
lucasfontenla 28:b3c51076ebe8 181 fclose(fp);
lucasfontenla 28:b3c51076ebe8 182
lucasfontenla 28:b3c51076ebe8 183 machine.upload_gcode(buffer);
lucasfontenla 28:b3c51076ebe8 184 return 1;
lucasfontenla 28:b3c51076ebe8 185 }
lucasfontenla 28:b3c51076ebe8 186
lucasfontenla 28:b3c51076ebe8 187 int check_name_available(string name){
claraluques 34:7c7fac39a250 188 printf("Checking name...\r\n");
lucasfontenla 29:558eccdfc079 189 string file_path = "/sd/" + folderString;
lucasfontenla 28:b3c51076ebe8 190 char * dir = str_to_char(file_path);
lucasfontenla 28:b3c51076ebe8 191 struct dirent *dirp;
lucasfontenla 28:b3c51076ebe8 192 string filename;
lucasfontenla 28:b3c51076ebe8 193
claraluques 35:11e3f3c8cb4e 194 //printf(dir);
lucasfontenla 28:b3c51076ebe8 195
lucasfontenla 28:b3c51076ebe8 196 dp = opendir(dir);
claraluques 34:7c7fac39a250 197
claraluques 34:7c7fac39a250 198 t.reset();
lucasfontenla 29:558eccdfc079 199 t.start();
lucasfontenla 29:558eccdfc079 200
lucasfontenla 28:b3c51076ebe8 201 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 29:558eccdfc079 202 if(t.read() > 2.0){
lucasfontenla 29:558eccdfc079 203 t.stop();
lucasfontenla 29:558eccdfc079 204 closedir(dp);
claraluques 34:7c7fac39a250 205 printf("Timeout\r\n");
lucasfontenla 29:558eccdfc079 206 return 0;
lucasfontenla 29:558eccdfc079 207 }
lucasfontenla 28:b3c51076ebe8 208 filename = (dirp->d_name);
claraluques 35:11e3f3c8cb4e 209 //printf("%s\n\r", filename);
lucasfontenla 28:b3c51076ebe8 210 if(filename == name){
lucasfontenla 28:b3c51076ebe8 211 closedir(dp);
lucasfontenla 28:b3c51076ebe8 212 return 0;
lucasfontenla 28:b3c51076ebe8 213 }
lucasfontenla 28:b3c51076ebe8 214 }
lucasfontenla 28:b3c51076ebe8 215 closedir(dp);
claraluques 34:7c7fac39a250 216 printf("Checked!\n\r");
lucasfontenla 28:b3c51076ebe8 217 return 1;
lucasfontenla 28:b3c51076ebe8 218 }
lucasfontenla 28:b3c51076ebe8 219
lucasfontenla 29:558eccdfc079 220 int get_file_names(void){
lucasfontenla 29:558eccdfc079 221 string file_path = "/sd/" + folderString;
lucasfontenla 29:558eccdfc079 222 char * dir = str_to_char(file_path);
lucasfontenla 29:558eccdfc079 223 struct dirent *dirp;
lucasfontenla 29:558eccdfc079 224 string filename;
lucasfontenla 29:558eccdfc079 225
lucasfontenla 29:558eccdfc079 226 filenames.empty();
lucasfontenla 29:558eccdfc079 227
claraluques 35:11e3f3c8cb4e 228 //printf(dir);
lucasfontenla 29:558eccdfc079 229
lucasfontenla 29:558eccdfc079 230 dp = opendir(dir);
lucasfontenla 29:558eccdfc079 231
lucasfontenla 29:558eccdfc079 232 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 29:558eccdfc079 233 filename = (dirp->d_name);
claraluques 35:11e3f3c8cb4e 234 //printf("%s\n\r", filename);
lucasfontenla 29:558eccdfc079 235 filenames.push_back(filename);
lucasfontenla 29:558eccdfc079 236 }
claraluques 35:11e3f3c8cb4e 237 //printf("%d\n\r", filenames.size());
lucasfontenla 29:558eccdfc079 238 return 1;
lucasfontenla 29:558eccdfc079 239 }
lucasfontenla 29:558eccdfc079 240
lucasfontenla 28:b3c51076ebe8 241 int create_folders(void){
lucasfontenla 29:558eccdfc079 242 int gotFolder = 0;
lucasfontenla 28:b3c51076ebe8 243 string filename;
lucasfontenla 28:b3c51076ebe8 244 struct dirent *dirp;
lucasfontenla 28:b3c51076ebe8 245
lucasfontenla 28:b3c51076ebe8 246 dp = opendir("/sd");
lucasfontenla 28:b3c51076ebe8 247
lucasfontenla 28:b3c51076ebe8 248 t.start();
lucasfontenla 28:b3c51076ebe8 249
lucasfontenla 28:b3c51076ebe8 250 while((dirp = readdir(dp)) != NULL) {
lucasfontenla 28:b3c51076ebe8 251 if(t.read() > 2){
lucasfontenla 28:b3c51076ebe8 252 t.stop();
lucasfontenla 28:b3c51076ebe8 253 return 0;
lucasfontenla 28:b3c51076ebe8 254 }
lucasfontenla 28:b3c51076ebe8 255 filename = (dirp->d_name);
claraluques 35:11e3f3c8cb4e 256 //printf("%s\n\r", filename);
lucasfontenla 29:558eccdfc079 257 if(filename == folderString){
lucasfontenla 29:558eccdfc079 258 gotFolder = 1;
lucasfontenla 29:558eccdfc079 259 }
lucasfontenla 28:b3c51076ebe8 260 }
lucasfontenla 28:b3c51076ebe8 261
lucasfontenla 29:558eccdfc079 262 if(!gotFolder){
lucasfontenla 29:558eccdfc079 263 char * path = str_to_char(("/sd/" + folderString));
lucasfontenla 28:b3c51076ebe8 264 mkdir(path, 0777);
lucasfontenla 28:b3c51076ebe8 265 }
lucasfontenla 28:b3c51076ebe8 266
lucasfontenla 28:b3c51076ebe8 267 closedir(dp);
lucasfontenla 28:b3c51076ebe8 268 return 1;
lucasfontenla 28:b3c51076ebe8 269 }
lucasfontenla 28:b3c51076ebe8 270
lucasfontenla 28:b3c51076ebe8 271 private:
lucasfontenla 28:b3c51076ebe8 272 char * str_to_char(string str){
lucasfontenla 28:b3c51076ebe8 273 char * path = new char[str.length() + 1];
lucasfontenla 28:b3c51076ebe8 274 std::strcpy(path, str.c_str());
lucasfontenla 28:b3c51076ebe8 275 return path;
lucasfontenla 28:b3c51076ebe8 276 }
lucasfontenla 28:b3c51076ebe8 277 };
lucasfontenla 28:b3c51076ebe8 278
lucasfontenla 28:b3c51076ebe8 279 SDCard sdcard;
lucasfontenla 28:b3c51076ebe8 280
claraluques 18:5338b83b4de9 281 //criar classe "menu" (funções para as telas)
claraluques 18:5338b83b4de9 282 class Menu{
claraluques 19:2c890ae2d187 283
claraluques 18:5338b83b4de9 284 public:
claraluques 18:5338b83b4de9 285 int linha;
claraluques 18:5338b83b4de9 286 int func;
claraluques 32:c293f89170b0 287 string nome;
claraluques 36:12d202855231 288 string arquivo;
claraluques 23:19c67758032d 289
claraluques 18:5338b83b4de9 290
claraluques 18:5338b83b4de9 291 void movercursor(int min, int max, int col){ //função para mover cursor de seleção
claraluques 18:5338b83b4de9 292 linha = min;
claraluques 18:5338b83b4de9 293 lcd.locate(col,min);
claraluques 18:5338b83b4de9 294 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 295 while (bot_enter==penter){
lucasfontenla 41:a1ab19cc1387 296 if(emerg){
lucasfontenla 41:a1ab19cc1387 297 func = 31;
lucasfontenla 41:a1ab19cc1387 298 break;
lucasfontenla 41:a1ab19cc1387 299 }
lucasfontenla 42:48096cfdea78 300 if(func == 13){
lucasfontenla 42:48096cfdea78 301 if(clean_wifi.read()>6.0){
lucasfontenla 42:48096cfdea78 302 lcd.locate(0,1);
lucasfontenla 42:48096cfdea78 303 lcd.printf(" ");
lucasfontenla 42:48096cfdea78 304 }
lucasfontenla 42:48096cfdea78 305 if(WiFi.readable()){
lucasfontenla 42:48096cfdea78 306 wifiRx();
lucasfontenla 42:48096cfdea78 307 }
lucasfontenla 42:48096cfdea78 308 }
claraluques 31:77eb51d4ee18 309 if (bot_cima==0){
claraluques 18:5338b83b4de9 310 if (linha==min){
claraluques 18:5338b83b4de9 311 lcd.locate(col,min);
claraluques 18:5338b83b4de9 312 lcd.printf(" ");
claraluques 18:5338b83b4de9 313 linha=max;
claraluques 18:5338b83b4de9 314 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 315 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 316 }
claraluques 18:5338b83b4de9 317 else {
claraluques 18:5338b83b4de9 318 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 319 lcd.printf(" ");
claraluques 18:5338b83b4de9 320 linha--;
claraluques 18:5338b83b4de9 321 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 322 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 323 }
claraluques 31:77eb51d4ee18 324 bot_cima = 1;
claraluques 18:5338b83b4de9 325 }
claraluques 31:77eb51d4ee18 326 else if (bot_baixo==0){
claraluques 18:5338b83b4de9 327 if (linha==max){
claraluques 18:5338b83b4de9 328 lcd.locate(col,max);
claraluques 18:5338b83b4de9 329 lcd.printf(" ");
claraluques 18:5338b83b4de9 330 linha=min;
claraluques 18:5338b83b4de9 331 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 332 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 333 }
claraluques 18:5338b83b4de9 334 else {
claraluques 18:5338b83b4de9 335 lcd.locate(col,linha);
claraluques 18:5338b83b4de9 336 lcd.printf(" ");
claraluques 18:5338b83b4de9 337 linha++;
claraluques 18:5338b83b4de9 338 lcd.locate(col, linha);
claraluques 18:5338b83b4de9 339 lcd.printf("%c", 0x3E);
claraluques 18:5338b83b4de9 340 }
claraluques 31:77eb51d4ee18 341 bot_baixo = 1;
claraluques 18:5338b83b4de9 342 }
lucasfontenla 40:e70f811c69dc 343 }
claraluques 18:5338b83b4de9 344 }
claraluques 32:c293f89170b0 345
claraluques 18:5338b83b4de9 346
claraluques 18:5338b83b4de9 347 //func 0
claraluques 18:5338b83b4de9 348 void inicializar(){ //função tela incial de boas-vindas
claraluques 44:15968c7431c6 349 bot_enter = penter;
claraluques 44:15968c7431c6 350 //int status;
claraluques 33:0149960e95c1 351 printf("Starting...\n\r");
claraluques 26:59081efdce79 352 machine.reset();
claraluques 18:5338b83b4de9 353 lcd.cls();
claraluques 18:5338b83b4de9 354 lcd.locate(4,0);
claraluques 18:5338b83b4de9 355 lcd.printf("Bem-vindo(a)");
claraluques 18:5338b83b4de9 356 lcd.locate(0,1);
claraluques 18:5338b83b4de9 357 lcd.printf("Utilize seu EPI para operar a maquina.");
claraluques 44:15968c7431c6 358 lcd.locate(9,3);
claraluques 44:15968c7431c6 359 lcd.printf("OK");
claraluques 44:15968c7431c6 360 movercursor(3,3,8);
claraluques 44:15968c7431c6 361 if (bot_enter!=penter){
claraluques 44:15968c7431c6 362 if (linha==3){
claraluques 44:15968c7431c6 363 func = 1;
claraluques 44:15968c7431c6 364 }
claraluques 44:15968c7431c6 365 }
claraluques 18:5338b83b4de9 366 }
claraluques 18:5338b83b4de9 367
claraluques 18:5338b83b4de9 368 //func 1
claraluques 18:5338b83b4de9 369 void menuprincipal(){ //função menu principal
lucasfontenla 49:ab4ab0924fd1 370 machine.kill_jog();
claraluques 31:77eb51d4ee18 371 bot_enter = penter;
claraluques 36:12d202855231 372 sair = 0;
claraluques 18:5338b83b4de9 373 lcd.cls();
claraluques 18:5338b83b4de9 374 lcd.locate(1,0);
claraluques 18:5338b83b4de9 375 lcd.printf("Modo JOG");
claraluques 18:5338b83b4de9 376 lcd.locate(1,1);
claraluques 18:5338b83b4de9 377 lcd.printf("Modo Automatico");
claraluques 18:5338b83b4de9 378 lcd.locate(1,2);
claraluques 26:59081efdce79 379 lcd.printf("Zerar");
claraluques 18:5338b83b4de9 380 lcd.locate(1,3);
claraluques 44:15968c7431c6 381 lcd.printf("Menu");
claraluques 18:5338b83b4de9 382 movercursor(0,3,0);
claraluques 18:5338b83b4de9 383 if (bot_enter!=penter){
claraluques 18:5338b83b4de9 384 if (linha==0){
claraluques 18:5338b83b4de9 385 func = 2;
claraluques 18:5338b83b4de9 386 }
claraluques 18:5338b83b4de9 387 else if (linha==1) {
claraluques 18:5338b83b4de9 388 func = 3;
claraluques 18:5338b83b4de9 389 }
claraluques 18:5338b83b4de9 390 else if (linha==2) {
claraluques 26:59081efdce79 391 func = 8;
claraluques 18:5338b83b4de9 392 }
claraluques 18:5338b83b4de9 393 else if (linha==3) {
claraluques 26:59081efdce79 394 func = 4;
claraluques 18:5338b83b4de9 395 }
claraluques 18:5338b83b4de9 396 }
claraluques 18:5338b83b4de9 397 }
claraluques 18:5338b83b4de9 398
claraluques 18:5338b83b4de9 399 //func 2
claraluques 18:5338b83b4de9 400 void jog(){ //função tela jog
lucasfontenla 42:48096cfdea78 401
claraluques 31:77eb51d4ee18 402 lcd.cls();
claraluques 31:77eb51d4ee18 403 bot_enter = penter;
claraluques 20:ccbd80b668ce 404 machine.kill_jog();
claraluques 20:ccbd80b668ce 405 wait(0.1);
claraluques 19:2c890ae2d187 406 machine.jog();
claraluques 35:11e3f3c8cb4e 407 lcd.locate(2,1);
claraluques 35:11e3f3c8cb4e 408 lcd.printf("MODO");
claraluques 35:11e3f3c8cb4e 409 lcd.locate(2,2);
claraluques 35:11e3f3c8cb4e 410 lcd.printf("JOG");
claraluques 35:11e3f3c8cb4e 411 lcd.locate(11,0);
claraluques 18:5338b83b4de9 412 lcd.printf("Salvar");
claraluques 35:11e3f3c8cb4e 413 lcd.locate(11,1);
claraluques 35:11e3f3c8cb4e 414 lcd.printf("Remover");
claraluques 35:11e3f3c8cb4e 415 lcd.locate(11,2);
claraluques 18:5338b83b4de9 416 lcd.printf("Concluir");
claraluques 35:11e3f3c8cb4e 417 lcd.locate(11,3);
claraluques 18:5338b83b4de9 418 lcd.printf("Cancelar");
claraluques 35:11e3f3c8cb4e 419 movercursor(0,3,10);
claraluques 18:5338b83b4de9 420 if (bot_enter!=penter){
claraluques 35:11e3f3c8cb4e 421 if (linha==0){
claraluques 38:6c94230e5ecd 422 func = 6;
claraluques 18:5338b83b4de9 423 }
claraluques 35:11e3f3c8cb4e 424 else if (linha==1){
claraluques 35:11e3f3c8cb4e 425 if (pontos>=1){
claraluques 35:11e3f3c8cb4e 426 machine.delete_last_saved();
claraluques 35:11e3f3c8cb4e 427 pontos--;
claraluques 35:11e3f3c8cb4e 428 maxpontos++;
claraluques 35:11e3f3c8cb4e 429 func = 23;
claraluques 35:11e3f3c8cb4e 430 }
claraluques 35:11e3f3c8cb4e 431 if (pontos==0){
claraluques 35:11e3f3c8cb4e 432 func = 24;
claraluques 35:11e3f3c8cb4e 433 }
claraluques 35:11e3f3c8cb4e 434 }
claraluques 18:5338b83b4de9 435 else if (linha==2) {
claraluques 27:83d2a710cc2f 436 machine.kill_jog();
claraluques 36:12d202855231 437 pontos = 0;
claraluques 36:12d202855231 438 maxpontos = 100;
claraluques 26:59081efdce79 439 func = 17;
claraluques 18:5338b83b4de9 440 }
claraluques 18:5338b83b4de9 441 else if (linha==3) {
claraluques 20:ccbd80b668ce 442 machine.kill_jog();
claraluques 26:59081efdce79 443 wait(0.1);
claraluques 26:59081efdce79 444 machine.cancel_program();
claraluques 36:12d202855231 445 pontos = 0;
claraluques 36:12d202855231 446 maxpontos = 100;
claraluques 18:5338b83b4de9 447 func = 1;
lucasfontenla 49:ab4ab0924fd1 448 //pontos = 10;
claraluques 18:5338b83b4de9 449 }
claraluques 18:5338b83b4de9 450 }
claraluques 18:5338b83b4de9 451 }
claraluques 18:5338b83b4de9 452
claraluques 18:5338b83b4de9 453 //func 3
claraluques 18:5338b83b4de9 454 void automatico(){ //tela modo automatico
lucasfontenla 42:48096cfdea78 455
claraluques 18:5338b83b4de9 456 lcd.cls();
claraluques 38:6c94230e5ecd 457 f = 0;
claraluques 38:6c94230e5ecd 458 sair = 0;
claraluques 31:77eb51d4ee18 459 bot_enter = penter;
claraluques 36:12d202855231 460 printf("Automatico\n\r");
claraluques 35:11e3f3c8cb4e 461 lcd.printf("Selecione o programa");
claraluques 35:11e3f3c8cb4e 462 arquivos();
claraluques 35:11e3f3c8cb4e 463 if (sair==1) {
claraluques 35:11e3f3c8cb4e 464 func = 1;
claraluques 18:5338b83b4de9 465 }
claraluques 18:5338b83b4de9 466 }
claraluques 18:5338b83b4de9 467
claraluques 18:5338b83b4de9 468 //func 4
claraluques 18:5338b83b4de9 469 void config() {
lucasfontenla 42:48096cfdea78 470
claraluques 18:5338b83b4de9 471 lcd.cls();
claraluques 31:77eb51d4ee18 472 bot_enter = penter;
claraluques 18:5338b83b4de9 473 lcd.locate(1,0);
lucasfontenla 42:48096cfdea78 474 lcd.printf("Limpar seringa cola");
claraluques 18:5338b83b4de9 475 lcd.locate(1,1);
claraluques 26:59081efdce79 476 lcd.printf("Origem maquina");
claraluques 44:15968c7431c6 477 lcd.locate(1,2);
claraluques 44:15968c7431c6 478 lcd.printf("Modo WiFi");
claraluques 18:5338b83b4de9 479 lcd.locate(1,3);
claraluques 18:5338b83b4de9 480 lcd.printf("Voltar");
claraluques 18:5338b83b4de9 481 movercursor(0,3,0);
claraluques 18:5338b83b4de9 482 if (bot_enter!=penter){
lucasfontenla 42:48096cfdea78 483 if (linha==2) {
claraluques 18:5338b83b4de9 484 func = 13;
claraluques 18:5338b83b4de9 485 }
claraluques 18:5338b83b4de9 486 else if (linha==1) {
claraluques 44:15968c7431c6 487 func = 18;
claraluques 18:5338b83b4de9 488 }
lucasfontenla 42:48096cfdea78 489 else if (linha==0) {
claraluques 27:83d2a710cc2f 490 home = 1;
claraluques 44:15968c7431c6 491 func = 14;
claraluques 18:5338b83b4de9 492 }
claraluques 18:5338b83b4de9 493 else if (linha==3) {
claraluques 18:5338b83b4de9 494 func = 1;
claraluques 18:5338b83b4de9 495 }
claraluques 18:5338b83b4de9 496 }
claraluques 18:5338b83b4de9 497 }
claraluques 18:5338b83b4de9 498
claraluques 18:5338b83b4de9 499 //func 5
claraluques 18:5338b83b4de9 500 void telasalvamento(){ //função para quando salvar um ponto
lucasfontenla 42:48096cfdea78 501
claraluques 18:5338b83b4de9 502 lcd.cls();
claraluques 18:5338b83b4de9 503 lcd.locate(0,0);
claraluques 18:5338b83b4de9 504 lcd.printf("Voce salvou");
claraluques 18:5338b83b4de9 505 lcd.locate(1,1);
claraluques 25:af1f99666ca9 506 lcd.printf("X:%.2f ", cx_salva);
claraluques 18:5338b83b4de9 507 lcd.locate(1,2);
claraluques 25:af1f99666ca9 508 lcd.printf("Y:%.2f ", cy_salva);
claraluques 18:5338b83b4de9 509 lcd.locate(1,3);
claraluques 25:af1f99666ca9 510 lcd.printf("Z:%.2f ", cz_salva);
claraluques 18:5338b83b4de9 511 lcd.locate(13,1);
claraluques 18:5338b83b4de9 512 lcd.printf("Pontos");
claraluques 18:5338b83b4de9 513 lcd.locate(13,2);
claraluques 18:5338b83b4de9 514 lcd.printf("livres");
claraluques 18:5338b83b4de9 515 lcd.locate(16,3);
claraluques 26:59081efdce79 516 lcd.printf("%d", maxpontos);
claraluques 18:5338b83b4de9 517 wait(1);
claraluques 18:5338b83b4de9 518 if (pontos>0){
claraluques 38:6c94230e5ecd 519 func = 2;
claraluques 18:5338b83b4de9 520 }
claraluques 18:5338b83b4de9 521 else if (pontos==0){
claraluques 18:5338b83b4de9 522 func = 2;
claraluques 18:5338b83b4de9 523 }
claraluques 18:5338b83b4de9 524 }
claraluques 18:5338b83b4de9 525
claraluques 18:5338b83b4de9 526 //func 6
claraluques 18:5338b83b4de9 527 void telacola(){ //tela para escolher o tipo de sequencia da cola
lucasfontenla 42:48096cfdea78 528
claraluques 18:5338b83b4de9 529 lcd.cls();
lucasfontenla 49:ab4ab0924fd1 530 machine.kill_jog();
claraluques 31:77eb51d4ee18 531 bot_enter = penter;
claraluques 18:5338b83b4de9 532 lcd.printf("P/ o proximo ponto:");
claraluques 18:5338b83b4de9 533 lcd.locate(3,1);
claraluques 18:5338b83b4de9 534 lcd.printf("Sem cola");
claraluques 18:5338b83b4de9 535 lcd.locate(3,2);
claraluques 18:5338b83b4de9 536 lcd.printf("Cola no ponto");
claraluques 18:5338b83b4de9 537 lcd.locate(3,3);
claraluques 18:5338b83b4de9 538 lcd.printf("Cola continua");
claraluques 18:5338b83b4de9 539 movercursor(1,3,2);
claraluques 18:5338b83b4de9 540 if (bot_enter!=penter){
claraluques 38:6c94230e5ecd 541 if (Mach.readable()){
claraluques 38:6c94230e5ecd 542 readSerial();
claraluques 38:6c94230e5ecd 543 }
claraluques 18:5338b83b4de9 544 if (linha==1){
claraluques 18:5338b83b4de9 545 cola = 0;
lucasfontenla 49:ab4ab0924fd1 546 if (pontos==0 && maxpontos>0){
claraluques 38:6c94230e5ecd 547 pontos++;
claraluques 38:6c94230e5ecd 548 maxpontos--;
claraluques 38:6c94230e5ecd 549 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 550 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 551 func = 2;
claraluques 38:6c94230e5ecd 552 }
claraluques 44:15968c7431c6 553 else if (pontos>=1 && maxpontos>0){
claraluques 38:6c94230e5ecd 554 pontos++;
claraluques 38:6c94230e5ecd 555 maxpontos--;
claraluques 38:6c94230e5ecd 556 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 557 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 558 func = 2;
claraluques 38:6c94230e5ecd 559 }
claraluques 38:6c94230e5ecd 560 else if (maxpontos==0){
claraluques 38:6c94230e5ecd 561 func = 16;
claraluques 38:6c94230e5ecd 562 }
claraluques 18:5338b83b4de9 563 }
claraluques 18:5338b83b4de9 564 else if (linha==2) {
claraluques 18:5338b83b4de9 565 cola = 1;
claraluques 44:15968c7431c6 566 if (pontos==0){
claraluques 38:6c94230e5ecd 567 pontos++;
claraluques 38:6c94230e5ecd 568 maxpontos--;
claraluques 38:6c94230e5ecd 569 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 570 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 571 func = 2;
claraluques 38:6c94230e5ecd 572 }
claraluques 44:15968c7431c6 573 else if (pontos>=1 && maxpontos>0){
claraluques 38:6c94230e5ecd 574 pontos++;
claraluques 38:6c94230e5ecd 575 maxpontos--;
claraluques 38:6c94230e5ecd 576 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 577 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 578 func = 2;
claraluques 38:6c94230e5ecd 579 }
claraluques 38:6c94230e5ecd 580 else if (maxpontos==0){
claraluques 38:6c94230e5ecd 581 func = 16;
claraluques 38:6c94230e5ecd 582 }
claraluques 18:5338b83b4de9 583 }
claraluques 18:5338b83b4de9 584 else if (linha==3) {
claraluques 18:5338b83b4de9 585 cola = 2;
claraluques 44:15968c7431c6 586 if (pontos==0){
claraluques 38:6c94230e5ecd 587 pontos++;
claraluques 38:6c94230e5ecd 588 maxpontos--;
claraluques 38:6c94230e5ecd 589 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 590 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 591 func = 2;
claraluques 38:6c94230e5ecd 592 }
claraluques 44:15968c7431c6 593 else if (pontos>=1 && maxpontos>0){
claraluques 38:6c94230e5ecd 594 pontos++;
claraluques 38:6c94230e5ecd 595 maxpontos--;
claraluques 38:6c94230e5ecd 596 machine.save_point(cola,1.0);
claraluques 38:6c94230e5ecd 597 printf("salvei ponto\n\r");
claraluques 44:15968c7431c6 598 func = 2;
claraluques 38:6c94230e5ecd 599 }
claraluques 38:6c94230e5ecd 600 else if (maxpontos==0){
claraluques 38:6c94230e5ecd 601 func = 16;
claraluques 38:6c94230e5ecd 602 }
claraluques 38:6c94230e5ecd 603 }
claraluques 18:5338b83b4de9 604 }
claraluques 18:5338b83b4de9 605 }
claraluques 18:5338b83b4de9 606
claraluques 18:5338b83b4de9 607 //func 7
claraluques 18:5338b83b4de9 608 void executarprograma() { //tela para selecionar se deseja executar o programa
lucasfontenla 42:48096cfdea78 609
claraluques 18:5338b83b4de9 610 lcd.cls();
claraluques 31:77eb51d4ee18 611 bot_enter = penter;
claraluques 18:5338b83b4de9 612 lcd.locate(2,0);
claraluques 18:5338b83b4de9 613 lcd.printf("VOCE CONCLUIU SEU");
claraluques 18:5338b83b4de9 614 lcd.locate(5,1);
claraluques 18:5338b83b4de9 615 lcd.printf("PROGRAMA.");
claraluques 18:5338b83b4de9 616 lcd.locate(0,2);
claraluques 18:5338b83b4de9 617 lcd.printf("Deseja");
claraluques 18:5338b83b4de9 618 lcd.locate(0,3);
claraluques 35:11e3f3c8cb4e 619 lcd.printf("executar?");
claraluques 35:11e3f3c8cb4e 620 lcd.locate(12,2);
claraluques 18:5338b83b4de9 621 lcd.printf("Sim");
claraluques 35:11e3f3c8cb4e 622 lcd.locate(12,3);
claraluques 35:11e3f3c8cb4e 623 lcd.printf("Cancelar");
claraluques 35:11e3f3c8cb4e 624 movercursor(2,3,11);
claraluques 18:5338b83b4de9 625 if (bot_enter!=penter) {
claraluques 18:5338b83b4de9 626 if (linha==2){
claraluques 21:7603fe283ba4 627 machine.kill_jog();
claraluques 21:7603fe283ba4 628 wait(0.1);
claraluques 27:83d2a710cc2f 629 //machine.start_program();
claraluques 18:5338b83b4de9 630 exec = 1;
claraluques 18:5338b83b4de9 631 func = 9;
claraluques 18:5338b83b4de9 632 }
claraluques 18:5338b83b4de9 633 else if (linha==3){
claraluques 18:5338b83b4de9 634 exec = 0;
claraluques 35:11e3f3c8cb4e 635 func = 1;
claraluques 18:5338b83b4de9 636 }
claraluques 18:5338b83b4de9 637 }
claraluques 18:5338b83b4de9 638 }
claraluques 18:5338b83b4de9 639
claraluques 18:5338b83b4de9 640 //func 8
claraluques 18:5338b83b4de9 641 void telazerar(){ //tela para zerar a máquina
lucasfontenla 42:48096cfdea78 642
claraluques 18:5338b83b4de9 643 lcd.cls();
claraluques 31:77eb51d4ee18 644 bot_enter = penter;
claraluques 26:59081efdce79 645 machine.kill_jog();
claraluques 26:59081efdce79 646 machine.jog();
claraluques 44:15968c7431c6 647 lcd.locate(1,0);
claraluques 35:11e3f3c8cb4e 648 lcd.printf("Selecione");
claraluques 44:15968c7431c6 649 lcd.locate(2,1);
claraluques 44:15968c7431c6 650 lcd.printf("um eixo");
claraluques 44:15968c7431c6 651 lcd.locate(1,2);
claraluques 44:15968c7431c6 652 lcd.printf("p/ zerar");
claraluques 19:2c890ae2d187 653 lcd.locate(13,0);
claraluques 19:2c890ae2d187 654 lcd.printf("X");
claraluques 19:2c890ae2d187 655 lcd.locate(13,1);
claraluques 19:2c890ae2d187 656 lcd.printf("Y");
claraluques 19:2c890ae2d187 657 lcd.locate(13,2);
claraluques 19:2c890ae2d187 658 lcd.printf("Z");
claraluques 19:2c890ae2d187 659 lcd.locate(13,3);
claraluques 19:2c890ae2d187 660 lcd.printf("Voltar");
claraluques 19:2c890ae2d187 661 movercursor(0,3,12);
claraluques 18:5338b83b4de9 662 if (bot_enter!=penter) {
claraluques 19:2c890ae2d187 663 if (linha==0){
claraluques 18:5338b83b4de9 664 cx = 0;
claraluques 19:2c890ae2d187 665 func = 10;
claraluques 19:2c890ae2d187 666 machine.set_zero("X");
claraluques 19:2c890ae2d187 667 }
claraluques 19:2c890ae2d187 668 else if (linha==1){
claraluques 18:5338b83b4de9 669 cy = 0;
claraluques 19:2c890ae2d187 670 func = 10;
claraluques 19:2c890ae2d187 671 machine.set_zero("Y");
claraluques 19:2c890ae2d187 672 }
claraluques 19:2c890ae2d187 673 else if (linha==2){
claraluques 18:5338b83b4de9 674 cz = 0;
claraluques 18:5338b83b4de9 675 func = 10;
claraluques 19:2c890ae2d187 676 machine.set_zero("Z");
claraluques 18:5338b83b4de9 677 }
claraluques 18:5338b83b4de9 678 else if (linha==3){
claraluques 18:5338b83b4de9 679 func = 1;
claraluques 26:59081efdce79 680 machine.kill_jog();
claraluques 18:5338b83b4de9 681 }
claraluques 18:5338b83b4de9 682 }
claraluques 18:5338b83b4de9 683 }
claraluques 18:5338b83b4de9 684
claraluques 18:5338b83b4de9 685 //func 9
claraluques 18:5338b83b4de9 686 void executando(){ //tela de executando
lucasfontenla 42:48096cfdea78 687
claraluques 18:5338b83b4de9 688 lcd.cls();
claraluques 27:83d2a710cc2f 689 machine.start_program();
claraluques 44:15968c7431c6 690 //printf("start program, %s\n\r", arquivo);
claraluques 18:5338b83b4de9 691 lcd.locate(4,1);
claraluques 18:5338b83b4de9 692 lcd.printf("Executando");
claraluques 38:6c94230e5ecd 693 //tpontinhos.start();
claraluques 27:83d2a710cc2f 694 while (exec == 1){
lucasfontenla 42:48096cfdea78 695 if(emerg){
lucasfontenla 42:48096cfdea78 696 func = 31;
lucasfontenla 42:48096cfdea78 697 break;
lucasfontenla 42:48096cfdea78 698 }
claraluques 27:83d2a710cc2f 699 if (Mach.readable()){
claraluques 27:83d2a710cc2f 700 readSerial();
claraluques 36:12d202855231 701 }
claraluques 18:5338b83b4de9 702 }
claraluques 35:11e3f3c8cb4e 703 //printf("saiu\n\r");
claraluques 27:83d2a710cc2f 704 func = 11;
claraluques 18:5338b83b4de9 705 }
claraluques 18:5338b83b4de9 706
claraluques 18:5338b83b4de9 707 //func 10
claraluques 18:5338b83b4de9 708 void zerado() { //tela avisando que a máquina foi zerada
lucasfontenla 42:48096cfdea78 709
claraluques 18:5338b83b4de9 710 lcd.cls();
claraluques 18:5338b83b4de9 711 lcd.locate(5,1);
claraluques 18:5338b83b4de9 712 lcd.printf("Voce zerou");
claraluques 19:2c890ae2d187 713 lcd.locate(6,2);
claraluques 19:2c890ae2d187 714 lcd.printf("o eixo!");
claraluques 18:5338b83b4de9 715 wait(1);
claraluques 18:5338b83b4de9 716 func = 8;
claraluques 18:5338b83b4de9 717 }
claraluques 18:5338b83b4de9 718
claraluques 18:5338b83b4de9 719 //func 11
claraluques 18:5338b83b4de9 720 void finalizado() { //tela aviso programa finalizado
lucasfontenla 42:48096cfdea78 721
claraluques 18:5338b83b4de9 722 lcd.cls();
claraluques 18:5338b83b4de9 723 lcd.locate(6,1);
claraluques 18:5338b83b4de9 724 lcd.printf("PROGRAMA");
claraluques 18:5338b83b4de9 725 lcd.locate(5,2);
claraluques 18:5338b83b4de9 726 lcd.printf("FINALIZADO");
claraluques 18:5338b83b4de9 727 wait(1);
claraluques 18:5338b83b4de9 728 func = 1;
claraluques 18:5338b83b4de9 729 }
claraluques 18:5338b83b4de9 730
claraluques 18:5338b83b4de9 731 //func 12
claraluques 36:12d202855231 732 void limpeza_livre(){
lucasfontenla 42:48096cfdea78 733
claraluques 36:12d202855231 734 lcd.cls();
claraluques 36:12d202855231 735 bot_enter = penter;
claraluques 44:15968c7431c6 736 lcd.printf("CERTIFIQUE-SE DE QUE A MAQUINA PODE SE");
claraluques 36:12d202855231 737 lcd.locate(5,2);
claraluques 44:15968c7431c6 738 lcd.printf("MOVIMENTAR.");
claraluques 36:12d202855231 739 lcd.locate(9,3);
claraluques 36:12d202855231 740 lcd.printf("OK");
claraluques 36:12d202855231 741 movercursor(3,3,8);
claraluques 36:12d202855231 742 if (bot_enter!=penter){
claraluques 36:12d202855231 743 if (linha==3){
lucasfontenla 43:4684aba69ba6 744 //printf("vai home\n\r");
claraluques 36:12d202855231 745 home = 1;
claraluques 36:12d202855231 746 func = 27;
claraluques 36:12d202855231 747 }
claraluques 36:12d202855231 748 }
claraluques 36:12d202855231 749 }
claraluques 18:5338b83b4de9 750
claraluques 18:5338b83b4de9 751 //func 13
lucasfontenla 42:48096cfdea78 752 void wifi(){
lucasfontenla 42:48096cfdea78 753 bot_enter = penter;
lucasfontenla 42:48096cfdea78 754 lcd.cls();
lucasfontenla 49:ab4ab0924fd1 755 lcd.locate(2,0);
lucasfontenla 42:48096cfdea78 756 lcd.printf("Modo WiFi Ativo");
lucasfontenla 43:4684aba69ba6 757 lcd.locate(6,3);
claraluques 44:15968c7431c6 758 lcd.printf("Cancelar");
lucasfontenla 49:ab4ab0924fd1 759 movercursor(3,3,5);
lucasfontenla 49:ab4ab0924fd1 760 if (bot_enter!=penter){
claraluques 44:15968c7431c6 761 if (linha==3){
claraluques 44:15968c7431c6 762 func = 1;
claraluques 44:15968c7431c6 763 }
claraluques 44:15968c7431c6 764 }
claraluques 44:15968c7431c6 765 }
claraluques 18:5338b83b4de9 766
claraluques 18:5338b83b4de9 767 //func 14
claraluques 36:12d202855231 768 void limparcola(){
claraluques 36:12d202855231 769 lcd.cls();
claraluques 36:12d202855231 770 bot_enter = penter;
claraluques 36:12d202855231 771 lcd.locate(2,0);
claraluques 36:12d202855231 772 lcd.printf("Deseja limpar a");
claraluques 36:12d202855231 773 lcd.locate(2,1);
claraluques 36:12d202855231 774 lcd.printf("seringa de cola?");
claraluques 36:12d202855231 775 lcd.locate(6,2);
claraluques 36:12d202855231 776 lcd.printf("Sim");
claraluques 36:12d202855231 777 lcd.locate(6,3);
claraluques 36:12d202855231 778 lcd.printf("Cancelar");
claraluques 36:12d202855231 779 movercursor(2,3,5);
claraluques 36:12d202855231 780 if (bot_enter!=penter) {
claraluques 36:12d202855231 781 if (linha==2){
claraluques 36:12d202855231 782 printf("sim home\n\r");
claraluques 44:15968c7431c6 783 func = 28;
claraluques 36:12d202855231 784 }
claraluques 36:12d202855231 785 else if (linha==3){
claraluques 36:12d202855231 786 func = 4;
claraluques 36:12d202855231 787 }
claraluques 36:12d202855231 788 }
claraluques 36:12d202855231 789 }
claraluques 18:5338b83b4de9 790
claraluques 18:5338b83b4de9 791 //func 15
claraluques 27:83d2a710cc2f 792 void gohome(){
lucasfontenla 42:48096cfdea78 793
claraluques 27:83d2a710cc2f 794 lcd.cls();
claraluques 44:15968c7431c6 795 lcd.locate(2,1);
claraluques 44:15968c7431c6 796 printf("indo home\n\r");
claraluques 44:15968c7431c6 797 lcd.printf("Movimentando...");
claraluques 27:83d2a710cc2f 798 machine.machine_zero();
claraluques 27:83d2a710cc2f 799 while (home == 1){
lucasfontenla 42:48096cfdea78 800 if(emerg){
lucasfontenla 42:48096cfdea78 801 func = 31;
lucasfontenla 42:48096cfdea78 802 break;
lucasfontenla 42:48096cfdea78 803 }
claraluques 27:83d2a710cc2f 804 if (Mach.readable()){
claraluques 27:83d2a710cc2f 805 readSerial();
claraluques 27:83d2a710cc2f 806 }
claraluques 27:83d2a710cc2f 807 }
claraluques 27:83d2a710cc2f 808 func = 19;
claraluques 27:83d2a710cc2f 809 }
claraluques 18:5338b83b4de9 810
claraluques 18:5338b83b4de9 811 //func 16
claraluques 18:5338b83b4de9 812 void limitepontos(){ //tela para quando acabam os pontos
lucasfontenla 42:48096cfdea78 813
claraluques 18:5338b83b4de9 814 lcd.cls();
claraluques 26:59081efdce79 815 lcd.printf(" Voce atingiu o n%c maximo de pontos", 0xDF);
claraluques 26:59081efdce79 816 lcd.locate(9,2);
claraluques 26:59081efdce79 817 lcd.printf("(%d)", pontos);
claraluques 18:5338b83b4de9 818 lcd.locate(0,3);
claraluques 18:5338b83b4de9 819 lcd.printf("Conclua seu programa");
claraluques 18:5338b83b4de9 820 wait(1);
claraluques 18:5338b83b4de9 821 func = 2;
claraluques 21:7603fe283ba4 822 }
claraluques 26:59081efdce79 823
claraluques 26:59081efdce79 824 //func 17
claraluques 26:59081efdce79 825 void salvarprog(){
lucasfontenla 42:48096cfdea78 826
claraluques 26:59081efdce79 827 lcd.cls();
claraluques 31:77eb51d4ee18 828 bot_enter = penter;
claraluques 35:11e3f3c8cb4e 829 nome = "";
claraluques 30:614dcbd74cdc 830 lcd.printf("Voce deseja salvar este programa?");
claraluques 35:11e3f3c8cb4e 831 lcd.locate(8,2);
claraluques 26:59081efdce79 832 lcd.printf("Sim");
claraluques 35:11e3f3c8cb4e 833 lcd.locate(8,3);
claraluques 26:59081efdce79 834 lcd.printf("Nao");
claraluques 35:11e3f3c8cb4e 835 movercursor(2,3,7);
claraluques 26:59081efdce79 836 if (bot_enter!=penter){
claraluques 26:59081efdce79 837 if (linha==2){
claraluques 26:59081efdce79 838 salvar = 1;
claraluques 32:c293f89170b0 839 //printf("salvar\n\r");
claraluques 31:77eb51d4ee18 840 func = 20;
claraluques 26:59081efdce79 841 }
claraluques 26:59081efdce79 842 if (linha==3){
claraluques 26:59081efdce79 843 salvar = 0;
claraluques 31:77eb51d4ee18 844 func = 7;
claraluques 26:59081efdce79 845 }
claraluques 26:59081efdce79 846 }
claraluques 26:59081efdce79 847 }
claraluques 27:83d2a710cc2f 848
claraluques 27:83d2a710cc2f 849 //func 18
claraluques 27:83d2a710cc2f 850 void ctzhome(){
lucasfontenla 42:48096cfdea78 851
claraluques 27:83d2a710cc2f 852 lcd.cls();
claraluques 31:77eb51d4ee18 853 bot_enter = penter;
claraluques 44:15968c7431c6 854 lcd.printf("CERTIFIQUE-SE DE QUE A MAQUINA PODE SE");
claraluques 27:83d2a710cc2f 855 lcd.locate(5,2);
claraluques 44:15968c7431c6 856 lcd.printf("MOVIMENTAR.");
claraluques 27:83d2a710cc2f 857 lcd.locate(9,3);
claraluques 27:83d2a710cc2f 858 lcd.printf("OK");
claraluques 27:83d2a710cc2f 859 movercursor(3,3,8);
claraluques 27:83d2a710cc2f 860 if (bot_enter!=penter){
claraluques 27:83d2a710cc2f 861 if (linha==3){
claraluques 36:12d202855231 862 home = 1;
claraluques 27:83d2a710cc2f 863 func = 15;
claraluques 27:83d2a710cc2f 864 }
claraluques 27:83d2a710cc2f 865 }
claraluques 27:83d2a710cc2f 866 }
claraluques 27:83d2a710cc2f 867
claraluques 27:83d2a710cc2f 868 //func 19
claraluques 27:83d2a710cc2f 869 void origem(){
lucasfontenla 42:48096cfdea78 870
claraluques 27:83d2a710cc2f 871 lcd.cls();
claraluques 27:83d2a710cc2f 872 lcd.locate(5,1);
claraluques 27:83d2a710cc2f 873 lcd.printf("A MAQUINA");
claraluques 27:83d2a710cc2f 874 lcd.locate(2,2);
claraluques 27:83d2a710cc2f 875 lcd.printf("ESTA NA ORIGEM");
claraluques 27:83d2a710cc2f 876 wait(1);
claraluques 27:83d2a710cc2f 877 func = 4;
claraluques 27:83d2a710cc2f 878 }
claraluques 26:59081efdce79 879
claraluques 30:614dcbd74cdc 880 //func 20
claraluques 30:614dcbd74cdc 881 void nomeprog(){
lucasfontenla 42:48096cfdea78 882
claraluques 36:12d202855231 883 lcd.cls();
claraluques 32:c293f89170b0 884 sair = 0;
claraluques 36:12d202855231 885 bot_enter = penter;
claraluques 33:0149960e95c1 886 voltar = 0;
claraluques 37:30f7dd6f2ea5 887 lcd.locate(2,0);
claraluques 35:11e3f3c8cb4e 888 lcd.printf("Escolha o nome:");
claraluques 36:12d202855231 889 lcd.locate(0,3);
lucasfontenla 49:ab4ab0924fd1 890 lcd.printf("Segure V para salvar");
claraluques 36:12d202855231 891 coluna = 1;
claraluques 32:c293f89170b0 892 escrever();
claraluques 32:c293f89170b0 893 if (sair==1){
claraluques 34:7c7fac39a250 894 lcd.cls();
claraluques 36:12d202855231 895 lcd.locate(10,3);
claraluques 36:12d202855231 896 lcd.printf("Aguarde...");
claraluques 33:0149960e95c1 897 int len = nome.length();
claraluques 33:0149960e95c1 898 nome.erase(len - 1);
claraluques 32:c293f89170b0 899 nome.append(".txt");
claraluques 32:c293f89170b0 900 int verificar = sdcard.check_name_available(nome);
claraluques 44:15968c7431c6 901 printf("%d\n\r", verificar);
claraluques 44:15968c7431c6 902 if (verificar==1){
claraluques 44:15968c7431c6 903 printf("entre\n\r");
claraluques 32:c293f89170b0 904 file_name = nome;
claraluques 32:c293f89170b0 905 machine.get_saved_points();
claraluques 34:7c7fac39a250 906 while(1){
claraluques 34:7c7fac39a250 907 if(Mach.readable()){
claraluques 34:7c7fac39a250 908 readSerial();
claraluques 34:7c7fac39a250 909 break;
claraluques 44:15968c7431c6 910 }
claraluques 34:7c7fac39a250 911 }
claraluques 44:15968c7431c6 912 printf("ok\n\r");
claraluques 36:12d202855231 913 func = 25;
claraluques 32:c293f89170b0 914 }
claraluques 34:7c7fac39a250 915 else if (!verificar){
claraluques 35:11e3f3c8cb4e 916 func = 21;
claraluques 44:15968c7431c6 917 printf("nok\n\r");
claraluques 32:c293f89170b0 918 }
claraluques 30:614dcbd74cdc 919 }
claraluques 30:614dcbd74cdc 920 }
claraluques 30:614dcbd74cdc 921
claraluques 32:c293f89170b0 922 //func 21
claraluques 32:c293f89170b0 923 void mudar_nome(){
lucasfontenla 42:48096cfdea78 924
claraluques 32:c293f89170b0 925 lcd.cls();
claraluques 35:11e3f3c8cb4e 926 lcd.printf("ESCOLHA OUTRO NOME");
claraluques 32:c293f89170b0 927 wait(1);
claraluques 32:c293f89170b0 928 func = 20;
claraluques 32:c293f89170b0 929 }
claraluques 32:c293f89170b0 930
claraluques 33:0149960e95c1 931 //func 22
claraluques 33:0149960e95c1 932 void salva2(){
lucasfontenla 42:48096cfdea78 933
claraluques 33:0149960e95c1 934 lcd.cls();
claraluques 33:0149960e95c1 935 lcd.locate(0,0);
claraluques 33:0149960e95c1 936 lcd.printf("Voce salvou o ponto:");
claraluques 33:0149960e95c1 937 lcd.locate(5,1);
claraluques 33:0149960e95c1 938 lcd.printf("X:");
claraluques 33:0149960e95c1 939 lcd.locate(5,2);
claraluques 33:0149960e95c1 940 lcd.printf("Y:");
claraluques 33:0149960e95c1 941 lcd.locate(5,3);
claraluques 33:0149960e95c1 942 lcd.printf("Z:");
claraluques 33:0149960e95c1 943 //x
claraluques 33:0149960e95c1 944 if (cx<=-1 && cx>=-9){
claraluques 33:0149960e95c1 945 lcd.locate(7,1);
claraluques 33:0149960e95c1 946 lcd.printf(" %.2f ", cx);
claraluques 33:0149960e95c1 947 }
claraluques 33:0149960e95c1 948 if (cx<=-10 && cx>=-99){
claraluques 33:0149960e95c1 949 lcd.locate(7,1);
claraluques 33:0149960e95c1 950 lcd.printf(" %.2f ", cx);
claraluques 33:0149960e95c1 951 }
claraluques 33:0149960e95c1 952 if (cx<=-100){
claraluques 33:0149960e95c1 953 lcd.locate(7,1);
claraluques 33:0149960e95c1 954 lcd.printf("%.2f ", cx);
claraluques 33:0149960e95c1 955 }
claraluques 33:0149960e95c1 956 if (cx<=9 && cx>=0){
claraluques 33:0149960e95c1 957 lcd.locate(7,1);
claraluques 33:0149960e95c1 958 lcd.printf(" %.2f ", cx);
claraluques 33:0149960e95c1 959 }
claraluques 33:0149960e95c1 960 if (cx>=10 && cx<=99){
claraluques 33:0149960e95c1 961 lcd.locate(7,1);
claraluques 33:0149960e95c1 962 lcd.printf(" %.2f ", cx);
claraluques 33:0149960e95c1 963 }
claraluques 33:0149960e95c1 964 if (cx>=100){
claraluques 33:0149960e95c1 965 lcd.locate(7,1);
claraluques 33:0149960e95c1 966 lcd.printf(" %.2f ", cx);
claraluques 33:0149960e95c1 967 }
claraluques 33:0149960e95c1 968 //y
claraluques 33:0149960e95c1 969 if (cy<=-1 && cy>=-9){
claraluques 33:0149960e95c1 970 lcd.locate(7,2);
claraluques 33:0149960e95c1 971 lcd.printf(" %.2f ", cy);
claraluques 33:0149960e95c1 972 }
claraluques 33:0149960e95c1 973 if (cy<=-10 && cx>=-99){
claraluques 33:0149960e95c1 974 lcd.locate(7,2);
claraluques 33:0149960e95c1 975 lcd.printf(" %.2f ", cy);
claraluques 33:0149960e95c1 976 }
claraluques 33:0149960e95c1 977 if (cy<=-100){
claraluques 33:0149960e95c1 978 lcd.locate(7,2);
claraluques 33:0149960e95c1 979 lcd.printf("%.2f ", cy);
claraluques 33:0149960e95c1 980 }
claraluques 33:0149960e95c1 981 if (cy<=9 && cy>=0){
claraluques 33:0149960e95c1 982 lcd.locate(7,2);
claraluques 33:0149960e95c1 983 lcd.printf(" %.2f ", cy);
claraluques 33:0149960e95c1 984 }
claraluques 33:0149960e95c1 985 if (cy>=10 && cx<=99){
claraluques 33:0149960e95c1 986 lcd.locate(7,2);
claraluques 33:0149960e95c1 987 lcd.printf(" %.2f ", cy);
claraluques 33:0149960e95c1 988 }
claraluques 33:0149960e95c1 989 if (cy>=100){
claraluques 33:0149960e95c1 990 lcd.locate(7,2);
claraluques 33:0149960e95c1 991 lcd.printf(" %.2f ", cy);
claraluques 33:0149960e95c1 992 }
claraluques 33:0149960e95c1 993 //z
claraluques 33:0149960e95c1 994 if (cz<=-1 && cz>=-9){
claraluques 33:0149960e95c1 995 lcd.locate(7,3);
claraluques 33:0149960e95c1 996 lcd.printf(" %.2f ", cz);
claraluques 33:0149960e95c1 997 }
claraluques 33:0149960e95c1 998 if (cz<=-10 && cx>=-99){
claraluques 33:0149960e95c1 999 lcd.locate(7,3);
claraluques 33:0149960e95c1 1000 lcd.printf(" %.2f ", cz);
claraluques 33:0149960e95c1 1001 }
claraluques 33:0149960e95c1 1002 if (cz<=-100){
claraluques 33:0149960e95c1 1003 lcd.locate(7,3);
claraluques 33:0149960e95c1 1004 lcd.printf("%.2f ", cz);
claraluques 33:0149960e95c1 1005 }
claraluques 33:0149960e95c1 1006 if (cz<=9 && cz>=0){
claraluques 33:0149960e95c1 1007 lcd.locate(7,3);
claraluques 33:0149960e95c1 1008 lcd.printf(" %.2f ", cz);
claraluques 33:0149960e95c1 1009 }
claraluques 33:0149960e95c1 1010 if (cz>=10 && cx<=99){
claraluques 33:0149960e95c1 1011 lcd.locate(7,3);
claraluques 33:0149960e95c1 1012 lcd.printf(" %.2f ", cz);
claraluques 33:0149960e95c1 1013 }
claraluques 33:0149960e95c1 1014 if (cz>=100){
claraluques 33:0149960e95c1 1015 lcd.locate(7,3);
claraluques 33:0149960e95c1 1016 lcd.printf(" %.2f ", cz);
claraluques 33:0149960e95c1 1017 }
claraluques 33:0149960e95c1 1018 wait(1);
claraluques 38:6c94230e5ecd 1019 func = 2;
claraluques 33:0149960e95c1 1020 }
claraluques 35:11e3f3c8cb4e 1021
claraluques 35:11e3f3c8cb4e 1022 //func 23
claraluques 35:11e3f3c8cb4e 1023 void deletepoint(){
lucasfontenla 42:48096cfdea78 1024
claraluques 35:11e3f3c8cb4e 1025 lcd.cls();
lucasfontenla 49:ab4ab0924fd1 1026 lcd.locate(3,1);
lucasfontenla 49:ab4ab0924fd1 1027 lcd.printf("Voce removeu o");
lucasfontenla 49:ab4ab0924fd1 1028 lcd.locate(4,2);
lucasfontenla 49:ab4ab0924fd1 1029 lcd.printf("ultimo ponto");
claraluques 35:11e3f3c8cb4e 1030 //lcd.locate(2,2);
claraluques 35:11e3f3c8cb4e 1031 //lcd.printf("ESTA NA ORIGEM");
claraluques 35:11e3f3c8cb4e 1032 wait(1);
claraluques 35:11e3f3c8cb4e 1033 func = 2;
claraluques 35:11e3f3c8cb4e 1034 }
claraluques 33:0149960e95c1 1035
claraluques 35:11e3f3c8cb4e 1036 //func 24
claraluques 35:11e3f3c8cb4e 1037 void sempontos(){
lucasfontenla 42:48096cfdea78 1038
claraluques 35:11e3f3c8cb4e 1039 lcd.cls();
claraluques 35:11e3f3c8cb4e 1040 lcd.locate(1,1);
lucasfontenla 49:ab4ab0924fd1 1041 lcd.printf("Nao existem pontos");
lucasfontenla 49:ab4ab0924fd1 1042 lcd.locate(1,2);
lucasfontenla 49:ab4ab0924fd1 1043 lcd.printf("salvos p\ remover.");
claraluques 35:11e3f3c8cb4e 1044 wait(1);
claraluques 35:11e3f3c8cb4e 1045 func = 2;
claraluques 35:11e3f3c8cb4e 1046 }
claraluques 35:11e3f3c8cb4e 1047
claraluques 36:12d202855231 1048 //func 25
claraluques 36:12d202855231 1049 void salvando_arq(){
claraluques 44:15968c7431c6 1050 printf("salvou");
claraluques 44:15968c7431c6 1051 lcd.cls();
claraluques 36:12d202855231 1052 lcd.locate(5,1);
claraluques 36:12d202855231 1053 lcd.printf("Salvando");
claraluques 37:30f7dd6f2ea5 1054 lcd.locate(1,2);
lucasfontenla 49:ab4ab0924fd1 1055 //lcd.printf("%s", nome);
claraluques 36:12d202855231 1056 wait(1);
claraluques 36:12d202855231 1057 func = 7;
claraluques 36:12d202855231 1058 }
claraluques 36:12d202855231 1059
claraluques 36:12d202855231 1060 //func 26
claraluques 36:12d202855231 1061 void exec_auto(){
lucasfontenla 42:48096cfdea78 1062
claraluques 36:12d202855231 1063 lcd.cls();
claraluques 36:12d202855231 1064 bot_enter = penter;
claraluques 36:12d202855231 1065 lcd.locate(2,0);
claraluques 37:30f7dd6f2ea5 1066 lcd.printf("DESEJA EXECUTAR?");
claraluques 36:12d202855231 1067 lcd.locate(3,1);
lucasfontenla 49:ab4ab0924fd1 1068 //lcd.printf("%s", arquivo);
claraluques 36:12d202855231 1069 lcd.locate(6,2);
claraluques 36:12d202855231 1070 lcd.printf("Sim");
claraluques 36:12d202855231 1071 lcd.locate(6,3);
claraluques 36:12d202855231 1072 lcd.printf("Cancelar");
claraluques 36:12d202855231 1073 movercursor(2,3,5);
claraluques 36:12d202855231 1074 if (bot_enter!=penter) {
claraluques 36:12d202855231 1075 if (linha==2){
claraluques 36:12d202855231 1076 //machine.kill_jog();
claraluques 36:12d202855231 1077 wait(0.1);
claraluques 36:12d202855231 1078 //machine.start_program();
claraluques 36:12d202855231 1079 exec = 1;
claraluques 36:12d202855231 1080 func = 9;
claraluques 36:12d202855231 1081 }
claraluques 36:12d202855231 1082 else if (linha==3){
claraluques 36:12d202855231 1083 exec = 0;
claraluques 36:12d202855231 1084 func = 1;
claraluques 36:12d202855231 1085 }
claraluques 36:12d202855231 1086 }
claraluques 36:12d202855231 1087 }
claraluques 36:12d202855231 1088
claraluques 36:12d202855231 1089 //func 27
claraluques 36:12d202855231 1090 void indo_limpeza(){
lucasfontenla 42:48096cfdea78 1091
claraluques 36:12d202855231 1092 lcd.cls();
claraluques 36:12d202855231 1093 lcd.locate(2,1);
claraluques 36:12d202855231 1094 printf("indo home\n\r");
claraluques 36:12d202855231 1095 lcd.printf("Movimentando...");
claraluques 36:12d202855231 1096 machine.machine_zero();
claraluques 36:12d202855231 1097 while (home == 1){
lucasfontenla 42:48096cfdea78 1098 if(emerg){
lucasfontenla 42:48096cfdea78 1099 func = 31;
lucasfontenla 42:48096cfdea78 1100 break;
lucasfontenla 42:48096cfdea78 1101 }
claraluques 36:12d202855231 1102 if (Mach.readable()){
claraluques 36:12d202855231 1103 readSerial();
claraluques 36:12d202855231 1104 }
claraluques 36:12d202855231 1105 }
claraluques 36:12d202855231 1106 func = 28;
claraluques 36:12d202855231 1107 }
claraluques 36:12d202855231 1108
claraluques 36:12d202855231 1109 //func 28
claraluques 36:12d202855231 1110 void chegou_limpeza(){
lucasfontenla 42:48096cfdea78 1111
claraluques 36:12d202855231 1112 lcd.cls();
claraluques 36:12d202855231 1113 bot_enter = penter;
claraluques 44:15968c7431c6 1114 machine.jog();
claraluques 36:12d202855231 1115 printf("foi home\n\r");
claraluques 44:15968c7431c6 1116 lcd.locate(4,0);
claraluques 44:15968c7431c6 1117 lcd.printf("Posicione um");
claraluques 44:15968c7431c6 1118 lcd.locate(5,1);
claraluques 44:15968c7431c6 1119 lcd.printf("recipiente");
claraluques 44:15968c7431c6 1120 lcd.locate(3,2);
claraluques 44:15968c7431c6 1121 lcd.printf("abaixo do bico");
claraluques 44:15968c7431c6 1122 lcd.locate(7,3);
claraluques 44:15968c7431c6 1123 lcd.printf("PRONTO");
claraluques 44:15968c7431c6 1124 movercursor(3,3,6);
claraluques 36:12d202855231 1125 if (bot_enter!=penter){
claraluques 36:12d202855231 1126 if (linha==3){
claraluques 36:12d202855231 1127 printf("vai cola\n\r");
claraluques 36:12d202855231 1128 limpar_cola = 1;
claraluques 36:12d202855231 1129 func = 29;
claraluques 36:12d202855231 1130 }
claraluques 36:12d202855231 1131 }
claraluques 36:12d202855231 1132
claraluques 36:12d202855231 1133 }
claraluques 36:12d202855231 1134
claraluques 36:12d202855231 1135 //func 29
claraluques 36:12d202855231 1136 void limpando(){
lucasfontenla 42:48096cfdea78 1137
claraluques 36:12d202855231 1138 lcd.cls();
claraluques 44:15968c7431c6 1139 bot_enter = penter;
claraluques 44:15968c7431c6 1140 lcd.locate(5,1);
claraluques 36:12d202855231 1141 printf("indo cola\n\r");
claraluques 36:12d202855231 1142 lcd.printf("Limpando...");
claraluques 44:15968c7431c6 1143 lcd.locate(8,3);
claraluques 44:15968c7431c6 1144 lcd.printf("Parar");
claraluques 36:12d202855231 1145 machine.clean_glue();
claraluques 44:15968c7431c6 1146 movercursor(3,3,7);
claraluques 44:15968c7431c6 1147 while (limpar_cola == 1 && bot_enter==penter){
lucasfontenla 42:48096cfdea78 1148 if(emerg){
lucasfontenla 42:48096cfdea78 1149 func = 31;
lucasfontenla 42:48096cfdea78 1150 break;
lucasfontenla 42:48096cfdea78 1151 }
claraluques 36:12d202855231 1152 if (Mach.readable()){
claraluques 36:12d202855231 1153 readSerial();
claraluques 36:12d202855231 1154 }
claraluques 36:12d202855231 1155 }
claraluques 44:15968c7431c6 1156 if (bot_enter!=penter){
claraluques 44:15968c7431c6 1157 machine.clean_glue();
claraluques 44:15968c7431c6 1158 machine.kill_jog();
claraluques 44:15968c7431c6 1159 func = 30;
claraluques 44:15968c7431c6 1160 }
claraluques 36:12d202855231 1161 }
claraluques 36:12d202855231 1162
claraluques 36:12d202855231 1163 //func 30
claraluques 36:12d202855231 1164 void limpeza_completa(){
lucasfontenla 42:48096cfdea78 1165
claraluques 36:12d202855231 1166 lcd.cls();
claraluques 36:12d202855231 1167 lcd.locate(1,1);
claraluques 36:12d202855231 1168 printf("foi cola\n\r");
claraluques 36:12d202855231 1169 lcd.printf("Limpeza completa!");
claraluques 36:12d202855231 1170 wait(1);
claraluques 36:12d202855231 1171 func = 4;
claraluques 36:12d202855231 1172 }
lucasfontenla 43:4684aba69ba6 1173
lucasfontenla 43:4684aba69ba6 1174 //func 31
lucasfontenla 43:4684aba69ba6 1175 void tela_emergencia(void){
lucasfontenla 43:4684aba69ba6 1176
lucasfontenla 43:4684aba69ba6 1177 lcd.cls();
lucasfontenla 49:ab4ab0924fd1 1178 machine.kill_jog();
lucasfontenla 43:4684aba69ba6 1179 lcd.locate(0,1);
lucasfontenla 43:4684aba69ba6 1180 lcd.printf("BOTAO DE EMERGENCIA");
lucasfontenla 43:4684aba69ba6 1181 lcd.locate(4,2);
lucasfontenla 43:4684aba69ba6 1182 lcd.printf("PRESSIONADO.");
lucasfontenla 43:4684aba69ba6 1183 printf("Waiting release...");
lucasfontenla 43:4684aba69ba6 1184 func = 1;
lucasfontenla 43:4684aba69ba6 1185 while(!emergencia.read());
lucasfontenla 43:4684aba69ba6 1186 }
claraluques 36:12d202855231 1187
claraluques 36:12d202855231 1188
claraluques 35:11e3f3c8cb4e 1189 //função ler arquivos
claraluques 35:11e3f3c8cb4e 1190 void arquivos(){
lucasfontenla 42:48096cfdea78 1191
claraluques 38:6c94230e5ecd 1192 exec = 0;
claraluques 35:11e3f3c8cb4e 1193 int nomearq;
claraluques 35:11e3f3c8cb4e 1194 nomearq = sdcard.get_file_names();
claraluques 35:11e3f3c8cb4e 1195 int ftamanho = filenames.size();
claraluques 35:11e3f3c8cb4e 1196 int fmax = ftamanho - 1;
claraluques 35:11e3f3c8cb4e 1197 int fant = 1;
claraluques 35:11e3f3c8cb4e 1198 while (sair==0){
lucasfontenla 42:48096cfdea78 1199 if(emerg){
lucasfontenla 42:48096cfdea78 1200 func = 31;
lucasfontenla 42:48096cfdea78 1201 break;
lucasfontenla 42:48096cfdea78 1202 }
claraluques 38:6c94230e5ecd 1203 if (bot_cima==0){
claraluques 38:6c94230e5ecd 1204 fant = f;
claraluques 38:6c94230e5ecd 1205 f--;
claraluques 38:6c94230e5ecd 1206 if (f<0){
claraluques 38:6c94230e5ecd 1207 f = fmax;
claraluques 35:11e3f3c8cb4e 1208 }
claraluques 38:6c94230e5ecd 1209 bot_cima = 1;
claraluques 38:6c94230e5ecd 1210 }
claraluques 38:6c94230e5ecd 1211 if (bot_baixo==0){
claraluques 38:6c94230e5ecd 1212 fant = f;
claraluques 38:6c94230e5ecd 1213 f++;
claraluques 38:6c94230e5ecd 1214 if (f>fmax){
claraluques 38:6c94230e5ecd 1215 f = 0;
claraluques 35:11e3f3c8cb4e 1216 }
claraluques 38:6c94230e5ecd 1217 bot_baixo = 1;
claraluques 38:6c94230e5ecd 1218 }
claraluques 38:6c94230e5ecd 1219 arquivo = filenames[f];
claraluques 38:6c94230e5ecd 1220 if (f!=fant){
claraluques 38:6c94230e5ecd 1221 lcd.locate(0,1);
claraluques 38:6c94230e5ecd 1222 lcd.printf(" ");
claraluques 38:6c94230e5ecd 1223 lcd.locate(0,2);
claraluques 38:6c94230e5ecd 1224 lcd.printf(" ");
claraluques 38:6c94230e5ecd 1225 lcd.locate(0,1);
claraluques 38:6c94230e5ecd 1226 lcd.printf("%s", arquivo);
claraluques 38:6c94230e5ecd 1227 }
claraluques 38:6c94230e5ecd 1228 if (bot_enter!=penter){
claraluques 38:6c94230e5ecd 1229 lcd.locate(10,3);
claraluques 38:6c94230e5ecd 1230 lcd.printf("Aguarde...");
claraluques 38:6c94230e5ecd 1231 sdcard.send_gcode(arquivo);
claraluques 38:6c94230e5ecd 1232 printf("send gcode, %s\n\r", arquivo);
claraluques 38:6c94230e5ecd 1233 func = 26;
claraluques 38:6c94230e5ecd 1234 break;
claraluques 38:6c94230e5ecd 1235 }
claraluques 35:11e3f3c8cb4e 1236 fant = f;
claraluques 35:11e3f3c8cb4e 1237 }
claraluques 35:11e3f3c8cb4e 1238 }
claraluques 35:11e3f3c8cb4e 1239
claraluques 35:11e3f3c8cb4e 1240
claraluques 30:614dcbd74cdc 1241 //função para escrever nome arquivo
claraluques 32:c293f89170b0 1242 void escrever(){
lucasfontenla 42:48096cfdea78 1243
claraluques 32:c293f89170b0 1244 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 1245 '0','1','2','3','4','5','6','7','8','9','-','_'};
claraluques 30:614dcbd74cdc 1246 int imax = 37;
claraluques 30:614dcbd74cdc 1247 int imin = 0;
claraluques 36:12d202855231 1248 nome = "";
claraluques 32:c293f89170b0 1249 while (sair==0){
lucasfontenla 42:48096cfdea78 1250 if(emerg){
lucasfontenla 42:48096cfdea78 1251 func = 31;
lucasfontenla 42:48096cfdea78 1252 break;
lucasfontenla 42:48096cfdea78 1253 }
claraluques 33:0149960e95c1 1254 voltar = 0;
claraluques 32:c293f89170b0 1255 int i = 0;
claraluques 33:0149960e95c1 1256 //lcd.locate(0,2);
claraluques 33:0149960e95c1 1257 //lcd.setCursor(TextLCD::CurOn_BlkOn);
claraluques 32:c293f89170b0 1258 lcd.locate(1,1);
claraluques 32:c293f89170b0 1259 lcd.printf("%s", nome);
claraluques 32:c293f89170b0 1260 while (bot_enter==penter){
lucasfontenla 42:48096cfdea78 1261 if(emerg){
lucasfontenla 42:48096cfdea78 1262 func = 31;
lucasfontenla 42:48096cfdea78 1263 break;
lucasfontenla 42:48096cfdea78 1264 }
claraluques 32:c293f89170b0 1265 if (bot_cima == 0){
claraluques 32:c293f89170b0 1266 if (i==imin){
claraluques 32:c293f89170b0 1267 i = imax;
claraluques 32:c293f89170b0 1268 }
claraluques 32:c293f89170b0 1269 else if (i>imin && i<=imax){
claraluques 32:c293f89170b0 1270 i--;
claraluques 32:c293f89170b0 1271 }
claraluques 32:c293f89170b0 1272 bot_cima = 1;
claraluques 31:77eb51d4ee18 1273 }
claraluques 32:c293f89170b0 1274 else if (bot_baixo == 0){
claraluques 32:c293f89170b0 1275 if (i==imax){
claraluques 32:c293f89170b0 1276 i = imin;
claraluques 32:c293f89170b0 1277 }
claraluques 32:c293f89170b0 1278 else if (i<imax && i>=imin){
claraluques 32:c293f89170b0 1279 i++;
claraluques 32:c293f89170b0 1280 }
claraluques 32:c293f89170b0 1281 bot_baixo = 1;
claraluques 32:c293f89170b0 1282 }
claraluques 32:c293f89170b0 1283 lcd.locate(coluna, 1);
claraluques 32:c293f89170b0 1284 lcd.printf("%c", alfabeto[i]);
claraluques 33:0149960e95c1 1285 lcd.locate(coluna,2);
claraluques 33:0149960e95c1 1286 lcd.printf("%c", 0x5E);
claraluques 34:7c7fac39a250 1287
claraluques 35:11e3f3c8cb4e 1288 if(timer.read() > 1.0){
claraluques 34:7c7fac39a250 1289 sair = 1;
claraluques 34:7c7fac39a250 1290 printf("SAINDO\n\r");
claraluques 34:7c7fac39a250 1291 timer.reset();
claraluques 34:7c7fac39a250 1292 timer.stop();
claraluques 34:7c7fac39a250 1293 break;
claraluques 34:7c7fac39a250 1294 }
claraluques 35:11e3f3c8cb4e 1295 if(timer2.read() > 1.0){
claraluques 34:7c7fac39a250 1296 voltar = 1;
claraluques 34:7c7fac39a250 1297 printf("APAGANDO\n\r");
claraluques 34:7c7fac39a250 1298 timer2.reset();
claraluques 34:7c7fac39a250 1299 timer2.stop();
claraluques 34:7c7fac39a250 1300 break;
claraluques 34:7c7fac39a250 1301 }
claraluques 34:7c7fac39a250 1302 }
claraluques 34:7c7fac39a250 1303
claraluques 37:30f7dd6f2ea5 1304 if (nome.size()<14 && coluna<=14){
claraluques 32:c293f89170b0 1305 char carac = alfabeto[i];
claraluques 32:c293f89170b0 1306 nome.push_back(carac);
claraluques 32:c293f89170b0 1307 bot_enter = penter;
claraluques 37:30f7dd6f2ea5 1308 if (coluna<=14){
claraluques 33:0149960e95c1 1309 if (voltar==1){
claraluques 35:11e3f3c8cb4e 1310 //printf("voltar\n\r");
claraluques 33:0149960e95c1 1311 if (coluna>1){
claraluques 33:0149960e95c1 1312 //nome[coluna-1]="";
claraluques 33:0149960e95c1 1313 lcd.locate(coluna, 1);
claraluques 33:0149960e95c1 1314 lcd.printf(" ");
claraluques 33:0149960e95c1 1315 lcd.locate(coluna, 2);
claraluques 33:0149960e95c1 1316 lcd.printf(" ");
claraluques 33:0149960e95c1 1317 coluna--;
claraluques 33:0149960e95c1 1318 nome.erase(coluna-1);
claraluques 33:0149960e95c1 1319 lcd.locate(coluna, 2);
claraluques 33:0149960e95c1 1320 lcd.printf("%c", 0x5E);
claraluques 33:0149960e95c1 1321 }
claraluques 33:0149960e95c1 1322 }
claraluques 37:30f7dd6f2ea5 1323 if (voltar==0 && coluna<14){
claraluques 33:0149960e95c1 1324 lcd.locate(coluna, 2);
claraluques 33:0149960e95c1 1325 lcd.printf(" ");
claraluques 33:0149960e95c1 1326 coluna++;
claraluques 33:0149960e95c1 1327 lcd.locate(coluna, 2);
claraluques 33:0149960e95c1 1328 lcd.printf("%c", 0x5E);
claraluques 33:0149960e95c1 1329 }
claraluques 33:0149960e95c1 1330 }
claraluques 32:c293f89170b0 1331 }
claraluques 30:614dcbd74cdc 1332 }
claraluques 30:614dcbd74cdc 1333 }
lucasfontenla 42:48096cfdea78 1334
lucasfontenla 43:4684aba69ba6 1335
claraluques 30:614dcbd74cdc 1336
claraluques 26:59081efdce79 1337 //função para ler os pontos
claraluques 21:7603fe283ba4 1338 void readSerial(){
claraluques 21:7603fe283ba4 1339 char recv;
lucasfontenla 24:46c3be0e8273 1340 int points = 0;
lucasfontenla 24:46c3be0e8273 1341 int pointx = 0;
lucasfontenla 24:46c3be0e8273 1342 int pointy = 0;
lucasfontenla 24:46c3be0e8273 1343 int pointz = 0;
claraluques 27:83d2a710cc2f 1344 int action = 0;
lucasfontenla 29:558eccdfc079 1345 int uploading_saved = 0;
lucasfontenla 24:46c3be0e8273 1346 string coordx = "";
lucasfontenla 24:46c3be0e8273 1347 string coordy = "";
lucasfontenla 24:46c3be0e8273 1348 string coordz = "";
lucasfontenla 29:558eccdfc079 1349 string recv_buffer;
claraluques 34:7c7fac39a250 1350
claraluques 34:7c7fac39a250 1351 int status;
claraluques 26:59081efdce79 1352
claraluques 32:c293f89170b0 1353
claraluques 21:7603fe283ba4 1354 while(1){
claraluques 21:7603fe283ba4 1355 recv = Mach.getc();
lucasfontenla 49:ab4ab0924fd1 1356 printf("%c\n\r", recv);
claraluques 34:7c7fac39a250 1357
lucasfontenla 42:48096cfdea78 1358 if(emerg){
lucasfontenla 42:48096cfdea78 1359 func = 31;
lucasfontenla 42:48096cfdea78 1360 break;
lucasfontenla 42:48096cfdea78 1361 }
lucasfontenla 42:48096cfdea78 1362
claraluques 32:c293f89170b0 1363 if (recv == 'a'){
claraluques 27:83d2a710cc2f 1364 home = 0;
claraluques 27:83d2a710cc2f 1365 exec = 0;
claraluques 36:12d202855231 1366 limpar_cola = 0;
claraluques 36:12d202855231 1367 printf("oi\n\r");
claraluques 27:83d2a710cc2f 1368 action = 1;
lucasfontenla 41:a1ab19cc1387 1369 WiFi.putc('ax');
claraluques 34:7c7fac39a250 1370 }
claraluques 34:7c7fac39a250 1371
lucasfontenla 24:46c3be0e8273 1372 if (recv == 'p'){
claraluques 21:7603fe283ba4 1373 points = 1;
claraluques 38:6c94230e5ecd 1374 printf("p\n\r");
claraluques 34:7c7fac39a250 1375 }
claraluques 34:7c7fac39a250 1376
lucasfontenla 29:558eccdfc079 1377 if(recv == 'u'){
lucasfontenla 29:558eccdfc079 1378 uploading_saved = 1;
lucasfontenla 29:558eccdfc079 1379 }
claraluques 34:7c7fac39a250 1380
claraluques 34:7c7fac39a250 1381 if(uploading_saved){
claraluques 34:7c7fac39a250 1382 if(recv == 'x'){
claraluques 34:7c7fac39a250 1383 printf("OK\n\r");
claraluques 34:7c7fac39a250 1384 status = sdcard.save_GCODE(file_name, recv_buffer);
claraluques 34:7c7fac39a250 1385 return;
claraluques 38:6c94230e5ecd 1386 }
claraluques 38:6c94230e5ecd 1387 else if(recv != 'u'){
claraluques 34:7c7fac39a250 1388 recv_buffer.push_back(recv);
claraluques 34:7c7fac39a250 1389 }
claraluques 34:7c7fac39a250 1390 }
claraluques 34:7c7fac39a250 1391
claraluques 34:7c7fac39a250 1392 if (points && !uploading_saved){
lucasfontenla 24:46c3be0e8273 1393 if (recv == 'X'){
claraluques 21:7603fe283ba4 1394 pointx = 1;
lucasfontenla 24:46c3be0e8273 1395 pointy = 0;
lucasfontenla 24:46c3be0e8273 1396 pointz = 0;
claraluques 21:7603fe283ba4 1397 }
lucasfontenla 24:46c3be0e8273 1398 else if (recv == 'Y'){
claraluques 21:7603fe283ba4 1399 pointy = 1;
lucasfontenla 24:46c3be0e8273 1400 pointx = 0;
lucasfontenla 24:46c3be0e8273 1401 pointz = 0;
claraluques 21:7603fe283ba4 1402 }
lucasfontenla 24:46c3be0e8273 1403 else if (recv == 'Z'){
claraluques 21:7603fe283ba4 1404 pointz = 1;
lucasfontenla 24:46c3be0e8273 1405 pointx = 0;
lucasfontenla 24:46c3be0e8273 1406 pointy = 0;
claraluques 23:19c67758032d 1407 }
claraluques 34:7c7fac39a250 1408 else if(recv == 'x'){
claraluques 23:19c67758032d 1409 cx = atof(coordx.c_str());
claraluques 23:19c67758032d 1410 cy = atof(coordy.c_str());
claraluques 23:19c67758032d 1411 cz = atof(coordz.c_str());
lucasfontenla 49:ab4ab0924fd1 1412 //printf("%s,%s,%s\n\r", coordx, coordy, coordz);
claraluques 21:7603fe283ba4 1413 break;
claraluques 21:7603fe283ba4 1414 }
claraluques 23:19c67758032d 1415 }
claraluques 34:7c7fac39a250 1416
claraluques 34:7c7fac39a250 1417 if(pointx){
lucasfontenla 24:46c3be0e8273 1418 if (recv!='X'){
claraluques 23:19c67758032d 1419 coordx.push_back(recv);
claraluques 23:19c67758032d 1420 }
claraluques 34:7c7fac39a250 1421 }
claraluques 23:19c67758032d 1422 if (pointy){
lucasfontenla 24:46c3be0e8273 1423 if (recv!='Y'){
claraluques 23:19c67758032d 1424 coordy.push_back(recv);
claraluques 23:19c67758032d 1425 }
claraluques 34:7c7fac39a250 1426 }
claraluques 23:19c67758032d 1427 if (pointz){
lucasfontenla 24:46c3be0e8273 1428 if (recv!='Z'){
claraluques 23:19c67758032d 1429 coordz.push_back(recv);
claraluques 23:19c67758032d 1430 }
claraluques 34:7c7fac39a250 1431 }
claraluques 27:83d2a710cc2f 1432 if (action){
claraluques 27:83d2a710cc2f 1433 if (recv=='x'){
claraluques 27:83d2a710cc2f 1434 break;
claraluques 27:83d2a710cc2f 1435 }
claraluques 34:7c7fac39a250 1436 }
lucasfontenla 43:4684aba69ba6 1437 t1.reset();
lucasfontenla 43:4684aba69ba6 1438 t1.start();
lucasfontenla 43:4684aba69ba6 1439 tempo = 2;
lucasfontenla 43:4684aba69ba6 1440 if (t1.read()>tempo){
lucasfontenla 43:4684aba69ba6 1441 break;
lucasfontenla 43:4684aba69ba6 1442 }
claraluques 21:7603fe283ba4 1443 }
lucasfontenla 29:558eccdfc079 1444 }
claraluques 23:19c67758032d 1445
claraluques 26:59081efdce79 1446
lucasfontenla 22:22ddb0b21d48 1447
claraluques 21:7603fe283ba4 1448 Menu(); //não apagar
lucasfontenla 17:0b8e489fac36 1449 };