InsperX / Mbed 2 deprecated joy_buttons_versao_2

Joy_Buttons versao 2

Dependencies:   X_NUCLEO_IHM01A1 mbed

Fork of HelloWorld_IHM01A1_buttons by InsperX

botoesnh_default.cpp@40:13d2c943dfe9, 2018-04-27 (annotated)

Committer:
Bitelli
Date:
Fri Apr 27 17:52:39 2018 +0000
Revision:
40:13d2c943dfe9
fiz_tudo;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bitelli 40:13d2c943dfe9 1 /* Includes ------------------------------------------------------------------*/
Bitelli 40:13d2c943dfe9 2
Bitelli 40:13d2c943dfe9 3 /* mbed specific header files. */
Bitelli 40:13d2c943dfe9 4 #include "mbed.h"
Bitelli 40:13d2c943dfe9 5
Bitelli 40:13d2c943dfe9 6 /* Helper header files. */
Bitelli 40:13d2c943dfe9 7 #include "DevSPI.h"
Bitelli 40:13d2c943dfe9 8
Bitelli 40:13d2c943dfe9 9 /* Component specific header files. */
Bitelli 40:13d2c943dfe9 10 #include "L6474.h"
Bitelli 40:13d2c943dfe9 11 #include "new_file.cpp"
Bitelli 40:13d2c943dfe9 12
Bitelli 40:13d2c943dfe9 13 /* Definitions ---------------------------------------------------------------*/
Bitelli 40:13d2c943dfe9 14
Bitelli 40:13d2c943dfe9 15 /* Number of steps. */
Bitelli 40:13d2c943dfe9 16 #define STEPS_1 (200 * 2) /* 1 revolution given a 200 steps motor configured at 1/2 microstep mode. */
Bitelli 40:13d2c943dfe9 17 #define safe (600)
Bitelli 40:13d2c943dfe9 18
Bitelli 40:13d2c943dfe9 19 /* Delay in milliseconds. */
Bitelli 40:13d2c943dfe9 20 #define DELAY_1 1000
Bitelli 40:13d2c943dfe9 21
Bitelli 40:13d2c943dfe9 22
Bitelli 40:13d2c943dfe9 23 /* Speed in pps (Pulses Per Second).
Bitelli 40:13d2c943dfe9 24 In Full Step mode: 1 pps = 1 step/s).
Bitelli 40:13d2c943dfe9 25 In 1/N Step Mode: N pps = 1 step/s). */
Bitelli 40:13d2c943dfe9 26 #define SPEED_1 2400
Bitelli 40:13d2c943dfe9 27 #define SPEED_2 1200
Bitelli 40:13d2c943dfe9 28
Bitelli 40:13d2c943dfe9 29 DigitalOut myled(LED1);
Bitelli 40:13d2c943dfe9 30 Serial pc(USBTX, USBRX);
Bitelli 40:13d2c943dfe9 31
Bitelli 40:13d2c943dfe9 32
Bitelli 40:13d2c943dfe9 33 /* Variables -----------------------------------------------------------------*/
Bitelli 40:13d2c943dfe9 34
Bitelli 40:13d2c943dfe9 35 /* Initialization parameters. */
Bitelli 40:13d2c943dfe9 36
Bitelli 40:13d2c943dfe9 37 L6474_init_t init = {
Bitelli 40:13d2c943dfe9 38 160, /* Acceleration rate in pps^2. Range: (0..+inf). */
Bitelli 40:13d2c943dfe9 39 160, /* Deceleration rate in pps^2. Range: (0..+inf). */
Bitelli 40:13d2c943dfe9 40 2600, /* Maximum speed in pps. Range: (30..10000]. */
Bitelli 40:13d2c943dfe9 41 1300, /* Minimum speed in pps. Range: [30..10000). */
Bitelli 40:13d2c943dfe9 42 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Bitelli 40:13d2c943dfe9 43 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Bitelli 40:13d2c943dfe9 44 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Bitelli 40:13d2c943dfe9 45 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
Bitelli 40:13d2c943dfe9 46 L6474_STEP_SEL_1_16, /* Step selection (STEP_SEL field of STEP_MODE register). */
Bitelli 40:13d2c943dfe9 47 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Bitelli 40:13d2c943dfe9 48 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Bitelli 40:13d2c943dfe9 49 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Bitelli 40:13d2c943dfe9 50 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Bitelli 40:13d2c943dfe9 51 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Bitelli 40:13d2c943dfe9 52 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Bitelli 40:13d2c943dfe9 53 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Bitelli 40:13d2c943dfe9 54 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Bitelli 40:13d2c943dfe9 55 L6474_ALARM_EN_OVERCURRENT |
Bitelli 40:13d2c943dfe9 56 L6474_ALARM_EN_THERMAL_SHUTDOWN |
Bitelli 40:13d2c943dfe9 57 L6474_ALARM_EN_THERMAL_WARNING |
Bitelli 40:13d2c943dfe9 58 L6474_ALARM_EN_UNDERVOLTAGE |
Bitelli 40:13d2c943dfe9 59 L6474_ALARM_EN_SW_TURN_ON |
Bitelli 40:13d2c943dfe9 60 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Bitelli 40:13d2c943dfe9 61 };
Bitelli 40:13d2c943dfe9 62
Bitelli 40:13d2c943dfe9 63 /* Motor Control Component. */
Bitelli 40:13d2c943dfe9 64 L6474 *motor1;
Bitelli 40:13d2c943dfe9 65 L6474 *motor2;
Bitelli 40:13d2c943dfe9 66 L6474 *motor3;
Bitelli 40:13d2c943dfe9 67
Bitelli 40:13d2c943dfe9 68
Bitelli 40:13d2c943dfe9 69
Bitelli 40:13d2c943dfe9 70 /*---------------------Functions -------------------*/
Bitelli 40:13d2c943dfe9 71
Bitelli 40:13d2c943dfe9 72
Bitelli 40:13d2c943dfe9 73
Bitelli 40:13d2c943dfe9 74
Bitelli 40:13d2c943dfe9 75 DigitalIn sUp(A0);
Bitelli 40:13d2c943dfe9 76 DigitalIn sDown(A1);
Bitelli 40:13d2c943dfe9 77 DigitalIn sLeft(A2);
Bitelli 40:13d2c943dfe9 78 DigitalIn sRight(A3);
Bitelli 40:13d2c943dfe9 79 DigitalIn YES(A4);
Bitelli 40:13d2c943dfe9 80 DigitalIn NO(A5);
Bitelli 40:13d2c943dfe9 81 DigitalIn zeroX(PC_8);
Bitelli 40:13d2c943dfe9 82 DigitalIn zeroY(PC_6);
Bitelli 40:13d2c943dfe9 83 DigitalIn zeroZ(PA_11);
Bitelli 40:13d2c943dfe9 84 DigitalIn maxX(PC_5);
Bitelli 40:13d2c943dfe9 85 DigitalIn maxY(PA_12);
Bitelli 40:13d2c943dfe9 86 DigitalIn maxZ(PB_12);
Bitelli 40:13d2c943dfe9 87
Bitelli 40:13d2c943dfe9 88
Bitelli 40:13d2c943dfe9 89
Bitelli 40:13d2c943dfe9 90 void fdc_inicialX(){
Bitelli 40:13d2c943dfe9 91 pc.printf("\n\rZerando eixo X");
Bitelli 40:13d2c943dfe9 92 motor1->run(StepperMotor::BWD);
Bitelli 40:13d2c943dfe9 93 while(zeroX ==1){
Bitelli 40:13d2c943dfe9 94 wait(0.01);
Bitelli 40:13d2c943dfe9 95 }
Bitelli 40:13d2c943dfe9 96 motor1->hard_stop();
Bitelli 40:13d2c943dfe9 97 motor1->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 98 motor1->set_home();
Bitelli 40:13d2c943dfe9 99 pc.printf("\n\rEixo X zerado");
Bitelli 40:13d2c943dfe9 100 }
Bitelli 40:13d2c943dfe9 101
Bitelli 40:13d2c943dfe9 102
Bitelli 40:13d2c943dfe9 103 void fdc_inicialY(){
Bitelli 40:13d2c943dfe9 104 pc.printf("\n\rZerando eixo Y");
Bitelli 40:13d2c943dfe9 105 motor2->run(StepperMotor::BWD);
Bitelli 40:13d2c943dfe9 106 while(zeroY ==1){
Bitelli 40:13d2c943dfe9 107 wait(0.01);
Bitelli 40:13d2c943dfe9 108 }
Bitelli 40:13d2c943dfe9 109 motor2->hard_stop();
Bitelli 40:13d2c943dfe9 110 motor2->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 111 motor2->set_home();
Bitelli 40:13d2c943dfe9 112 pc.printf("\n\rEixo Y zerado");
Bitelli 40:13d2c943dfe9 113 }
Bitelli 40:13d2c943dfe9 114
Bitelli 40:13d2c943dfe9 115
Bitelli 40:13d2c943dfe9 116 void fdc_inicialZ(){
Bitelli 40:13d2c943dfe9 117 pc.printf("\n\rZerando eixo Z");
Bitelli 40:13d2c943dfe9 118 motor3->run(StepperMotor::BWD);
Bitelli 40:13d2c943dfe9 119 while(zeroZ ==1){
Bitelli 40:13d2c943dfe9 120 wait(0.01);
Bitelli 40:13d2c943dfe9 121 }
Bitelli 40:13d2c943dfe9 122 motor3->hard_stop();
Bitelli 40:13d2c943dfe9 123 motor3->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 124 motor3->set_home();
Bitelli 40:13d2c943dfe9 125 pc.printf("\n\rEixo Z zerado");
Bitelli 40:13d2c943dfe9 126 }
Bitelli 40:13d2c943dfe9 127
Bitelli 40:13d2c943dfe9 128
Bitelli 40:13d2c943dfe9 129 void fdc_zeroX(){
Bitelli 40:13d2c943dfe9 130 motor1->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 131 pc.printf ("\n\rLimite do Eixo X");
Bitelli 40:13d2c943dfe9 132 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 133 wait(2);
Bitelli 40:13d2c943dfe9 134 }
Bitelli 40:13d2c943dfe9 135
Bitelli 40:13d2c943dfe9 136 void fdc_zeroY(){
Bitelli 40:13d2c943dfe9 137 motor2->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 138 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 139 pc.printf ("\n\rLimite do Eixo Y");
Bitelli 40:13d2c943dfe9 140 wait(2);
Bitelli 40:13d2c943dfe9 141 }
Bitelli 40:13d2c943dfe9 142
Bitelli 40:13d2c943dfe9 143 void fdc_zeroZ(){
Bitelli 40:13d2c943dfe9 144 motor3->move(StepperMotor::FWD, safe);
Bitelli 40:13d2c943dfe9 145 pc.printf ("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 146 pc.printf ("\n\rLimite do Eixo Z");
Bitelli 40:13d2c943dfe9 147 wait(2);
Bitelli 40:13d2c943dfe9 148 }
Bitelli 40:13d2c943dfe9 149
Bitelli 40:13d2c943dfe9 150 void fdc_maxX(){
Bitelli 40:13d2c943dfe9 151 motor1->move(StepperMotor::BWD, safe);
Bitelli 40:13d2c943dfe9 152 pc.printf ("\n\rLimite do Eixo X");
Bitelli 40:13d2c943dfe9 153 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 154 wait(2);
Bitelli 40:13d2c943dfe9 155 }
Bitelli 40:13d2c943dfe9 156
Bitelli 40:13d2c943dfe9 157 void fdc_maxY(){
Bitelli 40:13d2c943dfe9 158 motor2->move(StepperMotor::BWD, safe);
Bitelli 40:13d2c943dfe9 159 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 160 pc.printf ("\n\rLimite do Eixo Y");
Bitelli 40:13d2c943dfe9 161 wait(2);
Bitelli 40:13d2c943dfe9 162 }
Bitelli 40:13d2c943dfe9 163
Bitelli 40:13d2c943dfe9 164
Bitelli 40:13d2c943dfe9 165 void fdc_maxZ(){
Bitelli 40:13d2c943dfe9 166 motor3->move(StepperMotor::BWD, safe);
Bitelli 40:13d2c943dfe9 167 pc.printf ("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 168 pc.printf ("\n\rLimite do Eixo Z");
Bitelli 40:13d2c943dfe9 169 wait(2);
Bitelli 40:13d2c943dfe9 170 }
Bitelli 40:13d2c943dfe9 171
Bitelli 40:13d2c943dfe9 172 void zeramento(){
Bitelli 40:13d2c943dfe9 173 fdc_inicialX();
Bitelli 40:13d2c943dfe9 174 fdc_inicialY();
Bitelli 40:13d2c943dfe9 175 fdc_inicialZ();
Bitelli 40:13d2c943dfe9 176 }
Bitelli 40:13d2c943dfe9 177
Bitelli 40:13d2c943dfe9 178 int referenciar_z(int referencia_z){
Bitelli 40:13d2c943dfe9 179 pc.printf("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 180 while(NO!=0){
Bitelli 40:13d2c943dfe9 181 if (sUp==0){
Bitelli 40:13d2c943dfe9 182 motor3->move(StepperMotor::FWD,600);
Bitelli 40:13d2c943dfe9 183 pc.printf("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 184 }
Bitelli 40:13d2c943dfe9 185 if (sDown==0){
Bitelli 40:13d2c943dfe9 186 motor3->move(StepperMotor::BWD,600);
Bitelli 40:13d2c943dfe9 187 pc.printf("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 188 }
Bitelli 40:13d2c943dfe9 189 if (zeroZ ==0){
Bitelli 40:13d2c943dfe9 190 fdc_zeroZ();
Bitelli 40:13d2c943dfe9 191 }
Bitelli 40:13d2c943dfe9 192 if (maxZ ==0){
Bitelli 40:13d2c943dfe9 193 fdc_maxZ();
Bitelli 40:13d2c943dfe9 194 }
Bitelli 40:13d2c943dfe9 195 wait(0.1);
Bitelli 40:13d2c943dfe9 196 pc.printf ("\n\rZ: %d", motor3->get_position());
Bitelli 40:13d2c943dfe9 197 if (YES==0) {
Bitelli 40:13d2c943dfe9 198 pc.printf ("\n\rEixo Z referenciado!");
Bitelli 40:13d2c943dfe9 199 referencia_z=motor3->get_position();
Bitelli 40:13d2c943dfe9 200 wait(1);
Bitelli 40:13d2c943dfe9 201 }
Bitelli 40:13d2c943dfe9 202 }
Bitelli 40:13d2c943dfe9 203 return referencia_z;
Bitelli 40:13d2c943dfe9 204 }
Bitelli 40:13d2c943dfe9 205 int adicionar_pontos(int j,int positionX[], int positionY[]){
Bitelli 40:13d2c943dfe9 206 while(NO!=0) {
Bitelli 40:13d2c943dfe9 207 if (sUp==0) {
Bitelli 40:13d2c943dfe9 208 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 209 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 210 motor2->move(StepperMotor::FWD, 600);
Bitelli 40:13d2c943dfe9 211 }
Bitelli 40:13d2c943dfe9 212 if (sRight==0) {
Bitelli 40:13d2c943dfe9 213 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 214 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 215 motor1->move(StepperMotor::FWD, 600);
Bitelli 40:13d2c943dfe9 216 }
Bitelli 40:13d2c943dfe9 217 if (sDown==0) {
Bitelli 40:13d2c943dfe9 218 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 219 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 220 motor2->move(StepperMotor::BWD, 600);
Bitelli 40:13d2c943dfe9 221 }
Bitelli 40:13d2c943dfe9 222 if (sLeft==0) {
Bitelli 40:13d2c943dfe9 223 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 224 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 225 motor1->move(StepperMotor::BWD, 600);
Bitelli 40:13d2c943dfe9 226 }
Bitelli 40:13d2c943dfe9 227 if (zeroX ==0){
Bitelli 40:13d2c943dfe9 228 fdc_zeroX();
Bitelli 40:13d2c943dfe9 229 }
Bitelli 40:13d2c943dfe9 230 if (zeroY ==0){
Bitelli 40:13d2c943dfe9 231 fdc_zeroY();
Bitelli 40:13d2c943dfe9 232 }
Bitelli 40:13d2c943dfe9 233 if (maxX ==0){
Bitelli 40:13d2c943dfe9 234 fdc_maxX();
Bitelli 40:13d2c943dfe9 235 }
Bitelli 40:13d2c943dfe9 236 if (maxY ==0){
Bitelli 40:13d2c943dfe9 237 fdc_maxY();
Bitelli 40:13d2c943dfe9 238 }
Bitelli 40:13d2c943dfe9 239 wait(0.2);
Bitelli 40:13d2c943dfe9 240 if (YES==0) {
Bitelli 40:13d2c943dfe9 241 pc.printf ("\n\rPonto Adicionado!");
Bitelli 40:13d2c943dfe9 242 positionX[j]=motor1->get_position();
Bitelli 40:13d2c943dfe9 243 positionY[j]=motor2->get_position();
Bitelli 40:13d2c943dfe9 244 j++;
Bitelli 40:13d2c943dfe9 245 wait(1);
Bitelli 40:13d2c943dfe9 246 }
Bitelli 40:13d2c943dfe9 247 }
Bitelli 40:13d2c943dfe9 248 }
Bitelli 40:13d2c943dfe9 249
Bitelli 40:13d2c943dfe9 250 void home (){
Bitelli 40:13d2c943dfe9 251 motor1->go_home();
Bitelli 40:13d2c943dfe9 252 motor2->go_home();
Bitelli 40:13d2c943dfe9 253 motor3->go_home();
Bitelli 40:13d2c943dfe9 254 }
Bitelli 40:13d2c943dfe9 255
Bitelli 40:13d2c943dfe9 256 void move_xy(int i,int x[],int y[]){
Bitelli 40:13d2c943dfe9 257 int xi=x[i];
Bitelli 40:13d2c943dfe9 258 int yi=y[i];
Bitelli 40:13d2c943dfe9 259 motor1->go_to(xi);
Bitelli 40:13d2c943dfe9 260 motor2->go_to(yi);
Bitelli 40:13d2c943dfe9 261 }
Bitelli 40:13d2c943dfe9 262
Bitelli 40:13d2c943dfe9 263 /*-------------------------Variables---------------------------*/
Bitelli 40:13d2c943dfe9 264
Bitelli 40:13d2c943dfe9 265 int j=0;
Bitelli 40:13d2c943dfe9 266 int positionX[20];
Bitelli 40:13d2c943dfe9 267 int positionY[20];
Bitelli 40:13d2c943dfe9 268 int referencia_z=0;
Bitelli 40:13d2c943dfe9 269
Bitelli 40:13d2c943dfe9 270 /*---------------------- Initialization. --------------------*/
Bitelli 40:13d2c943dfe9 271 int main() {
Bitelli 40:13d2c943dfe9 272
Bitelli 40:13d2c943dfe9 273 /* Initializing SPI bus. */
Bitelli 40:13d2c943dfe9 274 DevSPI dev_spi(D11, D12, D13);
Bitelli 40:13d2c943dfe9 275
Bitelli 40:13d2c943dfe9 276 /* Initializing Motor Control Component. */
Bitelli 40:13d2c943dfe9 277 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Bitelli 40:13d2c943dfe9 278 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
Bitelli 40:13d2c943dfe9 279 motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
Bitelli 40:13d2c943dfe9 280 if (motor1->init(&init) != COMPONENT_OK) {
Bitelli 40:13d2c943dfe9 281 exit(EXIT_FAILURE);
Bitelli 40:13d2c943dfe9 282 }
Bitelli 40:13d2c943dfe9 283 if (motor2->init(&init) != COMPONENT_OK) {
Bitelli 40:13d2c943dfe9 284 exit(EXIT_FAILURE);
Bitelli 40:13d2c943dfe9 285 }
Bitelli 40:13d2c943dfe9 286 if (motor3->init(&init) != COMPONENT_OK) {
Bitelli 40:13d2c943dfe9 287 exit(EXIT_FAILURE);
Bitelli 40:13d2c943dfe9 288 }
Bitelli 40:13d2c943dfe9 289
Bitelli 40:13d2c943dfe9 290
Bitelli 40:13d2c943dfe9 291 pc.baud(9600);
Bitelli 40:13d2c943dfe9 292
Bitelli 40:13d2c943dfe9 293 while(YES!=0){
Bitelli 40:13d2c943dfe9 294 pc.printf("\n\rZerar a mesa?");
Bitelli 40:13d2c943dfe9 295 }
Bitelli 40:13d2c943dfe9 296
Bitelli 40:13d2c943dfe9 297
Bitelli 40:13d2c943dfe9 298 /*----------------------------Zerando a mesa-----------------*/
Bitelli 40:13d2c943dfe9 299
Bitelli 40:13d2c943dfe9 300 zeramento();
Bitelli 40:13d2c943dfe9 301 pc.printf("\n\rReferenciar eixo Z");
Bitelli 40:13d2c943dfe9 302 wait (2);
Bitelli 40:13d2c943dfe9 303 int referencia_z=referenciar_z(referencia_z);
Bitelli 40:13d2c943dfe9 304 pc.printf ("%d",referencia_z);
Bitelli 40:13d2c943dfe9 305 home();
Bitelli 40:13d2c943dfe9 306 /*-------------------------Menu "Inicial"-----------------*/
Bitelli 40:13d2c943dfe9 307
Bitelli 40:13d2c943dfe9 308 pc.printf("\n\rMenu");
Bitelli 40:13d2c943dfe9 309 wait(1);
Bitelli 40:13d2c943dfe9 310
Bitelli 40:13d2c943dfe9 311
Bitelli 40:13d2c943dfe9 312 /*-----------------------------Adiciontar Pontos------------------------*/
Bitelli 40:13d2c943dfe9 313
Bitelli 40:13d2c943dfe9 314 pc.printf ("\n\rX: %d", motor1->get_position());
Bitelli 40:13d2c943dfe9 315 pc.printf ("\n\rY: %d", motor2->get_position());
Bitelli 40:13d2c943dfe9 316
Bitelli 40:13d2c943dfe9 317 while(!=NO){
Bitelli 40:13d2c943dfe9 318
Bitelli 40:13d2c943dfe9 319
Bitelli 40:13d2c943dfe9 320 adicionar_pontos(j, positionX, positionY);
Bitelli 40:13d2c943dfe9 321
Bitelli 40:13d2c943dfe9 322
Bitelli 40:13d2c943dfe9 323 /*-----------------------------Colar Pontos----------------------------*/
Bitelli 40:13d2c943dfe9 324
Bitelli 40:13d2c943dfe9 325 pc.printf ("\n\rIniciando...");
Bitelli 40:13d2c943dfe9 326
Bitelli 40:13d2c943dfe9 327 home();
Bitelli 40:13d2c943dfe9 328
Bitelli 40:13d2c943dfe9 329 pc.printf ("\n\rColando...");
Bitelli 40:13d2c943dfe9 330
Bitelli 40:13d2c943dfe9 331 for (int i=0;i<20;i++){
Bitelli 40:13d2c943dfe9 332 move_xy(i, positionX, positionY);
Bitelli 40:13d2c943dfe9 333 motor3->go_to(referencia_z);
Bitelli 40:13d2c943dfe9 334 //depositar();
Bitelli 40:13d2c943dfe9 335 motor3->go_home();
Bitelli 40:13d2c943dfe9 336 }
Bitelli 40:13d2c943dfe9 337
Bitelli 40:13d2c943dfe9 338 /*------------------------Finalizar Operação/Zerar----------------------*/
Bitelli 40:13d2c943dfe9 339 home();
Bitelli 40:13d2c943dfe9 340 }
Bitelli 40:13d2c943dfe9 341