Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@30:179ceb3e5791, 2020-05-27 (annotated)

Committer:
enricoan
Date:
Wed May 27 00:53:04 2020 +0000
Revision:
30:179ceb3e5791
Parent:
29:76d952358896
Parent:
24:38820e43b9fe
Child:
31:acb062a05984
comentarios repostos e pinos do rele atualizados

Who changed what in which revision?

UserRevisionLine numberNew contents of line
enricoan 29:76d952358896 1 //local para inclusao de bibliotecas
enricoan 10:4f49e9859535 2 #include "mbed.h"
enricoan 10:4f49e9859535 3 #include "TextLCD.h"
enricoan 10:4f49e9859535 4 #include "Keypad.h"
enricoan 10:4f49e9859535 5
enricoan 29:76d952358896 6 //local para a declaracao de varioveis
enricoan 30:179ceb3e5791 7 float t_motor = 0.002; //delay entre o acionamento de uma bobina do motor e a outra
enricoan 30:179ceb3e5791 8 float t_teclado = 0.01; //delay entre a leitura de um botão do teclado, necessário para que um click nao gere mais de uma saída
enricoan 24:38820e43b9fe 9 int hor[] = {12,6,3,9}; //valores que, ao serem convertidos em binário, geram a sequência de acionamento do motor no sentido horário enviando a sequência de 0's e 1's às bobinas
enricoan 24:38820e43b9fe 10 int antihor[] = {3,6,12,9}; //valores que, ao serem convertidos em binário, geram a sequência de acionamento do motor no sentido anti-horário enviando a sequência de 0's e 1's às bobinas
enricoan 24:38820e43b9fe 11 int parado[] = {0,0,0,0}; //valores enviados às bobinas do motor para deixá-lo parado
enricoan 30:179ceb3e5791 12 char tecla; //variável que guarda a tecla apertada no teclado
enricoan 30:179ceb3e5791 13 float coord_x = 0; //variável que guardará a posição linear do eixo x, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 14 float coord_y = 0; //variável que guardará a posição linear do eixo y, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 15 float coord_z = 0; //variável que guardará a posição linear do eixo z, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 16 int est_x = 0; //variável que indicará o estado do eixo x, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 30:179ceb3e5791 17 int est_y = 0; //variável que indicará o estado do eixo y, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 30:179ceb3e5791 18 int est_z = 0; //variável que indicará o estado do eixo z, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 17:4d0b8ed791e0 19
enricoan 29:76d952358896 20 //pinos usados pelos botoes de fim de curso
enricoan 17:4d0b8ed791e0 21 DigitalIn fdc_x(PC_10);
enricoan 17:4d0b8ed791e0 22 DigitalIn fdc_y(PC_11);
enricoan 17:4d0b8ed791e0 23 DigitalIn fdc_z(PC_12);
enricoan 20:81a44a25b21d 24
enricoan 29:76d952358896 25 //Iterrupcao botao de emergência
enricoan 29:76d952358896 26 InterruptIn emergencia_botao(PC_13); //trocar esse botao para onde esto o botao de fato
amandarm 25:b0db528c1985 27
enricoan 29:76d952358896 28 //pinos do rele
enricoan 30:179ceb3e5791 29 DigitalOut rele1(PC_5);
enricoan 30:179ceb3e5791 30 DigitalOut rele2(PB_9);
amandarm 25:b0db528c1985 31
enricoan 29:76d952358896 32 //botoes para movimentacao eixo a eixo
enricoan 10:4f49e9859535 33 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 34 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 35 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 36 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 37 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 38 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 39
enricoan 10:4f49e9859535 40 //pinos da placa usados na biblioteca do LCD
enricoan 10:4f49e9859535 41 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 42
enricoan 16:70baa0057a76 43 //pinos do teclado
enricoan 16:70baa0057a76 44 Keypad teclado(PA_6, PA_7, PB_6, PC_7, PB_7, PC_13, PC_14, PC_15);
enricoan 16:70baa0057a76 45
enricoan 10:4f49e9859535 46 //pinos de saída para os motores
enricoan 10:4f49e9859535 47 //eixo x
Hiroball 11:dc557e461dfd 48 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 49 //eixo y
Hiroball 11:dc557e461dfd 50 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 51 //eixo z
Hiroball 11:dc557e461dfd 52 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 53
enricoan 29:76d952358896 54 //funcoes para as telas da IHM
amandarm 22:dd336b95db5d 55
amandarm 22:dd336b95db5d 56 void funcao_inicio(){
amandarm 25:b0db528c1985 57 lcd.cls();
amandarm 22:dd336b95db5d 58 lcd.printf("1-Novo programa");
amandarm 22:dd336b95db5d 59 lcd.locate(0,1);
amandarm 22:dd336b95db5d 60 lcd.printf("2-Usar programa salvo");
amandarm 22:dd336b95db5d 61 lcd.locate(0,2);
amandarm 22:dd336b95db5d 62 }
amandarm 22:dd336b95db5d 63
amandarm 22:dd336b95db5d 64 void funcao_tela_zera(){
amandarm 25:b0db528c1985 65 lcd.cls();
amandarm 25:b0db528c1985 66 lcd.printf("Zeramento:");
amandarm 25:b0db528c1985 67 lcd.locate(0,1);
enricoan 29:76d952358896 68 lcd.printf("Confira se nao ho");
amandarm 25:b0db528c1985 69 lcd.locate(0,2);
amandarm 25:b0db528c1985 70 lcd.printf("objetos sobre a mesa");
amandarm 25:b0db528c1985 71 lcd.locate(0,3);
enricoan 29:76d952358896 72 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 73 }
amandarm 22:dd336b95db5d 74
amandarm 22:dd336b95db5d 75 void funcao_pega1(){
amandarm 25:b0db528c1985 76 lcd.cls();
enricoan 29:76d952358896 77 lcd.printf("Configuracao de pega");
amandarm 25:b0db528c1985 78 lcd.locate(0,1);
amandarm 25:b0db528c1985 79 lcd.printf("1-Forma do pega");
amandarm 25:b0db528c1985 80 lcd.locate(0,2);
amandarm 25:b0db528c1985 81 lcd.printf("2-Volume do pega");
amandarm 25:b0db528c1985 82 lcd.locate(0,3);
amandarm 25:b0db528c1985 83 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 84 }
amandarm 22:dd336b95db5d 85
amandarm 22:dd336b95db5d 86 void funcao_pega2(){
amandarm 25:b0db528c1985 87 lcd.cls();
enricoan 29:76d952358896 88 lcd.printf("Configuracao de pega");
amandarm 25:b0db528c1985 89 lcd.locate(0,1);
enricoan 29:76d952358896 90 lcd.printf("3-Posicao do pega");
amandarm 25:b0db528c1985 91 lcd.locate(0,2);
amandarm 25:b0db528c1985 92 lcd.printf("");
amandarm 25:b0db528c1985 93 lcd.locate(0,3);
amandarm 25:b0db528c1985 94 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 95 }
amandarm 22:dd336b95db5d 96
amandarm 22:dd336b95db5d 97 void funcao_pega_forma(){
amandarm 25:b0db528c1985 98 lcd.cls();
amandarm 22:dd336b95db5d 99 lcd.printf("Forma do pega");
amandarm 22:dd336b95db5d 100 lcd.locate(0,1);
amandarm 22:dd336b95db5d 101 lcd.printf("1 - Quadrado");
amandarm 22:dd336b95db5d 102 lcd.locate(0,2);
amandarm 22:dd336b95db5d 103 lcd.printf("2 - Circular");
amandarm 22:dd336b95db5d 104 lcd.locate(0,3);
amandarm 22:dd336b95db5d 105 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 106 }
amandarm 22:dd336b95db5d 107
amandarm 22:dd336b95db5d 108 void funcao_pega_volume(){
amandarm 25:b0db528c1985 109 lcd.cls();
amandarm 22:dd336b95db5d 110 lcd.printf("Insira o volume");
amandarm 22:dd336b95db5d 111 lcd.locate(0,1);
amandarm 22:dd336b95db5d 112 lcd.printf("Em ml:");
amandarm 22:dd336b95db5d 113 lcd.locate(0,2);
amandarm 22:dd336b95db5d 114 lcd.printf("");
amandarm 22:dd336b95db5d 115 lcd.locate(0,3);
enricoan 29:76d952358896 116 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 117 }
amandarm 22:dd336b95db5d 118
amandarm 22:dd336b95db5d 119 void funcao_pega_forma_quad(){
amandarm 25:b0db528c1985 120 lcd.cls();
enricoan 29:76d952358896 121 lcd.printf("Dimensoes do pega");
amandarm 22:dd336b95db5d 122 lcd.locate(0,1);
amandarm 22:dd336b95db5d 123 lcd.printf("Comprimento em mm");
amandarm 22:dd336b95db5d 124 lcd.locate(0,2);
amandarm 22:dd336b95db5d 125 lcd.printf("");
amandarm 22:dd336b95db5d 126 lcd.locate(0,3);
enricoan 29:76d952358896 127 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 128 }
amandarm 22:dd336b95db5d 129
amandarm 22:dd336b95db5d 130 void funcao_pega_forma_red(){
amandarm 25:b0db528c1985 131 lcd.cls();
enricoan 29:76d952358896 132 lcd.printf("Dimensoes do pega");
amandarm 22:dd336b95db5d 133 lcd.locate(0,1);
amandarm 22:dd336b95db5d 134 lcd.printf("Diamentro em mm");
amandarm 22:dd336b95db5d 135 lcd.locate(0,2);
amandarm 22:dd336b95db5d 136 lcd.printf("");
amandarm 22:dd336b95db5d 137 lcd.locate(0,3);
enricoan 29:76d952358896 138 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 139 }
enricoan 29:76d952358896 140 void funcao_pega_pos_x(){ //desativar os botoes de Y
amandarm 25:b0db528c1985 141 lcd.cls();
amandarm 22:dd336b95db5d 142 lcd.printf("Posicione pega em X");
amandarm 22:dd336b95db5d 143 lcd.locate(0,1);
enricoan 29:76d952358896 144 lcd.printf("Use botoes ate chegar");
amandarm 22:dd336b95db5d 145 lcd.locate(0,2);
enricoan 29:76d952358896 146 lcd.printf("na posicao desejada");
amandarm 22:dd336b95db5d 147 lcd.locate(0,3);
amandarm 22:dd336b95db5d 148 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 149 }
amandarm 22:dd336b95db5d 150
enricoan 29:76d952358896 151 void funcao_pega_pos_y(){ //desativar os botoes de X
amandarm 25:b0db528c1985 152 lcd.cls();
amandarm 22:dd336b95db5d 153 lcd.printf("Posicione pega em Y");
amandarm 22:dd336b95db5d 154 lcd.locate(0,1);
enricoan 29:76d952358896 155 lcd.printf("Use botoes ate chegar");
amandarm 22:dd336b95db5d 156 lcd.locate(0,2);
enricoan 29:76d952358896 157 lcd.printf("na posicao desejada");
amandarm 22:dd336b95db5d 158 lcd.locate(0,3);
amandarm 22:dd336b95db5d 159 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 160 }
amandarm 22:dd336b95db5d 161
amandarm 22:dd336b95db5d 162 void funcao_solta1(){
amandarm 25:b0db528c1985 163 lcd.cls();
enricoan 29:76d952358896 164 lcd.printf("Configuracao solta");
amandarm 22:dd336b95db5d 165 lcd.locate(0,1);
enricoan 29:76d952358896 166 lcd.printf("1-Dimensao solta");
amandarm 22:dd336b95db5d 167 lcd.locate(0,2);
amandarm 22:dd336b95db5d 168 lcd.printf("2-Volume da solta");
amandarm 22:dd336b95db5d 169 lcd.locate(0,3);
amandarm 22:dd336b95db5d 170 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 171 }
amandarm 22:dd336b95db5d 172
amandarm 22:dd336b95db5d 173 void funcao_solta2(){
amandarm 25:b0db528c1985 174 lcd.cls();
enricoan 29:76d952358896 175 lcd.printf("Configuracao solta");
amandarm 22:dd336b95db5d 176 lcd.locate(0,1);
enricoan 29:76d952358896 177 lcd.printf("3-Posicao solta");
amandarm 22:dd336b95db5d 178 lcd.locate(0,2);
amandarm 22:dd336b95db5d 179 lcd.printf("");
amandarm 22:dd336b95db5d 180 lcd.locate(0,3);
amandarm 22:dd336b95db5d 181 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 182 }
amandarm 22:dd336b95db5d 183
amandarm 22:dd336b95db5d 184 void funcao_solta_dimensao(){
amandarm 25:b0db528c1985 185 lcd.cls();
amandarm 22:dd336b95db5d 186 lcd.printf("Insira o diametro");
amandarm 22:dd336b95db5d 187 lcd.locate(0,1);
amandarm 22:dd336b95db5d 188 lcd.printf("de solta, em mm:");
amandarm 22:dd336b95db5d 189 lcd.locate(0,2);
amandarm 22:dd336b95db5d 190 lcd.printf("");
amandarm 22:dd336b95db5d 191 lcd.printf(0,3);
enricoan 29:76d952358896 192 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 193 }
amandarm 22:dd336b95db5d 194
amandarm 22:dd336b95db5d 195 void funcao_solta_vol(){
amandarm 25:b0db528c1985 196 lcd.cls();
amandarm 22:dd336b95db5d 197 lcd.printf("Determinar volume");
amandarm 22:dd336b95db5d 198 lcd.locate(0,1);
amandarm 22:dd336b95db5d 199 lcd.printf("1-Todos mesmo volume");
amandarm 22:dd336b95db5d 200 lcd.locate(0,2);
amandarm 22:dd336b95db5d 201 lcd.printf("2-Pino a pino");
amandarm 22:dd336b95db5d 202 lcd.locate(0,3);
enricoan 29:76d952358896 203 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 204 }
amandarm 22:dd336b95db5d 205
amandarm 22:dd336b95db5d 206 void funcao_solta_vol_igual(){
amandarm 25:b0db528c1985 207 lcd.cls();
amandarm 22:dd336b95db5d 208 lcd.printf("Insira o volume");
amandarm 22:dd336b95db5d 209 lcd.locate(0,1);
amandarm 22:dd336b95db5d 210 lcd.printf("em ml:");
amandarm 22:dd336b95db5d 211 lcd.locate(0,2);
amandarm 22:dd336b95db5d 212 lcd.printf("");
amandarm 22:dd336b95db5d 213 lcd.locate(0,3);
enricoan 29:76d952358896 214 lcd.printf("A-Proximo B-Voltar");
amandarm 22:dd336b95db5d 215 }
amandarm 22:dd336b95db5d 216
amandarm 22:dd336b95db5d 217 void funcao_solta_vol_cada(){
amandarm 25:b0db528c1985 218 lcd.cls();
enricoan 29:76d952358896 219 lcd.printf("Selecao: * * * ");
amandarm 22:dd336b95db5d 220 lcd.locate(0,1);
amandarm 22:dd336b95db5d 221 lcd.printf("Volume: * * * ");
amandarm 22:dd336b95db5d 222 lcd.locate(0,2);
amandarm 22:dd336b95db5d 223 lcd.printf("A-Confirma * * * ");
amandarm 22:dd336b95db5d 224 lcd.locate(0,3);
enricoan 29:76d952358896 225 lcd.printf("B-Corrigir C-Proximo");
amandarm 22:dd336b95db5d 226 }
amandarm 22:dd336b95db5d 227
enricoan 29:76d952358896 228 void funcao_solta_pos_x(){ //desativar os botoes de Y
amandarm 25:b0db528c1985 229 lcd.cls();
amandarm 22:dd336b95db5d 230 lcd.printf("Posicione pega em X");
amandarm 22:dd336b95db5d 231 lcd.locate(0,1);
enricoan 29:76d952358896 232 lcd.printf("Use botoes ate chegar");
amandarm 22:dd336b95db5d 233 lcd.locate(0,2);
enricoan 29:76d952358896 234 lcd.printf("na posicao desejada");
amandarm 22:dd336b95db5d 235 lcd.locate(0,3);
amandarm 22:dd336b95db5d 236 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 237 }
amandarm 22:dd336b95db5d 238
enricoan 29:76d952358896 239 void funcao_solta_pos_y(){ //desativar os botoes de X
amandarm 25:b0db528c1985 240 lcd.cls();
amandarm 22:dd336b95db5d 241 lcd.printf("Posicione pega em Y");
amandarm 22:dd336b95db5d 242 lcd.locate(0,1);
enricoan 29:76d952358896 243 lcd.printf("Use botoes ate chegar");
amandarm 22:dd336b95db5d 244 lcd.locate(0,2);
enricoan 29:76d952358896 245 lcd.printf("na posicao desejada");
amandarm 22:dd336b95db5d 246 lcd.printf(0,3);
amandarm 22:dd336b95db5d 247 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 248 }
amandarm 22:dd336b95db5d 249
amandarm 22:dd336b95db5d 250 void funcao_confirma(){
amandarm 25:b0db528c1985 251 lcd.cls();
enricoan 29:76d952358896 252 lcd.printf("Revisao Parametros");
amandarm 22:dd336b95db5d 253 lcd.locate(0,1);
amandarm 22:dd336b95db5d 254 lcd.printf("1-Pega:");
amandarm 22:dd336b95db5d 255 lcd.locate(0,2);
amandarm 22:dd336b95db5d 256 lcd.printf("2-Pinos solta:");
amandarm 22:dd336b95db5d 257 lcd.locate(0,3);
amandarm 22:dd336b95db5d 258 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 259 }
amandarm 22:dd336b95db5d 260
amandarm 22:dd336b95db5d 261 void funcao_nome_prog(){
amandarm 25:b0db528c1985 262 lcd.cls();
amandarm 22:dd336b95db5d 263 lcd.printf("Nome do programa");
amandarm 22:dd336b95db5d 264 lcd.locate(0,1);
enricoan 29:76d952358896 265 lcd.printf("Insira um codigo");
amandarm 22:dd336b95db5d 266 lcd.locate(0,2);
amandarm 22:dd336b95db5d 267 lcd.printf("para seu programa:");
amandarm 22:dd336b95db5d 268 lcd.locate(0,3);
amandarm 22:dd336b95db5d 269 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 270 }
amandarm 22:dd336b95db5d 271
amandarm 22:dd336b95db5d 272 void funcao_acomp(){ //colocar os valores adequados na tela
amandarm 25:b0db528c1985 273 lcd.cls();
enricoan 29:76d952358896 274 lcd.printf("Prog em execucao");
amandarm 22:dd336b95db5d 275 lcd.locate(0,1);
amandarm 22:dd336b95db5d 276 lcd.printf("Tempo: xx min yy s");
amandarm 22:dd336b95db5d 277 lcd.locate(0,2);
amandarm 22:dd336b95db5d 278 lcd.printf("Progresso: zz%");
amandarm 22:dd336b95db5d 279 lcd.locate(0,3);
amandarm 22:dd336b95db5d 280 lcd.printf("A-Pausar");
amandarm 22:dd336b95db5d 281 }
amandarm 22:dd336b95db5d 282
amandarm 22:dd336b95db5d 283 void funcao_pausa(){
amandarm 25:b0db528c1985 284 lcd.cls();
amandarm 22:dd336b95db5d 285 lcd.printf("Prog pausado");
amandarm 22:dd336b95db5d 286 lcd.locate(0,1);
amandarm 22:dd336b95db5d 287 lcd.printf("Progresso: zz%");
amandarm 22:dd336b95db5d 288 lcd.locate(0,2);
amandarm 22:dd336b95db5d 289 lcd.printf("");
amandarm 22:dd336b95db5d 290 lcd.locate(0,3);
amandarm 22:dd336b95db5d 291 lcd.printf("A-Continuar B-Parar");
amandarm 22:dd336b95db5d 292 }
amandarm 22:dd336b95db5d 293
amandarm 25:b0db528c1985 294 void funcao_salvo1(){
amandarm 25:b0db528c1985 295 lcd.cls();
amandarm 22:dd336b95db5d 296 lcd.printf("1-xx");
amandarm 22:dd336b95db5d 297 lcd.locate(0,1);
amandarm 22:dd336b95db5d 298 lcd.printf("2-yy");
amandarm 22:dd336b95db5d 299 lcd.locate(0,2);
amandarm 22:dd336b95db5d 300 lcd.printf("3-zz");
amandarm 22:dd336b95db5d 301 lcd.locate(0,3);
enricoan 29:76d952358896 302 lcd.printf("A-Proxima B-Anterior");
amandarm 22:dd336b95db5d 303 }
amandarm 22:dd336b95db5d 304
amandarm 25:b0db528c1985 305 void funcao_salvo2(){
amandarm 25:b0db528c1985 306 lcd.cls();
amandarm 22:dd336b95db5d 307 lcd.printf("4-xx");
amandarm 22:dd336b95db5d 308 lcd.locate(0,1);
amandarm 22:dd336b95db5d 309 lcd.printf("5-yy");
amandarm 22:dd336b95db5d 310 lcd.locate(0,2);
amandarm 22:dd336b95db5d 311 lcd.printf("6-zz");
amandarm 22:dd336b95db5d 312 lcd.locate(0,3);
enricoan 29:76d952358896 313 lcd.printf("A-Proxima B-Anterior");
amandarm 22:dd336b95db5d 314 }
amandarm 22:dd336b95db5d 315
amandarm 22:dd336b95db5d 316 void funcao_salvo_agree1(){
amandarm 25:b0db528c1985 317 lcd.cls();
amandarm 22:dd336b95db5d 318 lcd.printf("Confirmar programa");
amandarm 22:dd336b95db5d 319 lcd.locate(0,1);
enricoan 29:76d952358896 320 lcd.printf("1-Posicao pega");
amandarm 22:dd336b95db5d 321 lcd.locate(0,2);
enricoan 29:76d952358896 322 lcd.printf("2-Posicao solta");
amandarm 22:dd336b95db5d 323 lcd.locate(0,3);
amandarm 22:dd336b95db5d 324 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 325 }
amandarm 22:dd336b95db5d 326
amandarm 22:dd336b95db5d 327 void funcao_salvo_agree2(){
amandarm 25:b0db528c1985 328 lcd.cls();
amandarm 22:dd336b95db5d 329 lcd.printf("Confirmar programa");
amandarm 22:dd336b95db5d 330 lcd.locate(0,1);
amandarm 22:dd336b95db5d 331 lcd.printf("3-Volume pega");
amandarm 22:dd336b95db5d 332 lcd.locate(0,2);
amandarm 22:dd336b95db5d 333 lcd.printf("4-Volume solta");
amandarm 22:dd336b95db5d 334 lcd.locate(0,3);
amandarm 22:dd336b95db5d 335 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 336 }
amandarm 22:dd336b95db5d 337
amandarm 22:dd336b95db5d 338 void funcao_salvo_agree_pos_aviso(){
amandarm 25:b0db528c1985 339 lcd.cls();
enricoan 29:76d952358896 340 lcd.printf("A pipeta iro na pega");
amandarm 22:dd336b95db5d 341 lcd.locate(0,1);
enricoan 29:76d952358896 342 lcd.printf("Certifique-se que nao");
amandarm 22:dd336b95db5d 343 lcd.locate(0,2);
enricoan 29:76d952358896 344 lcd.printf("ho objetos na mesa");
amandarm 22:dd336b95db5d 345 lcd.locate(0,3);
amandarm 22:dd336b95db5d 346 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 347 }
amandarm 22:dd336b95db5d 348
amandarm 22:dd336b95db5d 349 void funcao_salvo_agree_pos_certo(){
amandarm 25:b0db528c1985 350 lcd.cls();
enricoan 29:76d952358896 351 lcd.printf("Posicao correta?");
amandarm 22:dd336b95db5d 352 lcd.locate(0,1);
amandarm 22:dd336b95db5d 353 lcd.printf("1-Sim");
amandarm 22:dd336b95db5d 354 lcd.locate(0,2);
amandarm 22:dd336b95db5d 355 lcd.printf("2-Ajustar");
amandarm 22:dd336b95db5d 356 lcd.locate(0,3);
amandarm 22:dd336b95db5d 357 lcd.printf(" B-Voltar");
amandarm 22:dd336b95db5d 358 }
amandarm 22:dd336b95db5d 359
amandarm 22:dd336b95db5d 360 void funcao_salvo_agree_solta_aviso(){
amandarm 25:b0db528c1985 361 lcd.cls();
enricoan 29:76d952358896 362 lcd.printf("A pipeta ira na solta");
amandarm 22:dd336b95db5d 363 lcd.locate(0,1);
enricoan 29:76d952358896 364 lcd.printf("Certifique-se que nao");
amandarm 22:dd336b95db5d 365 lcd.locate(0,2);
enricoan 29:76d952358896 366 lcd.printf("ha objetos na mesa");
amandarm 22:dd336b95db5d 367 lcd.locate(0,3);
amandarm 22:dd336b95db5d 368 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 369 }
amandarm 22:dd336b95db5d 370
amandarm 22:dd336b95db5d 371 void funcao_salvo_agree_pega_vol(){
amandarm 25:b0db528c1985 372 lcd.cls();
amandarm 22:dd336b95db5d 373 lcd.printf("Insira o volume pega");
amandarm 22:dd336b95db5d 374 lcd.locate(0,1);
amandarm 22:dd336b95db5d 375 lcd.printf("Em ml:");
amandarm 22:dd336b95db5d 376 lcd.locate(0,2);
amandarm 22:dd336b95db5d 377 lcd.printf("");
amandarm 22:dd336b95db5d 378 lcd.locate(0,3);
amandarm 22:dd336b95db5d 379 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 380 }
amandarm 22:dd336b95db5d 381
amandarm 22:dd336b95db5d 382 void funcao_salvo_agree_solta_vol(){
amandarm 25:b0db528c1985 383 lcd.cls();
amandarm 22:dd336b95db5d 384 lcd.printf("1-x 2-y 3-z");
amandarm 22:dd336b95db5d 385 lcd.locate(0,1);
amandarm 22:dd336b95db5d 386 lcd.printf("4-x 5-y 6-z");
amandarm 22:dd336b95db5d 387 lcd.locate(0,2);
amandarm 22:dd336b95db5d 388 lcd.printf("7-x 8-y 9-z");
amandarm 22:dd336b95db5d 389 lcd.locate(0,3);
amandarm 22:dd336b95db5d 390 lcd.printf("A-Confirma B-Voltar");
amandarm 22:dd336b95db5d 391 }
amandarm 22:dd336b95db5d 392
enricoan 29:76d952358896 393 //Funcao de iterrupcao
amandarm 25:b0db528c1985 394 void emergencia()
amandarm 25:b0db528c1985 395 {
amandarm 25:b0db528c1985 396 while(emergencia_botao == 0){
enricoan 28:c4733814201a 397 //rele1 = 0;
amandarm 25:b0db528c1985 398 eixox = 0b0000;
amandarm 25:b0db528c1985 399 eixoy = 0b0000;
amandarm 25:b0db528c1985 400 eixoz = 0b0000;
amandarm 25:b0db528c1985 401 lcd.cls();
enricoan 29:76d952358896 402 lcd.printf("Botao Emergencia");
amandarm 25:b0db528c1985 403 lcd.locate(0,1);
amandarm 25:b0db528c1985 404 lcd.printf(" acionado ");
amandarm 25:b0db528c1985 405 lcd.locate(0,2);
enricoan 29:76d952358896 406 lcd.printf("Operacao pausada");
enricoan 28:c4733814201a 407 //lcd.locate(0,3);
enricoan 28:c4733814201a 408 //lcd.printf(");
amandarm 25:b0db528c1985 409 }
amandarm 25:b0db528c1985 410 }
amandarm 25:b0db528c1985 411
enricoan 29:76d952358896 412 //Funcao de zeramento
amandarm 27:45f8125a0c0b 413
amandarm 27:45f8125a0c0b 414 void zeramento(){
amandarm 27:45f8125a0c0b 415 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
amandarm 27:45f8125a0c0b 416 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
amandarm 27:45f8125a0c0b 417 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}
enricoan 29:76d952358896 418 /*
enricoan 20:81a44a25b21d 419 printf("\n%i",est_x);
enricoan 20:81a44a25b21d 420 printf("\n%i",est_y);
enricoan 29:76d952358896 421 printf("\n%i",est_z);*/
enricoan 29:76d952358896 422 }
enricoan 29:76d952358896 423
enricoan 29:76d952358896 424 //Varioveis para operacao IHM
enricoan 29:76d952358896 425 #include <string>
enricoan 29:76d952358896 426 using std::string;
enricoan 29:76d952358896 427 string status_tela = "inicio";
enricoan 29:76d952358896 428
enricoan 29:76d952358896 429 int main() {
enricoan 29:76d952358896 430 printf("\n%i",est_x);
enricoan 29:76d952358896 431 printf("\n%i",est_y);
enricoan 29:76d952358896 432 printf("\n%i",est_z);
enricoan 29:76d952358896 433 lcd.printf("Bem-vindo ao Pipemax");
enricoan 29:76d952358896 434 lcd.locate(0,1);
enricoan 29:76d952358896 435 lcd.printf("o seu sistema");
enricoan 29:76d952358896 436 lcd.locate(0,2);
enricoan 29:76d952358896 437 lcd.printf("automatizado");
enricoan 29:76d952358896 438 lcd.locate(0,3);
enricoan 29:76d952358896 439 lcd.printf("de pipetagem");
enricoan 29:76d952358896 440 wait(3);
Hiroball 11:dc557e461dfd 441 while(1) {
enricoan 29:76d952358896 442 /*
enricoan 28:c4733814201a 443 lcd.cls();
enricoan 29:76d952358896 444 lcd.printf("Por favor, aceite");
amandarm 27:45f8125a0c0b 445 lcd.locate(0,1);
enricoan 29:76d952358896 446 lcd.printf("o zeramento do seu");
amandarm 27:45f8125a0c0b 447 lcd.locate(0,2);
enricoan 29:76d952358896 448 lcd.printf("sistema");
amandarm 27:45f8125a0c0b 449 lcd.locate(0,3);
enricoan 29:76d952358896 450 lcd.printf("A - proximo");
enricoan 29:76d952358896 451 tecla = teclado.ReadKey();
enricoan 29:76d952358896 452 if(tecla == 'A' && status_tela == "zeramento"){
amandarm 27:45f8125a0c0b 453 zeramento();
enricoan 29:76d952358896 454 printf("\n%s",status_tela);
enricoan 29:76d952358896 455 status_tela == "inicio";
enricoan 29:76d952358896 456 printf("\n%s",status_tela);
enricoan 29:76d952358896 457 funcao_inicio();}
enricoan 29:76d952358896 458 */
enricoan 16:70baa0057a76 459 int solta = 1;
enricoan 16:70baa0057a76 460 tecla = teclado.ReadKey(); //read the current key pressed
enricoan 16:70baa0057a76 461 if(tecla == '\0') solta = 1; //set the flag when all keys are released
enricoan 16:70baa0057a76 462 if((tecla != '\0') && (solta == 1)) { //if a key is pressed AND previous key was released
enricoan 16:70baa0057a76 463 printf("%c\n", tecla);
enricoan 16:70baa0057a76 464 solta = 0; //clear the flag to indicate that key is still pressed
enricoan 16:70baa0057a76 465 wait(0.1);}
enricoan 19:ebe198368444 466 /* tentativa de fazer o motor parar ao apertar algum dos fins de curso
enricoan 18:3c40a8a17963 467 if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){
enricoan 18:3c40a8a17963 468 for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;}
enricoan 18:3c40a8a17963 469 for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;}
enricoan 18:3c40a8a17963 470 for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;}
enricoan 19:ebe198368444 471 */
amandarm 27:45f8125a0c0b 472
enricoan 19:ebe198368444 473 if (x_mais == 0 && est_x == 1){for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);coord_x += 0;lcd.cls();lcd.printf("Limite de x atingido");}}
enricoan 19:ebe198368444 474 if (y_mais == 0 && est_y == 1){for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);coord_y += 0;lcd.cls();lcd.printf("Limite de y atingido");}}
amandarm 27:45f8125a0c0b 475 if (z_mais == 0 && est_z == 1){for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);coord_z += 0;lcd.cls();lcd.printf("Limite de z atingido");}}
amandarm 27:45f8125a0c0b 476
enricoan 19:ebe198368444 477 if (x_menos == 0){for(int i = 0; i < 4; i++){eixox = antihor[i];wait(t_motor);coord_x -= (5.625*5/32)/360;est_x = 0;
enricoan 16:70baa0057a76 478 lcd.cls();
enricoan 18:3c40a8a17963 479 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 480 lcd.locate(0,1);
enricoan 18:3c40a8a17963 481 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 482 lcd.locate(0,2);
enricoan 18:3c40a8a17963 483 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 484 if (y_menos == 0){for(int i = 0; i < 4; i++){eixoy = antihor[i];wait(t_motor);coord_y -= (5.625*5/32)/360;est_y = 0;
enricoan 19:ebe198368444 485 lcd.cls();
enricoan 19:ebe198368444 486 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 487 lcd.locate(0,1);
enricoan 19:ebe198368444 488 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 489 lcd.locate(0,2);
enricoan 19:ebe198368444 490 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 491 if (z_menos == 0){for(int i = 0; i < 4; i++){eixoz = antihor[i];wait(t_motor);coord_z -= (5.625*5/32)/360;est_z = 0;
enricoan 18:3c40a8a17963 492 lcd.cls();
enricoan 18:3c40a8a17963 493 lcd.printf("X: %4.1f", coord_x);
enricoan 16:70baa0057a76 494 lcd.locate(0,1);
enricoan 18:3c40a8a17963 495 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 496 lcd.locate(0,2);
enricoan 18:3c40a8a17963 497 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 498
enricoan 19:ebe198368444 499 if (x_mais == 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);coord_x += (5.625*5/32)/360;est_x = 0;
enricoan 19:ebe198368444 500 lcd.cls();
enricoan 19:ebe198368444 501 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 502 lcd.locate(0,1);
enricoan 19:ebe198368444 503 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 504 lcd.locate(0,2);
enricoan 19:ebe198368444 505 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 506 if (y_mais == 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);coord_y += (5.625*5/32)/360;est_y = 0;
enricoan 18:3c40a8a17963 507 lcd.cls();
enricoan 18:3c40a8a17963 508 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 509 lcd.locate(0,1);
enricoan 18:3c40a8a17963 510 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 511 lcd.locate(0,2);
enricoan 18:3c40a8a17963 512 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 513 if (z_mais == 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);coord_z += (5.625*5/32)/360;est_z = 0;
enricoan 19:ebe198368444 514 lcd.cls();
enricoan 19:ebe198368444 515 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 516 lcd.locate(0,1);
enricoan 19:ebe198368444 517 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 518 lcd.locate(0,2);
enricoan 19:ebe198368444 519 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 18:3c40a8a17963 520
enricoan 16:70baa0057a76 521 if (x_mais || x_menos || y_mais || y_menos || z_mais || z_menos != 0){
enricoan 16:70baa0057a76 522 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 523 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 16:70baa0057a76 524 for(int i = 0; i < 4; i++){eixoz = parado[i];}
enricoan 16:70baa0057a76 525 }
enricoan 19:ebe198368444 526
enricoan 18:3c40a8a17963 527 /*
enricoan 18:3c40a8a17963 528 lcd.cls();
enricoan 18:3c40a8a17963 529 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 530 lcd.locate(0,1);
enricoan 18:3c40a8a17963 531 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 532 lcd.locate(0,2);
enricoan 18:3c40a8a17963 533 lcd.printf("Z: %4.1f", coord_z);
enricoan 18:3c40a8a17963 534 */
enricoan 18:3c40a8a17963 535
amandarm 26:4123b9462158 536 tecla = teclado.ReadKey();
enricoan 28:c4733814201a 537 if(tecla =='1' && status_tela == "inicio"){
amandarm 26:4123b9462158 538 funcao_pega1();
enricoan 29:76d952358896 539 wait(1);
amandarm 26:4123b9462158 540 funcao_pega2();
amandarm 26:4123b9462158 541 status_tela = "novo";
amandarm 26:4123b9462158 542 }
enricoan 28:c4733814201a 543 else if(tecla == '2' && status_tela == "inicio"){
amandarm 26:4123b9462158 544 funcao_salvo1();
enricoan 29:76d952358896 545 wait(1);
amandarm 26:4123b9462158 546 funcao_salvo2();
amandarm 26:4123b9462158 547 status_tela = "salvo";
amandarm 26:4123b9462158 548 }
amandarm 26:4123b9462158 549 tecla = teclado.ReadKey();
enricoan 28:c4733814201a 550 if(tecla =='1' && status_tela =="novo"){
amandarm 26:4123b9462158 551 funcao_pega_forma();
amandarm 26:4123b9462158 552 status_tela ="forma";
amandarm 26:4123b9462158 553 }
enricoan 28:c4733814201a 554 else if(tecla =='2' && status_tela == "novo"){
amandarm 26:4123b9462158 555 funcao_pega_volume();
amandarm 26:4123b9462158 556 status_tela = "volume";
amandarm 26:4123b9462158 557 }
enricoan 28:c4733814201a 558 else if(tecla == '3' && status_tela == "novo"){
amandarm 26:4123b9462158 559 funcao_pega_pos_x();
amandarm 26:4123b9462158 560 status_tela = "pos_x";
amandarm 26:4123b9462158 561 }
enricoan 28:c4733814201a 562 else if(tecla == 'B' && status_tela == "novo"){
amandarm 26:4123b9462158 563 funcao_inicio();
amandarm 26:4123b9462158 564 status_tela = "inicio";
amandarm 26:4123b9462158 565 }
enricoan 28:c4733814201a 566 else if(tecla == '1' && status_tela == "salvo"){
amandarm 26:4123b9462158 567 funcao_salvo_agree1();
amandarm 26:4123b9462158 568 status_tela = "confirmacao";
amandarm 26:4123b9462158 569 }
enricoan 28:c4733814201a 570 else if(tecla =='2' && status_tela == "salvo"){
amandarm 26:4123b9462158 571 funcao_salvo_agree1();
amandarm 26:4123b9462158 572 status_tela = "confirmacao";
amandarm 26:4123b9462158 573 }
enricoan 28:c4733814201a 574 else if(tecla =='B' && status_tela == "salvo"){
amandarm 26:4123b9462158 575 funcao_inicio();
amandarm 26:4123b9462158 576 status_tela = "inicio";
amandarm 26:4123b9462158 577 }
amandarm 26:4123b9462158 578 tecla = teclado.ReadKey();
enricoan 28:c4733814201a 579 if(tecla == '1' && status_tela == "forma"){
amandarm 26:4123b9462158 580 funcao_pega_forma_quad();
amandarm 26:4123b9462158 581 status_tela ="forma_quad";
amandarm 26:4123b9462158 582 }
enricoan 28:c4733814201a 583 else if(tecla == '2' && status_tela == "forma"){
amandarm 26:4123b9462158 584 funcao_pega_forma_red();
amandarm 26:4123b9462158 585 status_tela = "forma_quad";
amandarm 26:4123b9462158 586 }
enricoan 28:c4733814201a 587 else if(tecla == 'B' && status_tela == "forma"){
amandarm 26:4123b9462158 588 funcao_pega_forma();
amandarm 26:4123b9462158 589 status_tela = "novo";
amandarm 26:4123b9462158 590 }
amandarm 26:4123b9462158 591
amandarm 26:4123b9462158 592 tecla = teclado.ReadKey();
enricoan 28:c4733814201a 593 if(tecla == 'A' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 594 funcao_pega1();
enricoan 29:76d952358896 595 wait(1);
amandarm 26:4123b9462158 596 funcao_pega2();
amandarm 26:4123b9462158 597 status_tela ="inicio";
amandarm 26:4123b9462158 598 }
enricoan 28:c4733814201a 599 else if(tecla == 'B' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 600 funcao_pega_forma();
amandarm 26:4123b9462158 601 status_tela = "forma";
amandarm 26:4123b9462158 602 }
enricoan 28:c4733814201a 603 else if(tecla == 'A' && status_tela == "forma_red"){
amandarm 26:4123b9462158 604 funcao_pega1();
enricoan 29:76d952358896 605 wait(1);
amandarm 26:4123b9462158 606 funcao_pega2();
amandarm 26:4123b9462158 607 status_tela ="inicio";
amandarm 26:4123b9462158 608 }
enricoan 28:c4733814201a 609 else if(tecla == 'B' && status_tela == "forma_red"){
amandarm 26:4123b9462158 610 funcao_pega_forma();
amandarm 26:4123b9462158 611 status_tela = "forma";
amandarm 26:4123b9462158 612 }
enricoan 28:c4733814201a 613 else if(tecla == 'A' && status_tela == "volume"){
amandarm 26:4123b9462158 614 funcao_pega1();
enricoan 29:76d952358896 615 wait(1);
amandarm 26:4123b9462158 616 funcao_pega2();
amandarm 26:4123b9462158 617 status_tela ="inicio";
amandarm 26:4123b9462158 618 }
enricoan 28:c4733814201a 619 else if( tecla == 'B' && status_tela == "volume"){
amandarm 26:4123b9462158 620 funcao_pega_forma();
amandarm 26:4123b9462158 621 status_tela = "forma";
amandarm 26:4123b9462158 622 }
enricoan 28:c4733814201a 623 else if(tecla == 'A' && status_tela == "pos_x"){
enricoan 29:76d952358896 624 funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y
amandarm 26:4123b9462158 625 status_tela = "pos_y";
amandarm 26:4123b9462158 626 }
enricoan 28:c4733814201a 627 else if(tecla == 'B' && status_tela == "pos_x"){
amandarm 26:4123b9462158 628 funcao_pega_forma();
amandarm 26:4123b9462158 629 status_tela = "forma";
amandarm 26:4123b9462158 630 }
amandarm 26:4123b9462158 631
amandarm 26:4123b9462158 632 tecla = teclado.ReadKey();
enricoan 28:c4733814201a 633 if(tecla == 'A' && status_tela == "pos_y"){
amandarm 26:4123b9462158 634 funcao_pega1();
enricoan 29:76d952358896 635 wait(1);
amandarm 26:4123b9462158 636 funcao_pega2();
amandarm 26:4123b9462158 637 status_tela ="inicio";
amandarm 26:4123b9462158 638 }
enricoan 28:c4733814201a 639 else if(tecla == 'B' && status_tela == "pos_y"){
amandarm 26:4123b9462158 640 funcao_pega_forma();
amandarm 26:4123b9462158 641 status_tela = "forma";
amandarm 26:4123b9462158 642 }
Hiroball 11:dc557e461dfd 643 }
enricoan 10:4f49e9859535 644 }