Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@23:1c74f54c9d4a, 2020-05-26 (annotated)

Committer:
enricoan
Date:
Tue May 26 12:53:29 2020 +0000
Revision:
23:1c74f54c9d4a
Parent:
20:81a44a25b21d
Child:
24:38820e43b9fe
comentarios

Who changed what in which revision?

UserRevisionLine numberNew contents of line
enricoan 20:81a44a25b21d 1 //local para inclusão 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 17:4d0b8ed791e0 6 //local para a declaração de variáveis
enricoan 20:81a44a25b21d 7 float t_motor = 0.002;
enricoan 10:4f49e9859535 8 float t_teclado = 0.01;
enricoan 19:ebe198368444 9 int hor[] = {12,6,3,9};
enricoan 19:ebe198368444 10 int antihor[] = {3,6,12,9};
enricoan 16:70baa0057a76 11 int parado[] = {0,0,0,0};
enricoan 16:70baa0057a76 12 char tecla;
enricoan 18:3c40a8a17963 13 float coord_x = 0;
enricoan 18:3c40a8a17963 14 float coord_y = 0;
enricoan 18:3c40a8a17963 15 float coord_z = 0;
enricoan 20:81a44a25b21d 16 int est_x = 0;
enricoan 20:81a44a25b21d 17 int est_y = 0;
enricoan 20:81a44a25b21d 18 int est_z = 0;
enricoan 17:4d0b8ed791e0 19
enricoan 17:4d0b8ed791e0 20 //pinos usados pelos botões 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 10:4f49e9859535 25 //botões para movimentação eixo a eixo
enricoan 10:4f49e9859535 26 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 27 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 28 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 29 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 30 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 31 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 32
enricoan 10:4f49e9859535 33 //pinos da placa usados na biblioteca do LCD
enricoan 10:4f49e9859535 34 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 35
enricoan 16:70baa0057a76 36 //pinos do teclado
enricoan 16:70baa0057a76 37 Keypad teclado(PA_6, PA_7, PB_6, PC_7, PB_7, PC_13, PC_14, PC_15);
enricoan 16:70baa0057a76 38
enricoan 10:4f49e9859535 39 //pinos de saída para os motores
enricoan 10:4f49e9859535 40 //eixo x
Hiroball 11:dc557e461dfd 41 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 42 //eixo y
Hiroball 11:dc557e461dfd 43 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 44 //eixo z
Hiroball 11:dc557e461dfd 45 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 46
enricoan 10:4f49e9859535 47 int main() {
enricoan 20:81a44a25b21d 48 printf("\n%i",est_x);
enricoan 20:81a44a25b21d 49 printf("\n%i",est_y);
enricoan 20:81a44a25b21d 50 printf("\n%i",est_z);
enricoan 16:70baa0057a76 51 lcd.printf("Bem-vindo ao Pipemax");
Hiroball 11:dc557e461dfd 52 lcd.locate(0,1);
enricoan 16:70baa0057a76 53 lcd.printf("o seu sistema");
Hiroball 11:dc557e461dfd 54 lcd.locate(0,2);
enricoan 16:70baa0057a76 55 lcd.printf("automatizado");
Hiroball 11:dc557e461dfd 56 lcd.locate(0,3);
enricoan 16:70baa0057a76 57 lcd.printf("de pipetagem");
enricoan 19:ebe198368444 58 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
enricoan 19:ebe198368444 59 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
enricoan 19:ebe198368444 60 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}
enricoan 20:81a44a25b21d 61 printf("\n%i",est_x);
enricoan 20:81a44a25b21d 62 printf("\n%i",est_y);
enricoan 20:81a44a25b21d 63 printf("\n%i",est_z);
Hiroball 11:dc557e461dfd 64 while(1) {
enricoan 16:70baa0057a76 65 int solta = 1;
enricoan 23:1c74f54c9d4a 66 tecla = teclado.ReadKey(); //leitura da tecla apertada
enricoan 23:1c74f54c9d4a 67 if(tecla == '\0') solta = 1; //todas as teclas soltas
enricoan 16:70baa0057a76 68 if((tecla != '\0') && (solta == 1)) { //if a key is pressed AND previous key was released
enricoan 16:70baa0057a76 69 printf("%c\n", tecla);
enricoan 16:70baa0057a76 70 solta = 0; //clear the flag to indicate that key is still pressed
enricoan 16:70baa0057a76 71 wait(0.1);}
enricoan 19:ebe198368444 72 /* tentativa de fazer o motor parar ao apertar algum dos fins de curso
enricoan 18:3c40a8a17963 73 if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){
enricoan 18:3c40a8a17963 74 for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;}
enricoan 18:3c40a8a17963 75 for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;}
enricoan 18:3c40a8a17963 76 for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;}
enricoan 19:ebe198368444 77 */
enricoan 19:ebe198368444 78 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 79 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");}}
enricoan 19:ebe198368444 80 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");}}
enricoan 19:ebe198368444 81
enricoan 19:ebe198368444 82 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 83 lcd.cls();
enricoan 18:3c40a8a17963 84 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 85 lcd.locate(0,1);
enricoan 18:3c40a8a17963 86 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 87 lcd.locate(0,2);
enricoan 18:3c40a8a17963 88 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 89 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 90 lcd.cls();
enricoan 19:ebe198368444 91 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 92 lcd.locate(0,1);
enricoan 19:ebe198368444 93 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 94 lcd.locate(0,2);
enricoan 19:ebe198368444 95 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 96 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 97 lcd.cls();
enricoan 18:3c40a8a17963 98 lcd.printf("X: %4.1f", coord_x);
enricoan 16:70baa0057a76 99 lcd.locate(0,1);
enricoan 18:3c40a8a17963 100 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 101 lcd.locate(0,2);
enricoan 18:3c40a8a17963 102 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 103
enricoan 19:ebe198368444 104 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 105 lcd.cls();
enricoan 19:ebe198368444 106 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 107 lcd.locate(0,1);
enricoan 19:ebe198368444 108 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 109 lcd.locate(0,2);
enricoan 19:ebe198368444 110 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 111 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 112 lcd.cls();
enricoan 18:3c40a8a17963 113 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 114 lcd.locate(0,1);
enricoan 18:3c40a8a17963 115 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 116 lcd.locate(0,2);
enricoan 18:3c40a8a17963 117 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 19:ebe198368444 118 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 119 lcd.cls();
enricoan 19:ebe198368444 120 lcd.printf("X: %4.1f", coord_x);
enricoan 19:ebe198368444 121 lcd.locate(0,1);
enricoan 19:ebe198368444 122 lcd.printf("Y: %4.1f", coord_y);
enricoan 19:ebe198368444 123 lcd.locate(0,2);
enricoan 19:ebe198368444 124 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 18:3c40a8a17963 125
enricoan 16:70baa0057a76 126 if (x_mais || x_menos || y_mais || y_menos || z_mais || z_menos != 0){
enricoan 16:70baa0057a76 127 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 128 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 16:70baa0057a76 129 for(int i = 0; i < 4; i++){eixoz = parado[i];}
enricoan 16:70baa0057a76 130 }
enricoan 19:ebe198368444 131
enricoan 18:3c40a8a17963 132 /*
enricoan 18:3c40a8a17963 133 lcd.cls();
enricoan 18:3c40a8a17963 134 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 135 lcd.locate(0,1);
enricoan 18:3c40a8a17963 136 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 137 lcd.locate(0,2);
enricoan 18:3c40a8a17963 138 lcd.printf("Z: %4.1f", coord_z);
enricoan 18:3c40a8a17963 139 */
enricoan 18:3c40a8a17963 140
Hiroball 11:dc557e461dfd 141 }
enricoan 10:4f49e9859535 142 }