Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@18:3c40a8a17963, 2020-05-25 (annotated)

Committer:
enricoan
Date:
Mon May 25 22:27:08 2020 +0000
Revision:
18:3c40a8a17963
Parent:
17:4d0b8ed791e0
Child:
19:ebe198368444
referenciamento 1/2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
enricoan 10:4f49e9859535 1 #include "mbed.h"
enricoan 10:4f49e9859535 2 #include "TextLCD.h"
enricoan 10:4f49e9859535 3 #include "Keypad.h"
enricoan 10:4f49e9859535 4
enricoan 17:4d0b8ed791e0 5 //local para a declaração de variáveis
enricoan 16:70baa0057a76 6 float t_motor = 0.003;
enricoan 10:4f49e9859535 7 float t_teclado = 0.01;
Hiroball 11:dc557e461dfd 8 int horario[] = {12,6,3,9};
Hiroball 11:dc557e461dfd 9 int antih[] = {3,6,12,9};
enricoan 16:70baa0057a76 10 int parado[] = {0,0,0,0};
enricoan 16:70baa0057a76 11 char tecla;
enricoan 18:3c40a8a17963 12 float coord_x = 0;
enricoan 18:3c40a8a17963 13 float coord_y = 0;
enricoan 18:3c40a8a17963 14 float coord_z = 0;
enricoan 17:4d0b8ed791e0 15
enricoan 17:4d0b8ed791e0 16 //pinos usados pelos botões de fim de curso
enricoan 17:4d0b8ed791e0 17 DigitalIn fdc_x(PC_10);
enricoan 17:4d0b8ed791e0 18 DigitalIn fdc_y(PC_11);
enricoan 17:4d0b8ed791e0 19 DigitalIn fdc_z(PC_12);
enricoan 18:3c40a8a17963 20 int est_x = 0;
enricoan 18:3c40a8a17963 21 int est_y = 0;
enricoan 18:3c40a8a17963 22 int est_z = 0;
enricoan 10:4f49e9859535 23 //botões para movimentação eixo a eixo
enricoan 10:4f49e9859535 24 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 25 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 26 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 27 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 28 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 29 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 30
enricoan 10:4f49e9859535 31 //pinos da placa usados na biblioteca do LCD
enricoan 10:4f49e9859535 32 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 33
enricoan 16:70baa0057a76 34 //pinos do teclado
enricoan 16:70baa0057a76 35 Keypad teclado(PA_6, PA_7, PB_6, PC_7, PB_7, PC_13, PC_14, PC_15);
enricoan 16:70baa0057a76 36
enricoan 10:4f49e9859535 37 //pinos de saída para os motores
enricoan 10:4f49e9859535 38 //eixo x
Hiroball 11:dc557e461dfd 39 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 40 //eixo y
Hiroball 11:dc557e461dfd 41 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 42 //eixo z
Hiroball 11:dc557e461dfd 43 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 44
enricoan 10:4f49e9859535 45 int main() {
enricoan 16:70baa0057a76 46 lcd.printf("Bem-vindo ao Pipemax");
Hiroball 11:dc557e461dfd 47 lcd.locate(0,1);
enricoan 16:70baa0057a76 48 lcd.printf("o seu sistema");
Hiroball 11:dc557e461dfd 49 lcd.locate(0,2);
enricoan 16:70baa0057a76 50 lcd.printf("automatizado");
Hiroball 11:dc557e461dfd 51 lcd.locate(0,3);
enricoan 16:70baa0057a76 52 lcd.printf("de pipetagem");
enricoan 18:3c40a8a17963 53 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = horario[i];wait(t_motor);est_x = 1;}}
enricoan 18:3c40a8a17963 54 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = horario[i];wait(t_motor);est_y = 1;}}
enricoan 18:3c40a8a17963 55 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = horario[i];wait(t_motor);est_z = 1;}}
Hiroball 11:dc557e461dfd 56 while(1) {
enricoan 16:70baa0057a76 57 int solta = 1;
enricoan 16:70baa0057a76 58 tecla = teclado.ReadKey(); //read the current key pressed
enricoan 16:70baa0057a76 59 if(tecla == '\0') solta = 1; //set the flag when all keys are released
enricoan 16:70baa0057a76 60 if((tecla != '\0') && (solta == 1)) { //if a key is pressed AND previous key was released
enricoan 16:70baa0057a76 61 printf("%c\n", tecla);
enricoan 16:70baa0057a76 62 solta = 0; //clear the flag to indicate that key is still pressed
enricoan 16:70baa0057a76 63 wait(0.1);}
enricoan 18:3c40a8a17963 64 if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){
enricoan 18:3c40a8a17963 65 for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;}
enricoan 18:3c40a8a17963 66 for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;}
enricoan 18:3c40a8a17963 67 for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;}
enricoan 18:3c40a8a17963 68 }
enricoan 18:3c40a8a17963 69 if (x_menos == 0){for(int i = 0; i < 4; i++){eixox = antih[i];wait(t_motor);coord_x -= (5.625*5/32)/360;est_x = 0;
enricoan 16:70baa0057a76 70 lcd.cls();
enricoan 18:3c40a8a17963 71 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 72 lcd.locate(0,1);
enricoan 18:3c40a8a17963 73 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 74 lcd.locate(0,2);
enricoan 18:3c40a8a17963 75 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 18:3c40a8a17963 76
enricoan 18:3c40a8a17963 77 if (y_menos == 0){for(int i = 0; i < 4; i++){eixoy = antih[i];wait(t_motor);coord_y -= (5.625*5/32)/360;est_y = 0;
enricoan 18:3c40a8a17963 78 lcd.cls();
enricoan 18:3c40a8a17963 79 lcd.printf("X: %4.1f", coord_x);
enricoan 16:70baa0057a76 80 lcd.locate(0,1);
enricoan 18:3c40a8a17963 81 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 82 lcd.locate(0,2);
enricoan 18:3c40a8a17963 83 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 18:3c40a8a17963 84
enricoan 18:3c40a8a17963 85 if (z_menos == 0){for(int i = 0; i < 4; i++){eixoz = antih[i];wait(t_motor);coord_z -= (5.625*5/32)/360;est_z = 0;
enricoan 18:3c40a8a17963 86 lcd.cls();
enricoan 18:3c40a8a17963 87 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 88 lcd.locate(0,1);
enricoan 18:3c40a8a17963 89 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 90 lcd.locate(0,2);
enricoan 18:3c40a8a17963 91 lcd.printf("Z: %4.1f", coord_z);}}
enricoan 18:3c40a8a17963 92
enricoan 18:3c40a8a17963 93 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 18:3c40a8a17963 94 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 18:3c40a8a17963 95 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 18:3c40a8a17963 96
enricoan 16:70baa0057a76 97 if (x_mais || x_menos || y_mais || y_menos || z_mais || z_menos != 0){
enricoan 16:70baa0057a76 98 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 99 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 16:70baa0057a76 100 for(int i = 0; i < 4; i++){eixoz = parado[i];}
enricoan 16:70baa0057a76 101 }
enricoan 18:3c40a8a17963 102 /*
enricoan 18:3c40a8a17963 103 lcd.cls();
enricoan 18:3c40a8a17963 104 lcd.printf("X: %4.1f", coord_x);
enricoan 18:3c40a8a17963 105 lcd.locate(0,1);
enricoan 18:3c40a8a17963 106 lcd.printf("Y: %4.1f", coord_y);
enricoan 18:3c40a8a17963 107 lcd.locate(0,2);
enricoan 18:3c40a8a17963 108 lcd.printf("Z: %4.1f", coord_z);
enricoan 18:3c40a8a17963 109 */
enricoan 18:3c40a8a17963 110
Hiroball 11:dc557e461dfd 111 }
enricoan 10:4f49e9859535 112 }