Projeto Mecatrônico
/
ProjetoMecatronico
testando
main_PM.cpp@59:447534f1e4f5, 2020-05-31 (annotated)
- Committer:
- Hiroball
- Date:
- Sun May 31 21:55:14 2020 +0000
- Revision:
- 59:447534f1e4f5
- Parent:
- 58:d573b618f45a
- Child:
- 60:e2c632e8dee1
Coloquei o comprimento quad;
Who changed what in which revision?
User | Revision | Line number | New 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" |
amandarm | 31:acb062a05984 | 4 | #include "funcoes_ihm.h" |
amandarm | 38:2a0e12322e72 | 5 | #include "classe.h" |
enricoan | 33:a513498222c7 | 6 | #include <stdio.h> |
enricoan | 33:a513498222c7 | 7 | #include <string> |
amandarm | 35:a8256801e9ab | 8 | |
enricoan | 29:76d952358896 | 9 | //local para a declaracao de varioveis |
enricoan | 30:179ceb3e5791 | 10 | float t_motor = 0.002; //delay entre o acionamento de uma bobina do motor e a outra |
enricoan | 30:179ceb3e5791 | 11 | 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 | 12 | 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 | 13 | 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 | 14 | int parado[] = {0,0,0,0}; //valores enviados às bobinas do motor para deixá-lo parado |
enricoan | 30:179ceb3e5791 | 15 | char tecla; //variável que guarda a tecla apertada no teclado |
enricoan | 30:179ceb3e5791 | 16 | 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 | 17 | 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 | 18 | 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 | 19 | 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 | 20 | 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 | 21 | 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 | 22 | |
Hiroball | 59:447534f1e4f5 | 23 | |
enricoan | 29:76d952358896 | 24 | //pinos usados pelos botoes de fim de curso |
enricoan | 17:4d0b8ed791e0 | 25 | DigitalIn fdc_x(PC_10); |
enricoan | 17:4d0b8ed791e0 | 26 | DigitalIn fdc_y(PC_11); |
enricoan | 17:4d0b8ed791e0 | 27 | DigitalIn fdc_z(PC_12); |
enricoan | 20:81a44a25b21d | 28 | |
enricoan | 29:76d952358896 | 29 | //Iterrupcao botao de emergência |
enricoan | 43:cfc3da0299ff | 30 | InterruptIn interrupcao(PC_14); |
amandarm | 25:b0db528c1985 | 31 | |
enricoan | 42:a6fbbe536814 | 32 | //pinos do rele, saida digital para acionar o rele se necessario, dada uma entrada no pino da emergencia |
enricoan | 30:179ceb3e5791 | 33 | DigitalOut rele1(PC_5); |
enricoan | 30:179ceb3e5791 | 34 | DigitalOut rele2(PB_9); |
amandarm | 25:b0db528c1985 | 35 | |
enricoan | 29:76d952358896 | 36 | //botoes para movimentacao eixo a eixo |
enricoan | 10:4f49e9859535 | 37 | DigitalIn x_mais(PA_0); |
enricoan | 10:4f49e9859535 | 38 | DigitalIn x_menos(PA_1); |
enricoan | 10:4f49e9859535 | 39 | DigitalIn y_mais(PC_0); |
enricoan | 10:4f49e9859535 | 40 | DigitalIn y_menos(PC_1); |
enricoan | 10:4f49e9859535 | 41 | DigitalIn z_mais(PC_2); |
enricoan | 10:4f49e9859535 | 42 | DigitalIn z_menos(PC_3); |
enricoan | 10:4f49e9859535 | 43 | |
enricoan | 10:4f49e9859535 | 44 | //pinos da placa usados na biblioteca do LCD |
enricoan | 42:a6fbbe536814 | 45 | //TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 10:4f49e9859535 | 46 | |
enricoan | 16:70baa0057a76 | 47 | //pinos do teclado |
enricoan | 40:39263f4cf8b7 | 48 | DigitalIn b(PC_4); |
enricoan | 40:39263f4cf8b7 | 49 | DigitalIn a(PB_0); |
enricoan | 40:39263f4cf8b7 | 50 | DigitalIn t_0(PC_13); |
enricoan | 40:39263f4cf8b7 | 51 | DigitalIn t_1(PB_7); |
enricoan | 40:39263f4cf8b7 | 52 | DigitalIn t_2(PD_2); |
enricoan | 41:9709891f77c5 | 53 | DigitalIn t_3(PA_4); |
enricoan | 40:39263f4cf8b7 | 54 | DigitalIn t_4(PB_12); |
enricoan | 40:39263f4cf8b7 | 55 | DigitalIn t_5(PB_15); |
enricoan | 41:9709891f77c5 | 56 | DigitalIn t_6(PA_7); |
enricoan | 40:39263f4cf8b7 | 57 | DigitalIn t_7(PB_14); |
enricoan | 40:39263f4cf8b7 | 58 | DigitalIn t_8(PA_6); |
enricoan | 40:39263f4cf8b7 | 59 | DigitalIn t_9(PB_13); |
enricoan | 16:70baa0057a76 | 60 | |
enricoan | 10:4f49e9859535 | 61 | //pinos de saída para os motores |
enricoan | 10:4f49e9859535 | 62 | //eixo x |
Hiroball | 11:dc557e461dfd | 63 | BusOut eixox(PA_15,PA_14,PA_13,PA_12); |
enricoan | 10:4f49e9859535 | 64 | //eixo y |
Hiroball | 11:dc557e461dfd | 65 | BusOut eixoy(PA_11,PA_10,PB_2,PB_1); |
enricoan | 10:4f49e9859535 | 66 | //eixo z |
Hiroball | 11:dc557e461dfd | 67 | BusOut eixoz(PC_9,PC_8,PB_8,PC_6); |
enricoan | 10:4f49e9859535 | 68 | |
enricoan | 42:a6fbbe536814 | 69 | //funcao para receber inputs do teclado |
enricoan | 43:cfc3da0299ff | 70 | char pega_tecla(){ |
enricoan | 43:cfc3da0299ff | 71 | if (b == 0)return ('A'); |
enricoan | 43:cfc3da0299ff | 72 | if (a == 0)return('B'); |
enricoan | 43:cfc3da0299ff | 73 | if (t_0 == 0)return('0'); |
enricoan | 43:cfc3da0299ff | 74 | if (t_1 == 0)return('1'); |
enricoan | 43:cfc3da0299ff | 75 | if (t_2 == 0)return('2'); |
enricoan | 43:cfc3da0299ff | 76 | if (t_3 == 0)return('3'); |
enricoan | 43:cfc3da0299ff | 77 | if (t_4 == 0)return('4'); |
enricoan | 43:cfc3da0299ff | 78 | if (t_5 == 0)return('5'); |
enricoan | 43:cfc3da0299ff | 79 | if (t_6 == 0)return('6'); |
enricoan | 43:cfc3da0299ff | 80 | if (t_7 == 0)return('7'); |
enricoan | 43:cfc3da0299ff | 81 | if (t_8 == 0)return('8'); |
enricoan | 54:74a215a1f76b | 82 | if (t_9 == 0)return('9'); |
enricoan | 54:74a215a1f76b | 83 | return('k');} |
enricoan | 42:a6fbbe536814 | 84 | |
enricoan | 32:2a9b30e1e7ab | 85 | //funcao de movimentacao dos motores |
enricoan | 32:2a9b30e1e7ab | 86 | void mov_x_menos(){for(int i = 0; i < 4; i++){eixox = antihor[i];wait(t_motor);coord_x -= (5.625*5/32)/360;est_x = 0;}} |
enricoan | 32:2a9b30e1e7ab | 87 | void mov_y_menos(){for(int i = 0; i < 4; i++){eixoy = antihor[i];wait(t_motor);coord_y -= (5.625*5/32)/360;est_y = 0;}} |
enricoan | 32:2a9b30e1e7ab | 88 | void mov_z_menos(){for(int i = 0; i < 4; i++){eixoz = antihor[i];wait(t_motor);coord_z -= (5.625*5/32)/360;est_z = 0;}} |
enricoan | 32:2a9b30e1e7ab | 89 | void mov_x_mais() {for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);coord_x += (5.625*5/32)/360;est_x = 0;}} |
enricoan | 32:2a9b30e1e7ab | 90 | void mov_y_mais() {for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);coord_y += (5.625*5/32)/360;est_y = 0;}} |
enricoan | 32:2a9b30e1e7ab | 91 | void mov_z_mais() {for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);coord_z += (5.625*5/32)/360;est_z = 0;}} |
enricoan | 32:2a9b30e1e7ab | 92 | |
enricoan | 32:2a9b30e1e7ab | 93 | //Funcao de interrupcao |
enricoan | 32:2a9b30e1e7ab | 94 | void emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 32:2a9b30e1e7ab | 95 | rele1 = 0; |
amandarm | 25:b0db528c1985 | 96 | eixox = 0b0000; |
amandarm | 25:b0db528c1985 | 97 | eixoy = 0b0000; |
amandarm | 25:b0db528c1985 | 98 | eixoz = 0b0000; |
amandarm | 25:b0db528c1985 | 99 | lcd.cls(); |
enricoan | 29:76d952358896 | 100 | lcd.printf("Botao Emergencia"); |
amandarm | 25:b0db528c1985 | 101 | lcd.locate(0,1); |
amandarm | 25:b0db528c1985 | 102 | lcd.printf(" acionado "); |
amandarm | 25:b0db528c1985 | 103 | lcd.locate(0,2); |
amandarm | 46:e73e36a20134 | 104 | lcd.printf("Operacao pausada"); |
amandarm | 46:e73e36a20134 | 105 | wait(5);} |
enricoan | 56:e748b9bd5e3c | 106 | |
enricoan | 29:76d952358896 | 107 | //Funcao de zeramento |
amandarm | 57:e26deee15b8f | 108 | |
amandarm | 27:45f8125a0c0b | 109 | void zeramento(){ |
amandarm | 27:45f8125a0c0b | 110 | while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}} |
amandarm | 27:45f8125a0c0b | 111 | while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}} |
enricoan | 54:74a215a1f76b | 112 | while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}} |
enricoan | 29:76d952358896 | 113 | |
enricoan | 54:74a215a1f76b | 114 | //Variaveis para operacao IHM |
enricoan | 29:76d952358896 | 115 | using std::string; |
enricoan | 32:2a9b30e1e7ab | 116 | string status_tela = "zeramento"; |
amandarm | 35:a8256801e9ab | 117 | int programa = 0; |
enricoan | 29:76d952358896 | 118 | |
amandarm | 55:4d071fb49f24 | 119 | float pos_x_pega = 0; |
amandarm | 55:4d071fb49f24 | 120 | float pos_y_pega = 0; |
amandarm | 55:4d071fb49f24 | 121 | float medida_lado_pega=0; |
amandarm | 55:4d071fb49f24 | 122 | float volume_pega = 0; |
amandarm | 55:4d071fb49f24 | 123 | int tipo_pega=0; |
amandarm | 55:4d071fb49f24 | 124 | |
amandarm | 55:4d071fb49f24 | 125 | float dimensao_solta=0; |
amandarm | 55:4d071fb49f24 | 126 | |
amandarm | 55:4d071fb49f24 | 127 | float volume_solta_1=0; |
amandarm | 55:4d071fb49f24 | 128 | float volume_solta_2=0; |
amandarm | 55:4d071fb49f24 | 129 | float volume_solta_3=0; |
amandarm | 55:4d071fb49f24 | 130 | float volume_solta_4=0; |
amandarm | 55:4d071fb49f24 | 131 | float volume_solta_5=0; |
amandarm | 55:4d071fb49f24 | 132 | float volume_solta_6=0; |
amandarm | 55:4d071fb49f24 | 133 | float volume_solta_7=0; |
amandarm | 55:4d071fb49f24 | 134 | float volume_solta_8=0; |
amandarm | 55:4d071fb49f24 | 135 | float volume_solta_9=0; |
amandarm | 55:4d071fb49f24 | 136 | |
amandarm | 55:4d071fb49f24 | 137 | float pos_x_solta=0; |
amandarm | 55:4d071fb49f24 | 138 | float pos_y_solta=0; |
amandarm | 55:4d071fb49f24 | 139 | |
amandarm | 57:e26deee15b8f | 140 | //main |
amandarm | 57:e26deee15b8f | 141 | |
enricoan | 29:76d952358896 | 142 | int main() { |
enricoan | 56:e748b9bd5e3c | 143 | interrupcao.fall(&emergencia); |
enricoan | 54:74a215a1f76b | 144 | int volume; |
Hiroball | 59:447534f1e4f5 | 145 | int comprimento_quad; |
enricoan | 54:74a215a1f76b | 146 | bool continuar; |
enricoan | 54:74a215a1f76b | 147 | int multiplicador; |
enricoan | 32:2a9b30e1e7ab | 148 | TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 29:76d952358896 | 149 | lcd.printf("Bem-vindo ao Pipemax"); |
enricoan | 29:76d952358896 | 150 | lcd.locate(0,1); |
enricoan | 29:76d952358896 | 151 | lcd.printf("o seu sistema"); |
enricoan | 29:76d952358896 | 152 | lcd.locate(0,2); |
enricoan | 29:76d952358896 | 153 | lcd.printf("automatizado"); |
enricoan | 29:76d952358896 | 154 | lcd.locate(0,3); |
enricoan | 29:76d952358896 | 155 | lcd.printf("de pipetagem"); |
enricoan | 33:a513498222c7 | 156 | wait(3); |
enricoan | 28:c4733814201a | 157 | lcd.cls(); |
enricoan | 29:76d952358896 | 158 | lcd.printf("Por favor, aceite"); |
amandarm | 27:45f8125a0c0b | 159 | lcd.locate(0,1); |
enricoan | 29:76d952358896 | 160 | lcd.printf("o zeramento do seu"); |
amandarm | 27:45f8125a0c0b | 161 | lcd.locate(0,2); |
enricoan | 29:76d952358896 | 162 | lcd.printf("sistema"); |
amandarm | 27:45f8125a0c0b | 163 | lcd.locate(0,3); |
enricoan | 56:e748b9bd5e3c | 164 | lcd.printf("A - proximo"); |
enricoan | 33:a513498222c7 | 165 | while(1) { |
enricoan | 50:cd54c98b6ef1 | 166 | tecla = pega_tecla(); |
enricoan | 50:cd54c98b6ef1 | 167 | printf("\n%s",status_tela); |
enricoan | 50:cd54c98b6ef1 | 168 | printf("\n%c",tecla); |
enricoan | 29:76d952358896 | 169 | if(tecla == 'A' && status_tela == "zeramento"){ |
amandarm | 27:45f8125a0c0b | 170 | zeramento(); |
enricoan | 33:a513498222c7 | 171 | status_tela = "inicio"; |
enricoan | 29:76d952358896 | 172 | funcao_inicio();} |
enricoan | 43:cfc3da0299ff | 173 | |
enricoan | 53:1d0bb62c117f | 174 | /*tentativa de fazer o motor parar ao apertar algum dos fins de curso |
enricoan | 18:3c40a8a17963 | 175 | if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){ |
enricoan | 18:3c40a8a17963 | 176 | for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;} |
enricoan | 18:3c40a8a17963 | 177 | for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;} |
enricoan | 18:3c40a8a17963 | 178 | for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;} |
enricoan | 53:1d0bb62c117f | 179 | }*/ |
enricoan | 19:ebe198368444 | 180 | 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 | 181 | 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 | 182 | 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 | 183 | |
enricoan | 33:a513498222c7 | 184 | while(x_menos == 0){mov_x_menos(); |
enricoan | 54:74a215a1f76b | 185 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 32:2a9b30e1e7ab | 186 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 32:2a9b30e1e7ab | 187 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 32:2a9b30e1e7ab | 188 | |
enricoan | 33:a513498222c7 | 189 | while(y_menos == 0){mov_y_menos(); |
enricoan | 54:74a215a1f76b | 190 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 32:2a9b30e1e7ab | 191 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 32:2a9b30e1e7ab | 192 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 32:2a9b30e1e7ab | 193 | |
enricoan | 33:a513498222c7 | 194 | while(z_menos == 0){mov_z_menos(); |
enricoan | 54:74a215a1f76b | 195 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 32:2a9b30e1e7ab | 196 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 32:2a9b30e1e7ab | 197 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 32:2a9b30e1e7ab | 198 | |
enricoan | 33:a513498222c7 | 199 | while(x_mais == 0){mov_x_mais(); |
enricoan | 54:74a215a1f76b | 200 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 33:a513498222c7 | 201 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 33:a513498222c7 | 202 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 33:a513498222c7 | 203 | |
enricoan | 33:a513498222c7 | 204 | while(y_mais == 0){mov_y_mais(); |
enricoan | 54:74a215a1f76b | 205 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 33:a513498222c7 | 206 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 33:a513498222c7 | 207 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 33:a513498222c7 | 208 | |
enricoan | 33:a513498222c7 | 209 | while(z_mais == 0){mov_z_mais(); |
enricoan | 54:74a215a1f76b | 210 | lcd.cls(); lcd.printf("X: %4.1f", coord_x); |
enricoan | 33:a513498222c7 | 211 | lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y); |
enricoan | 33:a513498222c7 | 212 | lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);} |
enricoan | 33:a513498222c7 | 213 | |
enricoan | 33:a513498222c7 | 214 | if(x_mais && x_menos && y_mais && y_menos && z_mais && z_menos != 0){ |
enricoan | 16:70baa0057a76 | 215 | for(int i = 0; i < 4; i++){eixox = parado[i];} |
enricoan | 16:70baa0057a76 | 216 | for(int i = 0; i < 4; i++){eixoy = parado[i];} |
enricoan | 33:a513498222c7 | 217 | for(int i = 0; i < 4; i++){eixoz = parado[i];}} |
amandarm | 35:a8256801e9ab | 218 | |
enricoan | 43:cfc3da0299ff | 219 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 220 | if(tecla =='1' && status_tela == "inicio"){ |
amandarm | 26:4123b9462158 | 221 | funcao_pega1(); |
enricoan | 29:76d952358896 | 222 | wait(1); |
amandarm | 26:4123b9462158 | 223 | funcao_pega2(); |
enricoan | 32:2a9b30e1e7ab | 224 | status_tela = "novo";} |
enricoan | 28:c4733814201a | 225 | else if(tecla == '2' && status_tela == "inicio"){ |
amandarm | 26:4123b9462158 | 226 | funcao_salvo1(); |
enricoan | 29:76d952358896 | 227 | wait(1); |
amandarm | 26:4123b9462158 | 228 | funcao_salvo2(); |
enricoan | 32:2a9b30e1e7ab | 229 | status_tela = "salvo";} |
amandarm | 35:a8256801e9ab | 230 | |
enricoan | 43:cfc3da0299ff | 231 | tecla = pega_tecla(); |
amandarm | 35:a8256801e9ab | 232 | if(tecla =='1' && status_tela =="salvo"){ |
amandarm | 35:a8256801e9ab | 233 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 234 | wait(1); |
amandarm | 35:a8256801e9ab | 235 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 236 | programa = 1; |
amandarm | 35:a8256801e9ab | 237 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 238 | else if(tecla =='2' && status_tela =="salvo"){ |
amandarm | 35:a8256801e9ab | 239 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 240 | wait(1); |
amandarm | 35:a8256801e9ab | 241 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 242 | programa = 2; |
amandarm | 35:a8256801e9ab | 243 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 244 | else if(tecla =='3' && status_tela =="salvo"){ |
amandarm | 35:a8256801e9ab | 245 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 246 | wait(1); |
amandarm | 35:a8256801e9ab | 247 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 248 | programa = 3; |
amandarm | 35:a8256801e9ab | 249 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 250 | else if(tecla =='4' && status_tela =="salvo"){ |
amandarm | 35:a8256801e9ab | 251 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 252 | wait(1); |
amandarm | 35:a8256801e9ab | 253 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 254 | programa = 4; |
amandarm | 35:a8256801e9ab | 255 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 256 | else if(tecla =='5' && status_tela =="salvo"){ |
amandarm | 35:a8256801e9ab | 257 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 258 | wait(1); |
amandarm | 35:a8256801e9ab | 259 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 260 | programa = 5; |
amandarm | 35:a8256801e9ab | 261 | status_tela = "salvo_confirmacao";} |
amandarm | 44:f0b7a2fe28d9 | 262 | else if(tecla =='6' && status_tela =="salvo"){ |
amandarm | 44:f0b7a2fe28d9 | 263 | funcao_salvo_agree1(); |
amandarm | 44:f0b7a2fe28d9 | 264 | wait(1); |
amandarm | 44:f0b7a2fe28d9 | 265 | funcao_salvo_agree2(); |
amandarm | 44:f0b7a2fe28d9 | 266 | programa = 6; |
amandarm | 44:f0b7a2fe28d9 | 267 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 268 | else if(tecla =='B' && status_tela =="salvo"){ |
amandarm | 47:0d9c10a9f87d | 269 | funcao_inicio(); |
amandarm | 35:a8256801e9ab | 270 | status_tela = "inicio";} |
amandarm | 35:a8256801e9ab | 271 | |
enricoan | 43:cfc3da0299ff | 272 | tecla = pega_tecla(); |
amandarm | 35:a8256801e9ab | 273 | if(tecla =='1' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 274 | funcao_salvo_agree_pos_aviso(); |
amandarm | 44:f0b7a2fe28d9 | 275 | wait(3); |
amandarm | 36:12c0f6dfb3dc | 276 | //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega) |
amandarm | 35:a8256801e9ab | 277 | funcao_salvo_agree_pos_certo(); |
amandarm | 49:4625aaa408fc | 278 | status_tela="salvo_pos_certo_pega" ;} |
amandarm | 35:a8256801e9ab | 279 | else if(tecla =='2' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 280 | funcao_salvo_agree_solta_aviso(); |
amandarm | 44:f0b7a2fe28d9 | 281 | wait(3); |
amandarm | 36:12c0f6dfb3dc | 282 | //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta) |
amandarm | 35:a8256801e9ab | 283 | funcao_salvo_agree_pos_certo(); |
amandarm | 49:4625aaa408fc | 284 | status_tela = "salvo_pos_certo_solta";} |
amandarm | 35:a8256801e9ab | 285 | else if(tecla =='3' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 286 | funcao_salvo_agree_pega_vol(); |
amandarm | 36:12c0f6dfb3dc | 287 | //programação de volume igual da de cima (programa.vol_pega) |
amandarm | 52:dca562b09080 | 288 | status_tela="salvo_conf_vol_pega";} |
amandarm | 35:a8256801e9ab | 289 | else if(tecla =='4' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 290 | funcao_salvo_agree_solta_vol(); |
amandarm | 36:12c0f6dfb3dc | 291 | //volumes configurados por cada pipeta. (programa.vol_solta_pipeta) |
amandarm | 35:a8256801e9ab | 292 | status_tela="salvo_conf_vol_solta";} |
amandarm | 35:a8256801e9ab | 293 | else if(tecla =='B' && status_tela =="salvo_confirmacao"){ |
amandarm | 47:0d9c10a9f87d | 294 | funcao_salvo1(); |
amandarm | 35:a8256801e9ab | 295 | wait(1); |
amandarm | 47:0d9c10a9f87d | 296 | funcao_salvo2(); |
amandarm | 35:a8256801e9ab | 297 | programa = 1; |
amandarm | 35:a8256801e9ab | 298 | status_tela = "salvo";} |
amandarm | 35:a8256801e9ab | 299 | |
enricoan | 43:cfc3da0299ff | 300 | tecla = pega_tecla(); |
amandarm | 49:4625aaa408fc | 301 | if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){ |
amandarm | 48:135139e2971f | 302 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 303 | lcd.locate(18,1);lcd.printf("OK"); |
amandarm | 48:135139e2971f | 304 | wait(1); |
amandarm | 48:135139e2971f | 305 | funcao_salvo_agree2(); |
enricoan | 53:1d0bb62c117f | 306 | status_tela = "salvo_confirmacao"; |
amandarm | 48:135139e2971f | 307 | }//salva essa posição como correta |
amandarm | 49:4625aaa408fc | 308 | else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){} |
amandarm | 49:4625aaa408fc | 309 | else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){ |
amandarm | 35:a8256801e9ab | 310 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 311 | wait(1); |
amandarm | 35:a8256801e9ab | 312 | funcao_salvo_agree2(); |
amandarm | 48:135139e2971f | 313 | status_tela = "salvo_confirmacao";} |
amandarm | 48:135139e2971f | 314 | |
amandarm | 52:dca562b09080 | 315 | if(tecla =='A' && status_tela =="salvo_conf_vol_pega"){ |
amandarm | 52:dca562b09080 | 316 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 317 | wait(1); |
amandarm | 52:dca562b09080 | 318 | funcao_salvo_agree2(); |
amandarm | 52:dca562b09080 | 319 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 53:1d0bb62c117f | 320 | status_tela = "salvo_confirmacao"; |
amandarm | 52:dca562b09080 | 321 | }//salva essa posição como correta |
amandarm | 52:dca562b09080 | 322 | else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){ |
amandarm | 52:dca562b09080 | 323 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 324 | wait(1); |
amandarm | 52:dca562b09080 | 325 | funcao_salvo_agree2(); |
amandarm | 52:dca562b09080 | 326 | status_tela = "salvo_confirmacao";} |
amandarm | 52:dca562b09080 | 327 | |
amandarm | 49:4625aaa408fc | 328 | if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){ |
amandarm | 49:4625aaa408fc | 329 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 330 | lcd.locate(18,2);lcd.printf("OK"); |
amandarm | 49:4625aaa408fc | 331 | wait(1); |
amandarm | 49:4625aaa408fc | 332 | funcao_salvo_agree2(); |
enricoan | 53:1d0bb62c117f | 333 | status_tela = "salvo_confirmacao"; |
amandarm | 49:4625aaa408fc | 334 | }//salva essa posição como correta |
amandarm | 49:4625aaa408fc | 335 | else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){} |
amandarm | 49:4625aaa408fc | 336 | else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){ |
amandarm | 49:4625aaa408fc | 337 | funcao_salvo_agree1(); |
amandarm | 49:4625aaa408fc | 338 | wait(1); |
amandarm | 49:4625aaa408fc | 339 | funcao_salvo_agree2(); |
amandarm | 49:4625aaa408fc | 340 | status_tela = "salvo_confirmacao";} |
amandarm | 49:4625aaa408fc | 341 | |
amandarm | 52:dca562b09080 | 342 | if(tecla =='A' && status_tela =="salvo_conf_vol_solta"){ |
amandarm | 48:135139e2971f | 343 | funcao_salvo_agree1(); |
amandarm | 48:135139e2971f | 344 | wait(1); |
amandarm | 48:135139e2971f | 345 | funcao_salvo_agree2(); |
amandarm | 52:dca562b09080 | 346 | lcd.locate(18,2);lcd.printf("OK"); |
enricoan | 53:1d0bb62c117f | 347 | status_tela = "salvo_confirmacao"; |
amandarm | 48:135139e2971f | 348 | }//salva essa posição como correta |
amandarm | 48:135139e2971f | 349 | else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){} |
amandarm | 48:135139e2971f | 350 | else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){ |
amandarm | 48:135139e2971f | 351 | funcao_salvo_agree1(); |
amandarm | 48:135139e2971f | 352 | wait(1); |
amandarm | 48:135139e2971f | 353 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 354 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 355 | |
enricoan | 43:cfc3da0299ff | 356 | tecla = pega_tecla(); |
enricoan | 32:2a9b30e1e7ab | 357 | if(tecla =='1' && status_tela =="novo"){ |
amandarm | 26:4123b9462158 | 358 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 359 | status_tela ="forma";} |
enricoan | 53:1d0bb62c117f | 360 | |
enricoan | 28:c4733814201a | 361 | else if(tecla =='2' && status_tela == "novo"){ |
enricoan | 54:74a215a1f76b | 362 | volume = 0; |
enricoan | 54:74a215a1f76b | 363 | printf("\n%c",pega_tecla()); |
enricoan | 53:1d0bb62c117f | 364 | funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF |
Hiroball | 34:1b5a00c55376 | 365 | status_tela = "volume"; |
enricoan | 54:74a215a1f76b | 366 | continuar = 1; |
enricoan | 54:74a215a1f76b | 367 | multiplicador = 10; |
enricoan | 54:74a215a1f76b | 368 | while(continuar){ |
enricoan | 54:74a215a1f76b | 369 | printf("\n%c",pega_tecla()); |
enricoan | 43:cfc3da0299ff | 370 | tecla = pega_tecla(); |
enricoan | 54:74a215a1f76b | 371 | wait(1); |
enricoan | 54:74a215a1f76b | 372 | if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){ |
enricoan | 53:1d0bb62c117f | 373 | lcd.locate(6,1); |
Hiroball | 34:1b5a00c55376 | 374 | volume = multiplicador*volume + (int)tecla; |
enricoan | 54:74a215a1f76b | 375 | printf("\nVolume: %d", volume); |
Hiroball | 34:1b5a00c55376 | 376 | } |
Hiroball | 59:447534f1e4f5 | 377 | else if(tecla == 'A'){ |
enricoan | 53:1d0bb62c117f | 378 | lcd.locate(0,2); |
Hiroball | 34:1b5a00c55376 | 379 | lcd.printf("Volume: %d", volume); |
Hiroball | 34:1b5a00c55376 | 380 | continuar = 0; |
enricoan | 54:74a215a1f76b | 381 | wait(1); |
Hiroball | 34:1b5a00c55376 | 382 | } |
Hiroball | 59:447534f1e4f5 | 383 | //############ Faz sentido apertar B e voltar para essas duas telas, ne?################# |
Hiroball | 59:447534f1e4f5 | 384 | else if(tecla=='B'){ |
Hiroball | 59:447534f1e4f5 | 385 | funcao_pega1(); |
Hiroball | 59:447534f1e4f5 | 386 | wait(1); |
Hiroball | 59:447534f1e4f5 | 387 | funcao_pega2(); |
Hiroball | 59:447534f1e4f5 | 388 | status_tela = "novo"; |
Hiroball | 59:447534f1e4f5 | 389 | continuar = 0;} |
Hiroball | 34:1b5a00c55376 | 390 | } |
Hiroball | 34:1b5a00c55376 | 391 | } |
enricoan | 28:c4733814201a | 392 | else if(tecla == '3' && status_tela == "novo"){ |
amandarm | 26:4123b9462158 | 393 | funcao_pega_pos_x(); |
amandarm | 55:4d071fb49f24 | 394 | pos_x_pega = 12.5; |
enricoan | 32:2a9b30e1e7ab | 395 | status_tela = "pos_x";} |
enricoan | 28:c4733814201a | 396 | else if(tecla == 'B' && status_tela == "novo"){ |
amandarm | 26:4123b9462158 | 397 | funcao_inicio(); |
enricoan | 32:2a9b30e1e7ab | 398 | status_tela = "inicio";} |
enricoan | 28:c4733814201a | 399 | else if(tecla == '1' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 400 | funcao_salvo_agree1(); |
enricoan | 32:2a9b30e1e7ab | 401 | status_tela = "confirmacao";} |
enricoan | 28:c4733814201a | 402 | else if(tecla =='2' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 403 | funcao_salvo_agree1(); |
enricoan | 32:2a9b30e1e7ab | 404 | status_tela = "confirmacao";} |
enricoan | 28:c4733814201a | 405 | else if(tecla =='B' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 406 | funcao_inicio(); |
enricoan | 32:2a9b30e1e7ab | 407 | status_tela = "inicio";} |
amandarm | 35:a8256801e9ab | 408 | |
enricoan | 56:e748b9bd5e3c | 409 | tecla = 'F'; |
enricoan | 56:e748b9bd5e3c | 410 | wait(1); |
enricoan | 43:cfc3da0299ff | 411 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 412 | if(tecla == '1' && status_tela == "forma"){ |
amandarm | 26:4123b9462158 | 413 | funcao_pega_forma_quad(); |
amandarm | 55:4d071fb49f24 | 414 | tipo_pega = 1; |
Hiroball | 59:447534f1e4f5 | 415 | tecla = pega_tecla(); |
Hiroball | 59:447534f1e4f5 | 416 | wait(1); |
Hiroball | 59:447534f1e4f5 | 417 | continuar = 1; |
Hiroball | 59:447534f1e4f5 | 418 | multiplicador = 10; |
Hiroball | 59:447534f1e4f5 | 419 | comprimento_quad = 0; |
Hiroball | 59:447534f1e4f5 | 420 | while(continuar){ |
Hiroball | 59:447534f1e4f5 | 421 | printf("\n%c",pega_tecla()); |
Hiroball | 59:447534f1e4f5 | 422 | tecla = pega_tecla(); |
Hiroball | 59:447534f1e4f5 | 423 | wait(1); |
Hiroball | 59:447534f1e4f5 | 424 | status_tela ="forma_quad"; |
Hiroball | 59:447534f1e4f5 | 425 | if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){ |
Hiroball | 59:447534f1e4f5 | 426 | lcd.locate(0,2); |
Hiroball | 59:447534f1e4f5 | 427 | comprimento_quad = multiplicador*comprimento_quad + (int)tecla; |
Hiroball | 59:447534f1e4f5 | 428 | printf("\nComprimento: %d", comprimento_quad); |
Hiroball | 59:447534f1e4f5 | 429 | } |
Hiroball | 59:447534f1e4f5 | 430 | else if(tecla == 'A'){ |
Hiroball | 59:447534f1e4f5 | 431 | lcd.locate(0,2); |
Hiroball | 59:447534f1e4f5 | 432 | lcd.printf("Comprimento: %d", comprimento_quad); |
Hiroball | 59:447534f1e4f5 | 433 | continuar = 0; |
Hiroball | 59:447534f1e4f5 | 434 | wait(1); |
Hiroball | 59:447534f1e4f5 | 435 | } |
Hiroball | 59:447534f1e4f5 | 436 | else if(tecla=='B'){ |
Hiroball | 59:447534f1e4f5 | 437 | funcao_pega_forma(); |
Hiroball | 59:447534f1e4f5 | 438 | status_tela = "forma"; |
Hiroball | 59:447534f1e4f5 | 439 | continuar = 0;} |
Hiroball | 59:447534f1e4f5 | 440 | } |
Hiroball | 59:447534f1e4f5 | 441 | } |
enricoan | 28:c4733814201a | 442 | else if(tecla == '2' && status_tela == "forma"){ |
amandarm | 26:4123b9462158 | 443 | funcao_pega_forma_red(); |
enricoan | 56:e748b9bd5e3c | 444 | tipo_pega = 2; |
amandarm | 55:4d071fb49f24 | 445 | status_tela = "forma_red";} |
enricoan | 28:c4733814201a | 446 | else if(tecla == 'B' && status_tela == "forma"){ |
enricoan | 56:e748b9bd5e3c | 447 | funcao_pega1(); |
enricoan | 56:e748b9bd5e3c | 448 | wait(1); |
enricoan | 56:e748b9bd5e3c | 449 | funcao_pega2(); |
enricoan | 32:2a9b30e1e7ab | 450 | status_tela = "novo";} |
amandarm | 35:a8256801e9ab | 451 | |
enricoan | 43:cfc3da0299ff | 452 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 453 | if(tecla == 'A' && status_tela == "forma_quad"){ |
amandarm | 26:4123b9462158 | 454 | funcao_pega1(); |
amandarm | 55:4d071fb49f24 | 455 | medida_lado_pega = 10; |
enricoan | 58:d573b618f45a | 456 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 457 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 458 | } |
enricoan | 58:d573b618f45a | 459 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 460 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 461 | } |
enricoan | 29:76d952358896 | 462 | wait(1); |
amandarm | 26:4123b9462158 | 463 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 464 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 465 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 466 | } |
enricoan | 56:e748b9bd5e3c | 467 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 468 | else if(tecla == 'B' && status_tela == "forma_quad"){ |
amandarm | 26:4123b9462158 | 469 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 470 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 471 | else if(tecla == 'A' && status_tela == "forma_red"){ |
amandarm | 55:4d071fb49f24 | 472 | medida_lado_pega = 10; |
amandarm | 26:4123b9462158 | 473 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 474 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 475 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 476 | } |
enricoan | 58:d573b618f45a | 477 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 478 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 479 | } |
enricoan | 29:76d952358896 | 480 | wait(1); |
amandarm | 26:4123b9462158 | 481 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 482 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 483 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 484 | } |
enricoan | 56:e748b9bd5e3c | 485 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 486 | else if(tecla == 'B' && status_tela == "forma_red"){ |
amandarm | 26:4123b9462158 | 487 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 488 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 489 | else if(tecla == 'A' && status_tela == "volume"){ |
amandarm | 26:4123b9462158 | 490 | funcao_pega1(); |
amandarm | 55:4d071fb49f24 | 491 | volume_pega = 12; |
enricoan | 58:d573b618f45a | 492 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 493 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 494 | } |
enricoan | 58:d573b618f45a | 495 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 496 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 497 | } |
enricoan | 29:76d952358896 | 498 | wait(1); |
amandarm | 26:4123b9462158 | 499 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 500 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 501 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 502 | } |
enricoan | 56:e748b9bd5e3c | 503 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 504 | else if( tecla == 'B' && status_tela == "volume"){ |
amandarm | 26:4123b9462158 | 505 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 506 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 507 | else if(tecla == 'A' && status_tela == "pos_x"){ |
enricoan | 29:76d952358896 | 508 | funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y |
amandarm | 55:4d071fb49f24 | 509 | pos_y_pega = 12.5; |
enricoan | 32:2a9b30e1e7ab | 510 | status_tela = "pos_y";} |
enricoan | 28:c4733814201a | 511 | else if(tecla == 'B' && status_tela == "pos_x"){ |
amandarm | 26:4123b9462158 | 512 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 513 | status_tela = "forma";} |
amandarm | 35:a8256801e9ab | 514 | |
enricoan | 43:cfc3da0299ff | 515 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 516 | if(tecla == 'A' && status_tela == "pos_y"){ |
amandarm | 26:4123b9462158 | 517 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 518 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 519 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 520 | } |
enricoan | 58:d573b618f45a | 521 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 522 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 523 | } |
enricoan | 29:76d952358896 | 524 | wait(1); |
amandarm | 26:4123b9462158 | 525 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 526 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 527 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 528 | } |
enricoan | 56:e748b9bd5e3c | 529 | wait(1); |
enricoan | 56:e748b9bd5e3c | 530 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 531 | else if(tecla == 'B' && status_tela == "pos_y"){ |
amandarm | 26:4123b9462158 | 532 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 533 | status_tela = "forma";} |
amandarm | 55:4d071fb49f24 | 534 | |
amandarm | 55:4d071fb49f24 | 535 | |
amandarm | 55:4d071fb49f24 | 536 | tecla=pega_tecla(); |
enricoan | 56:e748b9bd5e3c | 537 | if(pos_x_pega!=0 && pos_y_pega!=0 && medida_lado_pega!=0 && volume_pega !=0 && tipo_pega!=0 && status_tela == "novo"){ |
amandarm | 55:4d071fb49f24 | 538 | funcao_solta1(); |
amandarm | 55:4d071fb49f24 | 539 | wait(3); |
amandarm | 55:4d071fb49f24 | 540 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 541 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 542 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 543 | } |
amandarm | 55:4d071fb49f24 | 544 | wait(3); |
enricoan | 56:e748b9bd5e3c | 545 | status_tela="solta";} |
amandarm | 55:4d071fb49f24 | 546 | |
amandarm | 55:4d071fb49f24 | 547 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 548 | if(tecla == '1' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 549 | funcao_solta_dimensao(); |
amandarm | 55:4d071fb49f24 | 550 | status_tela="solta_dimensao"; |
amandarm | 55:4d071fb49f24 | 551 | } |
amandarm | 55:4d071fb49f24 | 552 | else if(tecla == '2' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 553 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 554 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 555 | } |
amandarm | 55:4d071fb49f24 | 556 | else if(tecla == '3' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 557 | funcao_solta_pos_x(); |
amandarm | 55:4d071fb49f24 | 558 | status_tela="solta_pos_x"; |
amandarm | 55:4d071fb49f24 | 559 | } |
amandarm | 55:4d071fb49f24 | 560 | else if(tecla == 'B' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 561 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 562 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 563 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 564 | } |
enricoan | 58:d573b618f45a | 565 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 566 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 567 | } |
amandarm | 55:4d071fb49f24 | 568 | wait(1); |
amandarm | 55:4d071fb49f24 | 569 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 570 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 571 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 572 | } |
amandarm | 55:4d071fb49f24 | 573 | status_tela="inicio"; |
amandarm | 55:4d071fb49f24 | 574 | } |
amandarm | 55:4d071fb49f24 | 575 | |
amandarm | 55:4d071fb49f24 | 576 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 577 | if(tecla=='A' && status_tela=="solta_dimensao"){ |
amandarm | 55:4d071fb49f24 | 578 | dimensao_solta = 10; |
amandarm | 55:4d071fb49f24 | 579 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 580 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 581 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 582 | } |
enricoan | 58:d573b618f45a | 583 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 584 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 585 | } |
amandarm | 55:4d071fb49f24 | 586 | wait(3); |
amandarm | 55:4d071fb49f24 | 587 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 588 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 589 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 590 | } |
amandarm | 55:4d071fb49f24 | 591 | wait(3); |
amandarm | 55:4d071fb49f24 | 592 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 593 | } |
amandarm | 55:4d071fb49f24 | 594 | else if(tecla=='B' && status_tela=="solta_dimensao"){ |
amandarm | 55:4d071fb49f24 | 595 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 596 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 597 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 598 | } |
enricoan | 58:d573b618f45a | 599 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 600 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 601 | } |
amandarm | 55:4d071fb49f24 | 602 | wait(3); |
amandarm | 55:4d071fb49f24 | 603 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 604 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 605 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 606 | } |
amandarm | 55:4d071fb49f24 | 607 | wait(3); |
amandarm | 55:4d071fb49f24 | 608 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 609 | } |
amandarm | 55:4d071fb49f24 | 610 | if(tecla=='1' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 611 | funcao_solta_vol_igual(); |
amandarm | 55:4d071fb49f24 | 612 | status_tela="solta_vol_igual"; |
amandarm | 55:4d071fb49f24 | 613 | } |
amandarm | 55:4d071fb49f24 | 614 | else if(tecla=='2' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 615 | funcao_solta_vol_cada(); |
amandarm | 55:4d071fb49f24 | 616 | status_tela="solta_vol_dif"; |
amandarm | 55:4d071fb49f24 | 617 | } |
amandarm | 55:4d071fb49f24 | 618 | else if(tecla=='B' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 619 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 620 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 621 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 622 | } |
enricoan | 58:d573b618f45a | 623 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 624 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 625 | } |
amandarm | 55:4d071fb49f24 | 626 | wait(3); |
amandarm | 55:4d071fb49f24 | 627 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 628 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 629 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 630 | } |
amandarm | 55:4d071fb49f24 | 631 | wait(3); |
amandarm | 55:4d071fb49f24 | 632 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 633 | } |
enricoan | 56:e748b9bd5e3c | 634 | if(tecla=='A' && status_tela=="solta_pos_x"){ |
amandarm | 55:4d071fb49f24 | 635 | funcao_solta_pos_y(); |
amandarm | 55:4d071fb49f24 | 636 | pos_x_solta = 10; |
enricoan | 56:e748b9bd5e3c | 637 | status_tela="solta_pos_y"; |
amandarm | 55:4d071fb49f24 | 638 | } |
enricoan | 56:e748b9bd5e3c | 639 | else if(tecla=='B' && status_tela=="solta_pos_x"){ |
amandarm | 55:4d071fb49f24 | 640 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 641 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 642 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 643 | } |
enricoan | 58:d573b618f45a | 644 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 645 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 646 | } |
amandarm | 55:4d071fb49f24 | 647 | wait(3); |
amandarm | 55:4d071fb49f24 | 648 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 649 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 650 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 651 | } |
amandarm | 55:4d071fb49f24 | 652 | wait(3); |
amandarm | 55:4d071fb49f24 | 653 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 654 | } |
amandarm | 55:4d071fb49f24 | 655 | |
amandarm | 55:4d071fb49f24 | 656 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 657 | if(tecla=='A' && status_tela=="solta_vol_igual"){ |
amandarm | 55:4d071fb49f24 | 658 | volume_solta_1=10; |
amandarm | 55:4d071fb49f24 | 659 | volume_solta_2=10; |
amandarm | 55:4d071fb49f24 | 660 | volume_solta_3=10; |
amandarm | 55:4d071fb49f24 | 661 | volume_solta_4=10; |
amandarm | 55:4d071fb49f24 | 662 | volume_solta_5=10; |
amandarm | 55:4d071fb49f24 | 663 | volume_solta_6=10; |
amandarm | 55:4d071fb49f24 | 664 | volume_solta_7=10; |
amandarm | 55:4d071fb49f24 | 665 | volume_solta_8=10; |
amandarm | 55:4d071fb49f24 | 666 | volume_solta_9=10; |
amandarm | 55:4d071fb49f24 | 667 | |
amandarm | 55:4d071fb49f24 | 668 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 669 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 670 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 671 | } |
enricoan | 58:d573b618f45a | 672 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 673 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 674 | } |
amandarm | 55:4d071fb49f24 | 675 | wait(3); |
amandarm | 55:4d071fb49f24 | 676 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 677 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 678 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 679 | } |
amandarm | 55:4d071fb49f24 | 680 | wait(3); |
enricoan | 56:e748b9bd5e3c | 681 | status_tela="solta";} |
amandarm | 55:4d071fb49f24 | 682 | else if(tecla=='B' && status_tela=="solta_vol_igual"){ |
amandarm | 55:4d071fb49f24 | 683 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 684 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 685 | } |
amandarm | 55:4d071fb49f24 | 686 | if(tecla=='1' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 687 | volume_solta_1=10; |
enricoan | 56:e748b9bd5e3c | 688 | lcd.locate(12,0);lcd.printf("10"); |
amandarm | 55:4d071fb49f24 | 689 | } |
amandarm | 55:4d071fb49f24 | 690 | if(tecla=='2' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 691 | volume_solta_2=20; |
enricoan | 56:e748b9bd5e3c | 692 | lcd.locate(15,0);lcd.printf("20"); |
amandarm | 55:4d071fb49f24 | 693 | } |
amandarm | 55:4d071fb49f24 | 694 | if(tecla=='3' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 695 | volume_solta_3=30; |
enricoan | 56:e748b9bd5e3c | 696 | lcd.locate(18,0);lcd.printf("30"); |
amandarm | 55:4d071fb49f24 | 697 | } |
amandarm | 55:4d071fb49f24 | 698 | if(tecla=='4' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 699 | volume_solta_4=40; |
enricoan | 56:e748b9bd5e3c | 700 | lcd.locate(12,1);lcd.printf("40"); |
amandarm | 55:4d071fb49f24 | 701 | } |
amandarm | 55:4d071fb49f24 | 702 | if(tecla=='5' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 703 | volume_solta_5=50; |
enricoan | 56:e748b9bd5e3c | 704 | lcd.locate(15,1);lcd.printf("50"); |
amandarm | 55:4d071fb49f24 | 705 | } |
amandarm | 55:4d071fb49f24 | 706 | if(tecla=='6' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 707 | volume_solta_6=60; |
enricoan | 56:e748b9bd5e3c | 708 | lcd.locate(18,1);lcd.printf("60"); |
amandarm | 55:4d071fb49f24 | 709 | } |
amandarm | 55:4d071fb49f24 | 710 | if(tecla=='7' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 711 | volume_solta_7=70; |
enricoan | 56:e748b9bd5e3c | 712 | lcd.locate(12,2);lcd.printf("70"); |
amandarm | 55:4d071fb49f24 | 713 | } |
amandarm | 55:4d071fb49f24 | 714 | if(tecla=='8' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 715 | volume_solta_8=80; |
enricoan | 56:e748b9bd5e3c | 716 | lcd.locate(15,2);lcd.printf("80"); |
amandarm | 55:4d071fb49f24 | 717 | } |
amandarm | 55:4d071fb49f24 | 718 | if(tecla=='9' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 719 | volume_solta_9=90; |
enricoan | 56:e748b9bd5e3c | 720 | lcd.locate(18,2);lcd.printf("90"); |
amandarm | 55:4d071fb49f24 | 721 | } |
amandarm | 55:4d071fb49f24 | 722 | if(tecla=='A' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 723 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 724 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 725 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 726 | } |
enricoan | 58:d573b618f45a | 727 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 728 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 729 | } |
amandarm | 55:4d071fb49f24 | 730 | wait(3); |
amandarm | 55:4d071fb49f24 | 731 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 732 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 733 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 734 | } |
amandarm | 55:4d071fb49f24 | 735 | wait(3); |
amandarm | 55:4d071fb49f24 | 736 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 737 | } |
amandarm | 55:4d071fb49f24 | 738 | else if(tecla=='B' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 739 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 740 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 741 | } |
enricoan | 56:e748b9bd5e3c | 742 | if(tecla=='A' && status_tela=="solta_pos_y"){ |
amandarm | 55:4d071fb49f24 | 743 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 744 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 745 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 746 | } |
enricoan | 58:d573b618f45a | 747 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 748 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 749 | } |
amandarm | 55:4d071fb49f24 | 750 | wait(3); |
amandarm | 55:4d071fb49f24 | 751 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 752 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 753 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 754 | } |
amandarm | 55:4d071fb49f24 | 755 | pos_y_solta = 10; |
amandarm | 55:4d071fb49f24 | 756 | wait(3); |
amandarm | 55:4d071fb49f24 | 757 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 758 | } |
enricoan | 56:e748b9bd5e3c | 759 | else if(tecla=='B' && status_tela=="solta_pos_y"){ |
amandarm | 55:4d071fb49f24 | 760 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 761 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 762 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 763 | } |
enricoan | 58:d573b618f45a | 764 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 765 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 766 | } |
amandarm | 55:4d071fb49f24 | 767 | wait(3); |
amandarm | 55:4d071fb49f24 | 768 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 769 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 770 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 771 | } |
amandarm | 55:4d071fb49f24 | 772 | pos_y_solta = 10; |
amandarm | 55:4d071fb49f24 | 773 | wait(3); |
amandarm | 55:4d071fb49f24 | 774 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 775 | } |
amandarm | 55:4d071fb49f24 | 776 | |
amandarm | 55:4d071fb49f24 | 777 | if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){ |
amandarm | 55:4d071fb49f24 | 778 | funcao_acomp(); |
amandarm | 55:4d071fb49f24 | 779 | status_tela="acompanhamento"; |
amandarm | 55:4d071fb49f24 | 780 | }; |
amandarm | 55:4d071fb49f24 | 781 | } |
enricoan | 10:4f49e9859535 | 782 | } |