Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@55:4d071fb49f24, 2020-05-30 (annotated)

Committer:
amandarm
Date:
Sat May 30 19:57:40 2020 +0000
Revision:
55:4d071fb49f24
Parent:
54:74a215a1f76b
Child:
56:e748b9bd5e3c
telas solta

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"
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
enricoan 29:76d952358896 23 //pinos usados pelos botoes de fim de curso
enricoan 17:4d0b8ed791e0 24 DigitalIn fdc_x(PC_10);
enricoan 17:4d0b8ed791e0 25 DigitalIn fdc_y(PC_11);
enricoan 17:4d0b8ed791e0 26 DigitalIn fdc_z(PC_12);
enricoan 20:81a44a25b21d 27
enricoan 29:76d952358896 28 //Iterrupcao botao de emergência
enricoan 43:cfc3da0299ff 29 InterruptIn interrupcao(PC_14);
amandarm 25:b0db528c1985 30
enricoan 42:a6fbbe536814 31 //pinos do rele, saida digital para acionar o rele se necessario, dada uma entrada no pino da emergencia
enricoan 30:179ceb3e5791 32 DigitalOut rele1(PC_5);
enricoan 30:179ceb3e5791 33 DigitalOut rele2(PB_9);
amandarm 25:b0db528c1985 34
enricoan 29:76d952358896 35 //botoes para movimentacao eixo a eixo
enricoan 10:4f49e9859535 36 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 37 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 38 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 39 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 40 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 41 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 42
enricoan 10:4f49e9859535 43 //pinos da placa usados na biblioteca do LCD
enricoan 42:a6fbbe536814 44 //TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 45
enricoan 16:70baa0057a76 46 //pinos do teclado
enricoan 40:39263f4cf8b7 47 DigitalIn b(PC_4);
enricoan 40:39263f4cf8b7 48 DigitalIn a(PB_0);
enricoan 40:39263f4cf8b7 49 DigitalIn t_0(PC_13);
enricoan 40:39263f4cf8b7 50 DigitalIn t_1(PB_7);
enricoan 40:39263f4cf8b7 51 DigitalIn t_2(PD_2);
enricoan 41:9709891f77c5 52 DigitalIn t_3(PA_4);
enricoan 40:39263f4cf8b7 53 DigitalIn t_4(PB_12);
enricoan 40:39263f4cf8b7 54 DigitalIn t_5(PB_15);
enricoan 41:9709891f77c5 55 DigitalIn t_6(PA_7);
enricoan 40:39263f4cf8b7 56 DigitalIn t_7(PB_14);
enricoan 40:39263f4cf8b7 57 DigitalIn t_8(PA_6);
enricoan 40:39263f4cf8b7 58 DigitalIn t_9(PB_13);
enricoan 16:70baa0057a76 59
enricoan 10:4f49e9859535 60 //pinos de saída para os motores
enricoan 10:4f49e9859535 61 //eixo x
Hiroball 11:dc557e461dfd 62 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 63 //eixo y
Hiroball 11:dc557e461dfd 64 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 65 //eixo z
Hiroball 11:dc557e461dfd 66 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 67
enricoan 42:a6fbbe536814 68 //funcao para receber inputs do teclado
enricoan 43:cfc3da0299ff 69 char pega_tecla(){
enricoan 43:cfc3da0299ff 70 if (b == 0)return ('A');
enricoan 43:cfc3da0299ff 71 if (a == 0)return('B');
enricoan 43:cfc3da0299ff 72 if (t_0 == 0)return('0');
enricoan 43:cfc3da0299ff 73 if (t_1 == 0)return('1');
enricoan 43:cfc3da0299ff 74 if (t_2 == 0)return('2');
enricoan 43:cfc3da0299ff 75 if (t_3 == 0)return('3');
enricoan 43:cfc3da0299ff 76 if (t_4 == 0)return('4');
enricoan 43:cfc3da0299ff 77 if (t_5 == 0)return('5');
enricoan 43:cfc3da0299ff 78 if (t_6 == 0)return('6');
enricoan 43:cfc3da0299ff 79 if (t_7 == 0)return('7');
enricoan 43:cfc3da0299ff 80 if (t_8 == 0)return('8');
enricoan 54:74a215a1f76b 81 if (t_9 == 0)return('9');
enricoan 54:74a215a1f76b 82 return('k');}
enricoan 42:a6fbbe536814 83
enricoan 32:2a9b30e1e7ab 84 //funcao de movimentacao dos motores
enricoan 32:2a9b30e1e7ab 85 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 86 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 87 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 88 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 89 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 90 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 91
enricoan 32:2a9b30e1e7ab 92 //Funcao de interrupcao
enricoan 32:2a9b30e1e7ab 93 void emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9);
amandarm 45:55ee3dedff06 94 //while(interrupcao == 0){
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);}
amandarm 45:55ee3dedff06 106 //}
enricoan 29:76d952358896 107 //Funcao de zeramento
amandarm 27:45f8125a0c0b 108 void zeramento(){
amandarm 27:45f8125a0c0b 109 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
amandarm 27:45f8125a0c0b 110 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
enricoan 54:74a215a1f76b 111 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}}
enricoan 29:76d952358896 112
enricoan 54:74a215a1f76b 113 //Variaveis para operacao IHM
enricoan 29:76d952358896 114 using std::string;
enricoan 32:2a9b30e1e7ab 115 string status_tela = "zeramento";
amandarm 35:a8256801e9ab 116 int programa = 0;
enricoan 29:76d952358896 117
amandarm 55:4d071fb49f24 118 float pos_x_pega = 0;
amandarm 55:4d071fb49f24 119 float pos_y_pega = 0;
amandarm 55:4d071fb49f24 120 float medida_lado_pega=0;
amandarm 55:4d071fb49f24 121 float volume_pega = 0;
amandarm 55:4d071fb49f24 122 int tipo_pega=0;
amandarm 55:4d071fb49f24 123
amandarm 55:4d071fb49f24 124 float dimensao_solta=0;
amandarm 55:4d071fb49f24 125
amandarm 55:4d071fb49f24 126 float volume_solta_1=0;
amandarm 55:4d071fb49f24 127 float volume_solta_2=0;
amandarm 55:4d071fb49f24 128 float volume_solta_3=0;
amandarm 55:4d071fb49f24 129 float volume_solta_4=0;
amandarm 55:4d071fb49f24 130 float volume_solta_5=0;
amandarm 55:4d071fb49f24 131 float volume_solta_6=0;
amandarm 55:4d071fb49f24 132 float volume_solta_7=0;
amandarm 55:4d071fb49f24 133 float volume_solta_8=0;
amandarm 55:4d071fb49f24 134 float volume_solta_9=0;
amandarm 55:4d071fb49f24 135
amandarm 55:4d071fb49f24 136 float pos_x_solta=0;
amandarm 55:4d071fb49f24 137 float pos_y_solta=0;
amandarm 55:4d071fb49f24 138
enricoan 29:76d952358896 139 int main() {
enricoan 54:74a215a1f76b 140 int volume;
enricoan 54:74a215a1f76b 141 bool continuar;
enricoan 54:74a215a1f76b 142 int multiplicador;
enricoan 32:2a9b30e1e7ab 143 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 29:76d952358896 144 lcd.printf("Bem-vindo ao Pipemax");
enricoan 29:76d952358896 145 lcd.locate(0,1);
enricoan 29:76d952358896 146 lcd.printf("o seu sistema");
enricoan 29:76d952358896 147 lcd.locate(0,2);
enricoan 29:76d952358896 148 lcd.printf("automatizado");
enricoan 29:76d952358896 149 lcd.locate(0,3);
enricoan 29:76d952358896 150 lcd.printf("de pipetagem");
enricoan 33:a513498222c7 151 wait(3);
enricoan 28:c4733814201a 152 lcd.cls();
enricoan 29:76d952358896 153 lcd.printf("Por favor, aceite");
amandarm 27:45f8125a0c0b 154 lcd.locate(0,1);
enricoan 29:76d952358896 155 lcd.printf("o zeramento do seu");
amandarm 27:45f8125a0c0b 156 lcd.locate(0,2);
enricoan 29:76d952358896 157 lcd.printf("sistema");
amandarm 27:45f8125a0c0b 158 lcd.locate(0,3);
enricoan 43:cfc3da0299ff 159 lcd.printf("A - proximo");
enricoan 43:cfc3da0299ff 160 interrupcao.fall(&emergencia);
enricoan 33:a513498222c7 161 while(1) {
enricoan 50:cd54c98b6ef1 162 tecla = pega_tecla();
enricoan 50:cd54c98b6ef1 163 printf("\n%s",status_tela);
enricoan 50:cd54c98b6ef1 164 printf("\n%c",tecla);
enricoan 29:76d952358896 165 if(tecla == 'A' && status_tela == "zeramento"){
amandarm 27:45f8125a0c0b 166 zeramento();
enricoan 33:a513498222c7 167 status_tela = "inicio";
enricoan 29:76d952358896 168 funcao_inicio();}
enricoan 43:cfc3da0299ff 169
enricoan 53:1d0bb62c117f 170 /*tentativa de fazer o motor parar ao apertar algum dos fins de curso
enricoan 18:3c40a8a17963 171 if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){
enricoan 18:3c40a8a17963 172 for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;}
enricoan 18:3c40a8a17963 173 for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;}
enricoan 18:3c40a8a17963 174 for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;}
enricoan 53:1d0bb62c117f 175 }*/
enricoan 19:ebe198368444 176 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 177 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 178 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 179
enricoan 33:a513498222c7 180 while(x_menos == 0){mov_x_menos();
enricoan 54:74a215a1f76b 181 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 182 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 183 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 184
enricoan 33:a513498222c7 185 while(y_menos == 0){mov_y_menos();
enricoan 54:74a215a1f76b 186 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 187 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 188 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 189
enricoan 33:a513498222c7 190 while(z_menos == 0){mov_z_menos();
enricoan 54:74a215a1f76b 191 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 192 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 193 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 194
enricoan 33:a513498222c7 195 while(x_mais == 0){mov_x_mais();
enricoan 54:74a215a1f76b 196 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 197 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 198 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 199
enricoan 33:a513498222c7 200 while(y_mais == 0){mov_y_mais();
enricoan 54:74a215a1f76b 201 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 202 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 203 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 204
enricoan 33:a513498222c7 205 while(z_mais == 0){mov_z_mais();
enricoan 54:74a215a1f76b 206 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 207 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 208 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 209
enricoan 33:a513498222c7 210 if(x_mais && x_menos && y_mais && y_menos && z_mais && z_menos != 0){
enricoan 16:70baa0057a76 211 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 212 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 33:a513498222c7 213 for(int i = 0; i < 4; i++){eixoz = parado[i];}}
amandarm 35:a8256801e9ab 214
enricoan 43:cfc3da0299ff 215 tecla = pega_tecla();
enricoan 28:c4733814201a 216 if(tecla =='1' && status_tela == "inicio"){
amandarm 26:4123b9462158 217 funcao_pega1();
enricoan 29:76d952358896 218 wait(1);
amandarm 26:4123b9462158 219 funcao_pega2();
enricoan 32:2a9b30e1e7ab 220 status_tela = "novo";}
enricoan 28:c4733814201a 221 else if(tecla == '2' && status_tela == "inicio"){
amandarm 26:4123b9462158 222 funcao_salvo1();
enricoan 29:76d952358896 223 wait(1);
amandarm 26:4123b9462158 224 funcao_salvo2();
enricoan 32:2a9b30e1e7ab 225 status_tela = "salvo";}
amandarm 35:a8256801e9ab 226
enricoan 43:cfc3da0299ff 227 tecla = pega_tecla();
amandarm 35:a8256801e9ab 228 if(tecla =='1' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 229 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 230 wait(1);
amandarm 35:a8256801e9ab 231 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 232 programa = 1;
amandarm 35:a8256801e9ab 233 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 234 else if(tecla =='2' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 235 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 236 wait(1);
amandarm 35:a8256801e9ab 237 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 238 programa = 2;
amandarm 35:a8256801e9ab 239 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 240 else if(tecla =='3' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 241 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 242 wait(1);
amandarm 35:a8256801e9ab 243 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 244 programa = 3;
amandarm 35:a8256801e9ab 245 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 246 else if(tecla =='4' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 247 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 248 wait(1);
amandarm 35:a8256801e9ab 249 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 250 programa = 4;
amandarm 35:a8256801e9ab 251 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 252 else if(tecla =='5' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 253 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 254 wait(1);
amandarm 35:a8256801e9ab 255 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 256 programa = 5;
amandarm 35:a8256801e9ab 257 status_tela = "salvo_confirmacao";}
amandarm 44:f0b7a2fe28d9 258 else if(tecla =='6' && status_tela =="salvo"){
amandarm 44:f0b7a2fe28d9 259 funcao_salvo_agree1();
amandarm 44:f0b7a2fe28d9 260 wait(1);
amandarm 44:f0b7a2fe28d9 261 funcao_salvo_agree2();
amandarm 44:f0b7a2fe28d9 262 programa = 6;
amandarm 44:f0b7a2fe28d9 263 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 264 else if(tecla =='B' && status_tela =="salvo"){
amandarm 47:0d9c10a9f87d 265 funcao_inicio();
amandarm 35:a8256801e9ab 266 status_tela = "inicio";}
amandarm 35:a8256801e9ab 267
enricoan 43:cfc3da0299ff 268 tecla = pega_tecla();
amandarm 35:a8256801e9ab 269 if(tecla =='1' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 270 funcao_salvo_agree_pos_aviso();
amandarm 44:f0b7a2fe28d9 271 wait(3);
amandarm 36:12c0f6dfb3dc 272 //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega)
amandarm 35:a8256801e9ab 273 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 274 status_tela="salvo_pos_certo_pega" ;}
amandarm 35:a8256801e9ab 275 else if(tecla =='2' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 276 funcao_salvo_agree_solta_aviso();
amandarm 44:f0b7a2fe28d9 277 wait(3);
amandarm 36:12c0f6dfb3dc 278 //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta)
amandarm 35:a8256801e9ab 279 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 280 status_tela = "salvo_pos_certo_solta";}
amandarm 35:a8256801e9ab 281 else if(tecla =='3' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 282 funcao_salvo_agree_pega_vol();
amandarm 36:12c0f6dfb3dc 283 //programação de volume igual da de cima (programa.vol_pega)
amandarm 52:dca562b09080 284 status_tela="salvo_conf_vol_pega";}
amandarm 35:a8256801e9ab 285 else if(tecla =='4' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 286 funcao_salvo_agree_solta_vol();
amandarm 36:12c0f6dfb3dc 287 //volumes configurados por cada pipeta. (programa.vol_solta_pipeta)
amandarm 35:a8256801e9ab 288 status_tela="salvo_conf_vol_solta";}
amandarm 35:a8256801e9ab 289 else if(tecla =='B' && status_tela =="salvo_confirmacao"){
amandarm 47:0d9c10a9f87d 290 funcao_salvo1();
amandarm 35:a8256801e9ab 291 wait(1);
amandarm 47:0d9c10a9f87d 292 funcao_salvo2();
amandarm 35:a8256801e9ab 293 programa = 1;
amandarm 35:a8256801e9ab 294 status_tela = "salvo";}
amandarm 35:a8256801e9ab 295
enricoan 43:cfc3da0299ff 296 tecla = pega_tecla();
amandarm 49:4625aaa408fc 297 if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){
amandarm 48:135139e2971f 298 funcao_salvo_agree1();
amandarm 52:dca562b09080 299 lcd.locate(18,1);lcd.printf("OK");
amandarm 48:135139e2971f 300 wait(1);
amandarm 48:135139e2971f 301 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 302 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 303 }//salva essa posição como correta
amandarm 49:4625aaa408fc 304 else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){}
amandarm 49:4625aaa408fc 305 else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){
amandarm 35:a8256801e9ab 306 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 307 wait(1);
amandarm 35:a8256801e9ab 308 funcao_salvo_agree2();
amandarm 48:135139e2971f 309 status_tela = "salvo_confirmacao";}
amandarm 48:135139e2971f 310
amandarm 52:dca562b09080 311 if(tecla =='A' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 312 funcao_salvo_agree1();
amandarm 52:dca562b09080 313 wait(1);
amandarm 52:dca562b09080 314 funcao_salvo_agree2();
amandarm 52:dca562b09080 315 lcd.locate(18,1);lcd.printf("OK");
enricoan 53:1d0bb62c117f 316 status_tela = "salvo_confirmacao";
amandarm 52:dca562b09080 317 }//salva essa posição como correta
amandarm 52:dca562b09080 318 else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 319 funcao_salvo_agree1();
amandarm 52:dca562b09080 320 wait(1);
amandarm 52:dca562b09080 321 funcao_salvo_agree2();
amandarm 52:dca562b09080 322 status_tela = "salvo_confirmacao";}
amandarm 52:dca562b09080 323
amandarm 49:4625aaa408fc 324 if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 325 funcao_salvo_agree1();
amandarm 52:dca562b09080 326 lcd.locate(18,2);lcd.printf("OK");
amandarm 49:4625aaa408fc 327 wait(1);
amandarm 49:4625aaa408fc 328 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 329 status_tela = "salvo_confirmacao";
amandarm 49:4625aaa408fc 330 }//salva essa posição como correta
amandarm 49:4625aaa408fc 331 else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){}
amandarm 49:4625aaa408fc 332 else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 333 funcao_salvo_agree1();
amandarm 49:4625aaa408fc 334 wait(1);
amandarm 49:4625aaa408fc 335 funcao_salvo_agree2();
amandarm 49:4625aaa408fc 336 status_tela = "salvo_confirmacao";}
amandarm 49:4625aaa408fc 337
amandarm 52:dca562b09080 338 if(tecla =='A' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 339 funcao_salvo_agree1();
amandarm 48:135139e2971f 340 wait(1);
amandarm 48:135139e2971f 341 funcao_salvo_agree2();
amandarm 52:dca562b09080 342 lcd.locate(18,2);lcd.printf("OK");
enricoan 53:1d0bb62c117f 343 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 344 }//salva essa posição como correta
amandarm 48:135139e2971f 345 else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){}
amandarm 48:135139e2971f 346 else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 347 funcao_salvo_agree1();
amandarm 48:135139e2971f 348 wait(1);
amandarm 48:135139e2971f 349 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 350 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 351
enricoan 43:cfc3da0299ff 352 tecla = pega_tecla();
enricoan 32:2a9b30e1e7ab 353 if(tecla =='1' && status_tela =="novo"){
amandarm 26:4123b9462158 354 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 355 status_tela ="forma";}
enricoan 53:1d0bb62c117f 356
enricoan 28:c4733814201a 357 else if(tecla =='2' && status_tela == "novo"){
enricoan 54:74a215a1f76b 358 volume = 0;
enricoan 54:74a215a1f76b 359 printf("\n%c",pega_tecla());
enricoan 53:1d0bb62c117f 360 funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF
Hiroball 34:1b5a00c55376 361 status_tela = "volume";
enricoan 54:74a215a1f76b 362 continuar = 1;
enricoan 54:74a215a1f76b 363 multiplicador = 10;
enricoan 54:74a215a1f76b 364 while(continuar){
enricoan 54:74a215a1f76b 365 printf("\n%c",pega_tecla());
enricoan 43:cfc3da0299ff 366 tecla = pega_tecla();
enricoan 54:74a215a1f76b 367 wait(1);
enricoan 54:74a215a1f76b 368 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
enricoan 53:1d0bb62c117f 369 lcd.locate(6,1);
Hiroball 34:1b5a00c55376 370 volume = multiplicador*volume + (int)tecla;
enricoan 54:74a215a1f76b 371 printf("\nVolume: %d", volume);
Hiroball 34:1b5a00c55376 372 }
enricoan 53:1d0bb62c117f 373 if(tecla == 'A'){
enricoan 53:1d0bb62c117f 374 lcd.locate(0,2);
Hiroball 34:1b5a00c55376 375 lcd.printf("Volume: %d", volume);
Hiroball 34:1b5a00c55376 376 continuar = 0;
enricoan 54:74a215a1f76b 377 wait(1);
Hiroball 34:1b5a00c55376 378 }
Hiroball 34:1b5a00c55376 379 }
Hiroball 34:1b5a00c55376 380 }
enricoan 28:c4733814201a 381 else if(tecla == '3' && status_tela == "novo"){
amandarm 26:4123b9462158 382 funcao_pega_pos_x();
amandarm 55:4d071fb49f24 383 pos_x_pega = 12.5;
enricoan 32:2a9b30e1e7ab 384 status_tela = "pos_x";}
enricoan 28:c4733814201a 385 else if(tecla == 'B' && status_tela == "novo"){
amandarm 26:4123b9462158 386 funcao_inicio();
enricoan 32:2a9b30e1e7ab 387 status_tela = "inicio";}
enricoan 28:c4733814201a 388 else if(tecla == '1' && status_tela == "salvo"){
amandarm 26:4123b9462158 389 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 390 status_tela = "confirmacao";}
enricoan 28:c4733814201a 391 else if(tecla =='2' && status_tela == "salvo"){
amandarm 26:4123b9462158 392 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 393 status_tela = "confirmacao";}
enricoan 28:c4733814201a 394 else if(tecla =='B' && status_tela == "salvo"){
amandarm 26:4123b9462158 395 funcao_inicio();
enricoan 32:2a9b30e1e7ab 396 status_tela = "inicio";}
amandarm 35:a8256801e9ab 397
enricoan 43:cfc3da0299ff 398 tecla = pega_tecla();
enricoan 28:c4733814201a 399 if(tecla == '1' && status_tela == "forma"){
amandarm 26:4123b9462158 400 funcao_pega_forma_quad();
amandarm 55:4d071fb49f24 401 tipo_pega = 1;
enricoan 32:2a9b30e1e7ab 402 status_tela ="forma_quad";}
enricoan 28:c4733814201a 403 else if(tecla == '2' && status_tela == "forma"){
amandarm 26:4123b9462158 404 funcao_pega_forma_red();
amandarm 55:4d071fb49f24 405 status_tela = "forma_red";}
enricoan 28:c4733814201a 406 else if(tecla == 'B' && status_tela == "forma"){
amandarm 26:4123b9462158 407 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 408 status_tela = "novo";}
amandarm 35:a8256801e9ab 409
enricoan 43:cfc3da0299ff 410 tecla = pega_tecla();
enricoan 28:c4733814201a 411 if(tecla == 'A' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 412 funcao_pega1();
amandarm 55:4d071fb49f24 413 medida_lado_pega = 10;
amandarm 52:dca562b09080 414 lcd.locate(18,2);lcd.printf("OK");
enricoan 29:76d952358896 415 wait(1);
amandarm 26:4123b9462158 416 funcao_pega2();
enricoan 32:2a9b30e1e7ab 417 status_tela ="inicio";}
enricoan 28:c4733814201a 418 else if(tecla == 'B' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 419 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 420 status_tela = "forma";}
enricoan 28:c4733814201a 421 else if(tecla == 'A' && status_tela == "forma_red"){
amandarm 55:4d071fb49f24 422 medida_lado_pega = 10;
amandarm 55:4d071fb49f24 423 tipo_pega = 2;
amandarm 26:4123b9462158 424 funcao_pega1();
amandarm 52:dca562b09080 425 lcd.locate(18,2);lcd.printf("OK");
enricoan 29:76d952358896 426 wait(1);
amandarm 26:4123b9462158 427 funcao_pega2();
enricoan 32:2a9b30e1e7ab 428 status_tela ="inicio";}
enricoan 28:c4733814201a 429 else if(tecla == 'B' && status_tela == "forma_red"){
amandarm 26:4123b9462158 430 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 431 status_tela = "forma";}
enricoan 28:c4733814201a 432 else if(tecla == 'A' && status_tela == "volume"){
amandarm 26:4123b9462158 433 funcao_pega1();
amandarm 55:4d071fb49f24 434 volume_pega = 12;
amandarm 52:dca562b09080 435 lcd.locate(18,2);lcd.printf("OK");
enricoan 29:76d952358896 436 wait(1);
amandarm 26:4123b9462158 437 funcao_pega2();
enricoan 32:2a9b30e1e7ab 438 status_tela ="inicio";}
enricoan 28:c4733814201a 439 else if( tecla == 'B' && status_tela == "volume"){
amandarm 26:4123b9462158 440 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 441 status_tela = "forma";}
enricoan 28:c4733814201a 442 else if(tecla == 'A' && status_tela == "pos_x"){
enricoan 29:76d952358896 443 funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y
amandarm 55:4d071fb49f24 444 pos_y_pega = 12.5;
enricoan 32:2a9b30e1e7ab 445 status_tela = "pos_y";}
enricoan 28:c4733814201a 446 else if(tecla == 'B' && status_tela == "pos_x"){
amandarm 26:4123b9462158 447 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 448 status_tela = "forma";}
amandarm 35:a8256801e9ab 449
enricoan 43:cfc3da0299ff 450 tecla = pega_tecla();
enricoan 28:c4733814201a 451 if(tecla == 'A' && status_tela == "pos_y"){
amandarm 26:4123b9462158 452 funcao_pega1();
enricoan 29:76d952358896 453 wait(1);
amandarm 26:4123b9462158 454 funcao_pega2();
amandarm 52:dca562b09080 455 lcd.locate(18,2);lcd.printf("OK");
enricoan 32:2a9b30e1e7ab 456 status_tela ="inicio";}
enricoan 28:c4733814201a 457 else if(tecla == 'B' && status_tela == "pos_y"){
amandarm 26:4123b9462158 458 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 459 status_tela = "forma";}
amandarm 55:4d071fb49f24 460
amandarm 55:4d071fb49f24 461
amandarm 55:4d071fb49f24 462 tecla=pega_tecla();
amandarm 55:4d071fb49f24 463 if(pos_x_pega!=0 && pos_y_pega!=0 && medida_lado_pega!=0 && volume_pega !=0 && tipo_pega!=0 && status_tela == "inicio"){
amandarm 55:4d071fb49f24 464 funcao_solta1();
amandarm 55:4d071fb49f24 465 wait(3);
amandarm 55:4d071fb49f24 466 funcao_solta2();
amandarm 55:4d071fb49f24 467 wait(3);
amandarm 55:4d071fb49f24 468 status_tela="solta";
amandarm 55:4d071fb49f24 469 }
amandarm 55:4d071fb49f24 470
amandarm 55:4d071fb49f24 471 tecla=pega_tecla();
amandarm 55:4d071fb49f24 472 if(tecla == '1' && status_tela == "solta"){
amandarm 55:4d071fb49f24 473 funcao_solta_dimensao();
amandarm 55:4d071fb49f24 474 status_tela="solta_dimensao";
amandarm 55:4d071fb49f24 475 }
amandarm 55:4d071fb49f24 476 else if(tecla == '2' && status_tela == "solta"){
amandarm 55:4d071fb49f24 477 funcao_solta_vol();
amandarm 55:4d071fb49f24 478 status_tela="solta_vol";
amandarm 55:4d071fb49f24 479 }
amandarm 55:4d071fb49f24 480 else if(tecla == '3' && status_tela == "solta"){
amandarm 55:4d071fb49f24 481 funcao_solta_pos_x();
amandarm 55:4d071fb49f24 482 status_tela="solta_pos_x";
amandarm 55:4d071fb49f24 483 }
amandarm 55:4d071fb49f24 484 else if(tecla == 'B' && status_tela == "solta"){
amandarm 55:4d071fb49f24 485 funcao_pega1();
amandarm 55:4d071fb49f24 486 lcd.locate(18,1);lcd.printf("OK");
amandarm 55:4d071fb49f24 487 lcd.locate(18,2);lcd.printf("OK");
amandarm 55:4d071fb49f24 488 wait(1);
amandarm 55:4d071fb49f24 489 funcao_pega2();
amandarm 55:4d071fb49f24 490 lcd.locate(18,2);lcd.printf("OK");
amandarm 55:4d071fb49f24 491 lcd.locate(18,1);lcd.printf("OK");
amandarm 55:4d071fb49f24 492 status_tela="inicio";
amandarm 55:4d071fb49f24 493 }
amandarm 55:4d071fb49f24 494
amandarm 55:4d071fb49f24 495 tecla=pega_tecla();
amandarm 55:4d071fb49f24 496 if(tecla=='A' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 497 dimensao_solta = 10;
amandarm 55:4d071fb49f24 498 funcao_solta1();
amandarm 55:4d071fb49f24 499 lcd.locate(18,1);lcd.printf("OK");
amandarm 55:4d071fb49f24 500 wait(3);
amandarm 55:4d071fb49f24 501 funcao_solta2();
amandarm 55:4d071fb49f24 502 wait(3);
amandarm 55:4d071fb49f24 503 status_tela="solta";
amandarm 55:4d071fb49f24 504 }
amandarm 55:4d071fb49f24 505 else if(tecla=='B' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 506 funcao_solta1();
amandarm 55:4d071fb49f24 507 wait(3);
amandarm 55:4d071fb49f24 508 funcao_solta2();
amandarm 55:4d071fb49f24 509 wait(3);
amandarm 55:4d071fb49f24 510 status_tela="solta";
amandarm 55:4d071fb49f24 511 }
amandarm 55:4d071fb49f24 512 if(tecla=='1' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 513 funcao_solta_vol_igual();
amandarm 55:4d071fb49f24 514 status_tela="solta_vol_igual";
amandarm 55:4d071fb49f24 515 }
amandarm 55:4d071fb49f24 516 else if(tecla=='2' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 517 funcao_solta_vol_cada();
amandarm 55:4d071fb49f24 518 status_tela="solta_vol_dif";
amandarm 55:4d071fb49f24 519 }
amandarm 55:4d071fb49f24 520 else if(tecla=='B' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 521 funcao_solta1();
amandarm 55:4d071fb49f24 522 wait(3);
amandarm 55:4d071fb49f24 523 funcao_solta2();
amandarm 55:4d071fb49f24 524 wait(3);
amandarm 55:4d071fb49f24 525 status_tela="solta";
amandarm 55:4d071fb49f24 526 }
amandarm 55:4d071fb49f24 527 if(tecla=='A' && status_tela=="funcao_solta_pos_x"){
amandarm 55:4d071fb49f24 528 funcao_solta_pos_y();
amandarm 55:4d071fb49f24 529 pos_x_solta = 10;
amandarm 55:4d071fb49f24 530 status_tela="funcao_solta_pos_y";
amandarm 55:4d071fb49f24 531 }
amandarm 55:4d071fb49f24 532 else if(tecla=='B' && status_tela=="funcao_solta_pos_x"){
amandarm 55:4d071fb49f24 533 funcao_solta1();
amandarm 55:4d071fb49f24 534 wait(3);
amandarm 55:4d071fb49f24 535 funcao_solta2();
amandarm 55:4d071fb49f24 536 wait(3);
amandarm 55:4d071fb49f24 537 status_tela="solta";
amandarm 55:4d071fb49f24 538 }
amandarm 55:4d071fb49f24 539
amandarm 55:4d071fb49f24 540 tecla=pega_tecla();
amandarm 55:4d071fb49f24 541 if(tecla=='A' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 542 volume_solta_1=10;
amandarm 55:4d071fb49f24 543 volume_solta_2=10;
amandarm 55:4d071fb49f24 544 volume_solta_3=10;
amandarm 55:4d071fb49f24 545 volume_solta_4=10;
amandarm 55:4d071fb49f24 546 volume_solta_5=10;
amandarm 55:4d071fb49f24 547 volume_solta_6=10;
amandarm 55:4d071fb49f24 548 volume_solta_7=10;
amandarm 55:4d071fb49f24 549 volume_solta_8=10;
amandarm 55:4d071fb49f24 550 volume_solta_9=10;
amandarm 55:4d071fb49f24 551
amandarm 55:4d071fb49f24 552 funcao_solta1();
amandarm 55:4d071fb49f24 553 lcd.locate(18,2);lcd.printf("OK");
amandarm 55:4d071fb49f24 554 wait(3);
amandarm 55:4d071fb49f24 555 funcao_solta2();
amandarm 55:4d071fb49f24 556 wait(3);
amandarm 55:4d071fb49f24 557 status_tela="solta";
amandarm 55:4d071fb49f24 558 }
amandarm 55:4d071fb49f24 559 else if(tecla=='B' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 560 funcao_solta_vol();
amandarm 55:4d071fb49f24 561 status_tela="solta_vol";
amandarm 55:4d071fb49f24 562 }
amandarm 55:4d071fb49f24 563 if(tecla=='1' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 564 volume_solta_1=10;
amandarm 55:4d071fb49f24 565 lcd.locate(12,1);lcd.printf("10");
amandarm 55:4d071fb49f24 566 }
amandarm 55:4d071fb49f24 567 if(tecla=='2' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 568 volume_solta_2=20;
amandarm 55:4d071fb49f24 569 lcd.locate(15,1);lcd.printf("20");
amandarm 55:4d071fb49f24 570 }
amandarm 55:4d071fb49f24 571 if(tecla=='3' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 572 volume_solta_3=30;
amandarm 55:4d071fb49f24 573 lcd.locate(18,1);lcd.printf("30");
amandarm 55:4d071fb49f24 574 }
amandarm 55:4d071fb49f24 575 if(tecla=='4' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 576 volume_solta_4=40;
amandarm 55:4d071fb49f24 577 lcd.locate(12,2);lcd.printf("40");
amandarm 55:4d071fb49f24 578 }
amandarm 55:4d071fb49f24 579 if(tecla=='5' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 580 volume_solta_5=50;
amandarm 55:4d071fb49f24 581 lcd.locate(15,2);lcd.printf("50");
amandarm 55:4d071fb49f24 582 }
amandarm 55:4d071fb49f24 583 if(tecla=='6' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 584 volume_solta_6=60;
amandarm 55:4d071fb49f24 585 lcd.locate(18,2);lcd.printf("60");
amandarm 55:4d071fb49f24 586 }
amandarm 55:4d071fb49f24 587 if(tecla=='7' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 588 volume_solta_7=70;
amandarm 55:4d071fb49f24 589 lcd.locate(12,3);lcd.printf("70");
amandarm 55:4d071fb49f24 590 }
amandarm 55:4d071fb49f24 591 if(tecla=='8' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 592 volume_solta_8=80;
amandarm 55:4d071fb49f24 593 lcd.locate(15,3);lcd.printf("80");
amandarm 55:4d071fb49f24 594 }
amandarm 55:4d071fb49f24 595 if(tecla=='9' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 596 volume_solta_9=90;
amandarm 55:4d071fb49f24 597 lcd.locate(18,3);lcd.printf("90");
amandarm 55:4d071fb49f24 598 }
amandarm 55:4d071fb49f24 599 if(tecla=='A' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 600 funcao_solta1();
amandarm 55:4d071fb49f24 601 lcd.locate(18,2);lcd.printf("OK");
amandarm 55:4d071fb49f24 602 wait(3);
amandarm 55:4d071fb49f24 603 funcao_solta2();
amandarm 55:4d071fb49f24 604 wait(3);
amandarm 55:4d071fb49f24 605 status_tela="solta";
amandarm 55:4d071fb49f24 606 }
amandarm 55:4d071fb49f24 607 else if(tecla=='B' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 608 funcao_solta_vol();
amandarm 55:4d071fb49f24 609 status_tela="solta_vol";
amandarm 55:4d071fb49f24 610 }
amandarm 55:4d071fb49f24 611 if(tecla=='A' && status_tela=="funcao_solta_pos_y"){
amandarm 55:4d071fb49f24 612 funcao_solta1();
amandarm 55:4d071fb49f24 613 wait(3);
amandarm 55:4d071fb49f24 614 funcao_solta2();
amandarm 55:4d071fb49f24 615 lcd.locate(18,1);lcd.printf("OK");
amandarm 55:4d071fb49f24 616 pos_y_solta = 10;
amandarm 55:4d071fb49f24 617 wait(3);
amandarm 55:4d071fb49f24 618 status_tela="solta";
amandarm 55:4d071fb49f24 619 }
amandarm 55:4d071fb49f24 620 else if(tecla=='B' && status_tela=="funcao_solta_pos_y"){
amandarm 55:4d071fb49f24 621 funcao_solta1();
amandarm 55:4d071fb49f24 622 wait(3);
amandarm 55:4d071fb49f24 623 funcao_solta2();
amandarm 55:4d071fb49f24 624 pos_y_solta = 10;
amandarm 55:4d071fb49f24 625 wait(3);
amandarm 55:4d071fb49f24 626 status_tela="solta";
amandarm 55:4d071fb49f24 627 }
amandarm 55:4d071fb49f24 628
amandarm 55:4d071fb49f24 629 if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){
amandarm 55:4d071fb49f24 630 funcao_acomp();
amandarm 55:4d071fb49f24 631 status_tela="acompanhamento";
amandarm 55:4d071fb49f24 632 };
amandarm 55:4d071fb49f24 633 }
enricoan 10:4f49e9859535 634 }