Projeto Mecatrônico
/
ProjetoMecatronico
testando
main_PM.cpp@10:4f49e9859535, 2020-05-24 (annotated)
- Committer:
- enricoan
- Date:
- Sun May 24 21:11:08 2020 +0000
- Revision:
- 10:4f49e9859535
- Child:
- 11:dc557e461dfd
- Child:
- 13:257302e01c7c
lets get started
Who changed what in which revision?
User | Revision | Line number | New 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 | 10:4f49e9859535 | 5 | //local para a declaração de pinos e variáveis |
enricoan | 10:4f49e9859535 | 6 | float t_motor = 0.008; |
enricoan | 10:4f49e9859535 | 7 | float t_teclado = 0.01; |
enricoan | 10:4f49e9859535 | 8 | //botões para movimentação eixo a eixo |
enricoan | 10:4f49e9859535 | 9 | DigitalIn x_mais(PA_0); |
enricoan | 10:4f49e9859535 | 10 | DigitalIn x_menos(PA_1); |
enricoan | 10:4f49e9859535 | 11 | DigitalIn y_mais(PC_0); |
enricoan | 10:4f49e9859535 | 12 | DigitalIn y_menos(PC_1); |
enricoan | 10:4f49e9859535 | 13 | DigitalIn z_mais(PC_2); |
enricoan | 10:4f49e9859535 | 14 | DigitalIn z_menos(PC_3); |
enricoan | 10:4f49e9859535 | 15 | |
enricoan | 10:4f49e9859535 | 16 | //pinos da placa usados na biblioteca do LCD |
enricoan | 10:4f49e9859535 | 17 | TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 10:4f49e9859535 | 18 | |
enricoan | 10:4f49e9859535 | 19 | //pinos de saída para os motores |
enricoan | 10:4f49e9859535 | 20 | //eixo x |
enricoan | 10:4f49e9859535 | 21 | DigitalOut a1(PA_15); |
enricoan | 10:4f49e9859535 | 22 | DigitalOut b1(PA_14); |
enricoan | 10:4f49e9859535 | 23 | DigitalOut c1(PA_13); |
enricoan | 10:4f49e9859535 | 24 | DigitalOut d1(PA_12); |
enricoan | 10:4f49e9859535 | 25 | //eixo y |
enricoan | 10:4f49e9859535 | 26 | DigitalOut a2(PA_11); |
enricoan | 10:4f49e9859535 | 27 | DigitalOut b2(PA_10); |
enricoan | 10:4f49e9859535 | 28 | DigitalOut c2(PB_2); |
enricoan | 10:4f49e9859535 | 29 | DigitalOut d2(PB_1); |
enricoan | 10:4f49e9859535 | 30 | //eixo z |
enricoan | 10:4f49e9859535 | 31 | DigitalOut a3(PC_9); |
enricoan | 10:4f49e9859535 | 32 | DigitalOut b3(PC_8); |
enricoan | 10:4f49e9859535 | 33 | DigitalOut c3(PB_8); |
enricoan | 10:4f49e9859535 | 34 | DigitalOut d3(PC_6); |
enricoan | 10:4f49e9859535 | 35 | |
enricoan | 10:4f49e9859535 | 36 | int main() { |
enricoan | 10:4f49e9859535 | 37 | lcd.printf(" Bem-vindo "); |
enricoan | 10:4f49e9859535 | 38 | lcd.locate(0,1); |
enricoan | 10:4f49e9859535 | 39 | lcd.printf(" ao Pipemax "); |
enricoan | 10:4f49e9859535 | 40 | lcd.locate(0,2); |
enricoan | 10:4f49e9859535 | 41 | lcd.printf("o seu sistema automatizado"); |
enricoan | 10:4f49e9859535 | 42 | lcd.locate(0,3); |
enricoan | 10:4f49e9859535 | 43 | lcd.printf(" de pipetagem"); |
enricoan | 10:4f49e9859535 | 44 | while(1) { |
enricoan | 10:4f49e9859535 | 45 | if (x_mais == 0){ |
enricoan | 10:4f49e9859535 | 46 | a1 = 1;b1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 47 | a1 = 0;c1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 48 | b1 = 0;d1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 49 | c1 = 0;a1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 50 | d1 = 0;a1 = 0; |
enricoan | 10:4f49e9859535 | 51 | } |
enricoan | 10:4f49e9859535 | 52 | if (x_menos == 0){ |
enricoan | 10:4f49e9859535 | 53 | d1 = 1;c1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 54 | d1 = 0;b1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 55 | c1 = 0;a1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 56 | b1 = 0;d1 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 57 | a1 = 0;d1 = 0; |
enricoan | 10:4f49e9859535 | 58 | } |
enricoan | 10:4f49e9859535 | 59 | if (y_mais == 0){ |
enricoan | 10:4f49e9859535 | 60 | a2 = 1;b2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 61 | a2 = 0;c2 = 1; wait(t_motor); |
enricoan | 10:4f49e9859535 | 62 | b2 = 0;d2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 63 | c2 = 0;a2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 64 | d2 = 0;a2 = 0; |
enricoan | 10:4f49e9859535 | 65 | } |
enricoan | 10:4f49e9859535 | 66 | if (y_menos == 0){ |
enricoan | 10:4f49e9859535 | 67 | d2 = 1;c2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 68 | d2 = 0;b2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 69 | c2 = 0;a2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 70 | b2 = 0;d2 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 71 | a2 = 0;d2 = 0; |
enricoan | 10:4f49e9859535 | 72 | } |
enricoan | 10:4f49e9859535 | 73 | if (z_mais == 0){ |
enricoan | 10:4f49e9859535 | 74 | a3 = 1;b3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 75 | a3 = 0;c3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 76 | b3 = 0;d3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 77 | c3 = 0;a3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 78 | d3 = 0;a3 = 0; |
enricoan | 10:4f49e9859535 | 79 | } |
enricoan | 10:4f49e9859535 | 80 | if (z_menos == 0){ |
enricoan | 10:4f49e9859535 | 81 | d3 = 1;c3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 82 | d3 = 0;b3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 83 | c3 = 0;a3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 84 | b3 = 0;d3 = 1;wait(t_motor); |
enricoan | 10:4f49e9859535 | 85 | a3 = 0;d3 = 0; |
enricoan | 10:4f49e9859535 | 86 | } |
enricoan | 10:4f49e9859535 | 87 | } |
enricoan | 10:4f49e9859535 | 88 | } |