Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@77:61eb73d3c9dd, 2020-06-05 (annotated)

Committer:
enricoan
Date:
Fri Jun 05 12:10:07 2020 +0000
Revision:
77:61eb73d3c9dd
Parent:
76:e8f994ca108f 
ultimos ajustes no fdc, nao esquecer de testar est_[eixo] ao usar nas funcoes de posicionamento

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 76:e8f994ca108f 24 InterruptIn fdc_x(PC_10);
enricoan 76:e8f994ca108f 25 InterruptIn fdc_y(PC_11);
enricoan 76:e8f994ca108f 26 InterruptIn fdc_z(PC_12);
enricoan 20:81a44a25b21d 27
enricoan 29:76d952358896 28 //Iterrupcao botao de emergência
enricoan 63:32ba7c4becfc 29 InterruptIn interrupcao(PB_11);
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 66:ebc2a21cd514 32 DigitalOut rele1(PC_5, 1);
enricoan 66:ebc2a21cd514 33 DigitalOut rele2(PB_9, 1);
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 63:32ba7c4becfc 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;}}
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 63:32ba7c4becfc 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;}}
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 66:ebc2a21cd514 91 int emergency = 0;
enricoan 76:e8f994ca108f 92
enricoan 76:e8f994ca108f 93 //funcoes de fim de curso por interrupção
enricoan 76:e8f994ca108f 94 void lim_x(){for(int i = 0; i < 4; i++){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 76:e8f994ca108f 95 eixox = parado[i];wait(t_motor);
enricoan 76:e8f994ca108f 96 lcd.cls();lcd.printf("Limite de x atingido");
enricoan 76:e8f994ca108f 97 lcd.locate(0,2);lcd.printf("Pressione 0 para continuar");
enricoan 76:e8f994ca108f 98 est_x = 1;}}
enricoan 76:e8f994ca108f 99
enricoan 76:e8f994ca108f 100 void lim_y(){for(int i = 0; i < 4; i++){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 76:e8f994ca108f 101 eixoy = parado[i];wait(t_motor);
enricoan 76:e8f994ca108f 102 lcd.cls();lcd.printf("Limite de y atingido");
enricoan 76:e8f994ca108f 103 lcd.locate(0,2);lcd.printf("Pressione 0 para continuar");
enricoan 76:e8f994ca108f 104 est_y = 1;}}
enricoan 76:e8f994ca108f 105
enricoan 76:e8f994ca108f 106 void lim_z(){for(int i = 0; i < 4; i++){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 76:e8f994ca108f 107 eixoz = parado[i];wait(t_motor);
enricoan 76:e8f994ca108f 108 lcd.cls();lcd.printf("Limite de z atingido");
enricoan 76:e8f994ca108f 109 lcd.locate(0,2);lcd.printf("Pressione 0 para continuar");
enricoan 76:e8f994ca108f 110 est_z = 1;}}
enricoan 76:e8f994ca108f 111 void reseta_eixo(){est_x = 0;est_y = 0;est_z = 0;}
enricoan 76:e8f994ca108f 112
enricoan 66:ebc2a21cd514 113 //Funcao de emergencia por interrupcao
enricoan 73:6c5f3c9cc90e 114 void emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 73:6c5f3c9cc90e 115 emergency = 1;
enricoan 32:2a9b30e1e7ab 116 rele1 = 0;
enricoan 66:ebc2a21cd514 117 rele2 = 0;
amandarm 25:b0db528c1985 118 eixox = 0b0000;
amandarm 25:b0db528c1985 119 eixoy = 0b0000;
amandarm 25:b0db528c1985 120 eixoz = 0b0000;
amandarm 25:b0db528c1985 121 lcd.cls();
enricoan 66:ebc2a21cd514 122 lcd.printf("EMERGENCIA ACIONADA");
enricoan 66:ebc2a21cd514 123 lcd.locate(2,2);
enricoan 73:6c5f3c9cc90e 124 lcd.printf("Operacao pausada");}
enricoan 66:ebc2a21cd514 125
enricoan 66:ebc2a21cd514 126 void solta_emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 66:ebc2a21cd514 127 rele1 = 1;
enricoan 66:ebc2a21cd514 128 rele2 = 1;
enricoan 66:ebc2a21cd514 129 emergency = 0;
enricoan 66:ebc2a21cd514 130 lcd.cls();
enricoan 73:6c5f3c9cc90e 131 lcd.locate(2,0);
enricoan 66:ebc2a21cd514 132 lcd.printf("Pressione 0 para");
enricoan 66:ebc2a21cd514 133 lcd.locate(5,1); lcd.printf("continuar");}
enricoan 56:e748b9bd5e3c 134
enricoan 29:76d952358896 135 //Funcao de zeramento
amandarm 57:e26deee15b8f 136
amandarm 27:45f8125a0c0b 137 void zeramento(){
amandarm 27:45f8125a0c0b 138 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
amandarm 27:45f8125a0c0b 139 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
enricoan 54:74a215a1f76b 140 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}}
enricoan 29:76d952358896 141
enricoan 54:74a215a1f76b 142 //Variaveis para operacao IHM
enricoan 29:76d952358896 143 using std::string;
enricoan 32:2a9b30e1e7ab 144 string status_tela = "zeramento";
amandarm 35:a8256801e9ab 145 int programa = 0;
enricoan 29:76d952358896 146
amandarm 55:4d071fb49f24 147 float pos_x_pega = 0;
amandarm 55:4d071fb49f24 148 float pos_y_pega = 0;
amandarm 55:4d071fb49f24 149 float medida_lado_pega=0;
amandarm 55:4d071fb49f24 150 float volume_pega = 0;
amandarm 55:4d071fb49f24 151 int tipo_pega=0;
amandarm 55:4d071fb49f24 152
amandarm 55:4d071fb49f24 153 float dimensao_solta=0;
amandarm 55:4d071fb49f24 154
amandarm 55:4d071fb49f24 155 float volume_solta_1=0;
amandarm 55:4d071fb49f24 156 float volume_solta_2=0;
amandarm 55:4d071fb49f24 157 float volume_solta_3=0;
amandarm 55:4d071fb49f24 158 float volume_solta_4=0;
amandarm 55:4d071fb49f24 159 float volume_solta_5=0;
amandarm 55:4d071fb49f24 160 float volume_solta_6=0;
amandarm 55:4d071fb49f24 161 float volume_solta_7=0;
amandarm 55:4d071fb49f24 162 float volume_solta_8=0;
amandarm 55:4d071fb49f24 163 float volume_solta_9=0;
amandarm 55:4d071fb49f24 164
amandarm 55:4d071fb49f24 165 float pos_x_solta=0;
amandarm 55:4d071fb49f24 166 float pos_y_solta=0;
amandarm 57:e26deee15b8f 167 //main
amandarm 57:e26deee15b8f 168
enricoan 29:76d952358896 169 int main() {
enricoan 66:ebc2a21cd514 170 interrupcao.fall(&emergencia);
enricoan 66:ebc2a21cd514 171 interrupcao.rise(&solta_emergencia);
enricoan 76:e8f994ca108f 172 fdc_x.fall(&lim_x);
enricoan 76:e8f994ca108f 173 fdc_y.fall(&lim_y);
enricoan 76:e8f994ca108f 174 fdc_z.fall(&lim_z);
enricoan 76:e8f994ca108f 175 fdc_x.rise(&reseta_eixo);
enricoan 76:e8f994ca108f 176 fdc_y.rise(&reseta_eixo);
enricoan 76:e8f994ca108f 177 fdc_z.rise(&reseta_eixo);
enricoan 54:74a215a1f76b 178 int volume;
Hiroball 61:be02d7d4e208 179 int volume_solta;
Hiroball 61:be02d7d4e208 180 int diametro_solta;
Hiroball 61:be02d7d4e208 181 int diametro;
Hiroball 59:447534f1e4f5 182 int comprimento_quad;
enricoan 54:74a215a1f76b 183 bool continuar;
Hiroball 61:be02d7d4e208 184 int multiplicador = 10;
enricoan 32:2a9b30e1e7ab 185 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 29:76d952358896 186 lcd.printf("Bem-vindo ao Pipemax");
enricoan 29:76d952358896 187 lcd.locate(0,1);
enricoan 29:76d952358896 188 lcd.printf("o seu sistema");
enricoan 29:76d952358896 189 lcd.locate(0,2);
enricoan 29:76d952358896 190 lcd.printf("automatizado");
enricoan 29:76d952358896 191 lcd.locate(0,3);
enricoan 29:76d952358896 192 lcd.printf("de pipetagem");
enricoan 33:a513498222c7 193 wait(3);
enricoan 28:c4733814201a 194 lcd.cls();
enricoan 29:76d952358896 195 lcd.printf("Por favor, aceite");
amandarm 27:45f8125a0c0b 196 lcd.locate(0,1);
enricoan 29:76d952358896 197 lcd.printf("o zeramento do seu");
amandarm 27:45f8125a0c0b 198 lcd.locate(0,2);
enricoan 29:76d952358896 199 lcd.printf("sistema");
amandarm 27:45f8125a0c0b 200 lcd.locate(0,3);
enricoan 66:ebc2a21cd514 201 lcd.printf("A - proximo");
enricoan 66:ebc2a21cd514 202 printf("\n%i", emergency);
enricoan 73:6c5f3c9cc90e 203
enricoan 33:a513498222c7 204 while(1) {
enricoan 76:e8f994ca108f 205 if(t_0 == 0){reseta_eixo();}
enricoan 73:6c5f3c9cc90e 206 if(emergency == 0){
enricoan 50:cd54c98b6ef1 207 tecla = pega_tecla();
enricoan 50:cd54c98b6ef1 208 printf("\n%s",status_tela);
enricoan 50:cd54c98b6ef1 209 printf("\n%c",tecla);
enricoan 29:76d952358896 210 if(tecla == 'A' && status_tela == "zeramento"){
amandarm 27:45f8125a0c0b 211 zeramento();
enricoan 33:a513498222c7 212 status_tela = "inicio";
enricoan 29:76d952358896 213 funcao_inicio();}
enricoan 77:61eb73d3c9dd 214
enricoan 77:61eb73d3c9dd 215 while(x_menos == 0 && est_x == 0){mov_x_menos();}
enricoan 77:61eb73d3c9dd 216 while(y_menos == 0 && est_y == 0){mov_y_menos();}
enricoan 77:61eb73d3c9dd 217 while(z_menos == 0 && est_z == 0){mov_z_menos();}
enricoan 77:61eb73d3c9dd 218 while(x_mais == 0 && est_x == 0){mov_x_mais();}
enricoan 77:61eb73d3c9dd 219 while(y_mais == 0 && est_y == 0){mov_y_mais();}
enricoan 77:61eb73d3c9dd 220 while(z_mais == 0 && est_z == 0){mov_z_mais();}
enricoan 33:a513498222c7 221 if(x_mais && x_menos && y_mais && y_menos && z_mais && z_menos != 0){
enricoan 16:70baa0057a76 222 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 223 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 33:a513498222c7 224 for(int i = 0; i < 4; i++){eixoz = parado[i];}}
amandarm 35:a8256801e9ab 225
enricoan 43:cfc3da0299ff 226 tecla = pega_tecla();
enricoan 28:c4733814201a 227 if(tecla =='1' && status_tela == "inicio"){
amandarm 26:4123b9462158 228 funcao_pega1();
enricoan 29:76d952358896 229 wait(1);
amandarm 26:4123b9462158 230 funcao_pega2();
enricoan 32:2a9b30e1e7ab 231 status_tela = "novo";}
enricoan 28:c4733814201a 232 else if(tecla == '2' && status_tela == "inicio"){
amandarm 26:4123b9462158 233 funcao_salvo1();
enricoan 29:76d952358896 234 wait(1);
amandarm 26:4123b9462158 235 funcao_salvo2();
enricoan 32:2a9b30e1e7ab 236 status_tela = "salvo";}
amandarm 35:a8256801e9ab 237
enricoan 43:cfc3da0299ff 238 tecla = pega_tecla();
amandarm 35:a8256801e9ab 239 if(tecla =='1' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 240 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 241 wait(1);
amandarm 35:a8256801e9ab 242 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 243 programa = 1;
amandarm 35:a8256801e9ab 244 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 245 else if(tecla =='2' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 246 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 247 wait(1);
amandarm 35:a8256801e9ab 248 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 249 programa = 2;
amandarm 35:a8256801e9ab 250 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 251 else if(tecla =='3' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 252 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 253 wait(1);
amandarm 35:a8256801e9ab 254 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 255 programa = 3;
amandarm 35:a8256801e9ab 256 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 257 else if(tecla =='4' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 258 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 259 wait(1);
amandarm 35:a8256801e9ab 260 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 261 programa = 4;
amandarm 35:a8256801e9ab 262 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 263 else if(tecla =='5' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 264 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 265 wait(1);
amandarm 35:a8256801e9ab 266 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 267 programa = 5;
amandarm 35:a8256801e9ab 268 status_tela = "salvo_confirmacao";}
amandarm 44:f0b7a2fe28d9 269 else if(tecla =='6' && status_tela =="salvo"){
amandarm 44:f0b7a2fe28d9 270 funcao_salvo_agree1();
amandarm 44:f0b7a2fe28d9 271 wait(1);
amandarm 44:f0b7a2fe28d9 272 funcao_salvo_agree2();
amandarm 44:f0b7a2fe28d9 273 programa = 6;
amandarm 44:f0b7a2fe28d9 274 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 275 else if(tecla =='B' && status_tela =="salvo"){
amandarm 47:0d9c10a9f87d 276 funcao_inicio();
amandarm 35:a8256801e9ab 277 status_tela = "inicio";}
amandarm 35:a8256801e9ab 278
enricoan 43:cfc3da0299ff 279 tecla = pega_tecla();
amandarm 35:a8256801e9ab 280 if(tecla =='1' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 281 funcao_salvo_agree_pos_aviso();
amandarm 44:f0b7a2fe28d9 282 wait(3);
amandarm 36:12c0f6dfb3dc 283 //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega)
amandarm 35:a8256801e9ab 284 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 285 status_tela="salvo_pos_certo_pega" ;}
amandarm 35:a8256801e9ab 286 else if(tecla =='2' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 287 funcao_salvo_agree_solta_aviso();
amandarm 44:f0b7a2fe28d9 288 wait(3);
amandarm 36:12c0f6dfb3dc 289 //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta)
amandarm 35:a8256801e9ab 290 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 291 status_tela = "salvo_pos_certo_solta";}
amandarm 35:a8256801e9ab 292 else if(tecla =='3' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 293 funcao_salvo_agree_pega_vol();
amandarm 36:12c0f6dfb3dc 294 //programação de volume igual da de cima (programa.vol_pega)
amandarm 52:dca562b09080 295 status_tela="salvo_conf_vol_pega";}
amandarm 35:a8256801e9ab 296 else if(tecla =='4' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 297 funcao_salvo_agree_solta_vol();
amandarm 36:12c0f6dfb3dc 298 //volumes configurados por cada pipeta. (programa.vol_solta_pipeta)
amandarm 35:a8256801e9ab 299 status_tela="salvo_conf_vol_solta";}
amandarm 35:a8256801e9ab 300 else if(tecla =='B' && status_tela =="salvo_confirmacao"){
amandarm 47:0d9c10a9f87d 301 funcao_salvo1();
amandarm 35:a8256801e9ab 302 wait(1);
amandarm 47:0d9c10a9f87d 303 funcao_salvo2();
amandarm 35:a8256801e9ab 304 programa = 1;
amandarm 35:a8256801e9ab 305 status_tela = "salvo";}
amandarm 35:a8256801e9ab 306
enricoan 43:cfc3da0299ff 307 tecla = pega_tecla();
amandarm 49:4625aaa408fc 308 if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){
amandarm 48:135139e2971f 309 funcao_salvo_agree1();
amandarm 52:dca562b09080 310 lcd.locate(18,1);lcd.printf("OK");
amandarm 48:135139e2971f 311 wait(1);
amandarm 48:135139e2971f 312 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 313 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 314 }//salva essa posição como correta
amandarm 49:4625aaa408fc 315 else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){}
amandarm 49:4625aaa408fc 316 else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){
amandarm 35:a8256801e9ab 317 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 318 wait(1);
amandarm 35:a8256801e9ab 319 funcao_salvo_agree2();
amandarm 48:135139e2971f 320 status_tela = "salvo_confirmacao";}
amandarm 48:135139e2971f 321
amandarm 52:dca562b09080 322 if(tecla =='A' && 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 lcd.locate(18,1);lcd.printf("OK");
enricoan 53:1d0bb62c117f 327 status_tela = "salvo_confirmacao";
amandarm 52:dca562b09080 328 }//salva essa posição como correta
amandarm 52:dca562b09080 329 else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 330 funcao_salvo_agree1();
amandarm 52:dca562b09080 331 wait(1);
amandarm 52:dca562b09080 332 funcao_salvo_agree2();
amandarm 52:dca562b09080 333 status_tela = "salvo_confirmacao";}
amandarm 52:dca562b09080 334
amandarm 49:4625aaa408fc 335 if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 336 funcao_salvo_agree1();
amandarm 52:dca562b09080 337 lcd.locate(18,2);lcd.printf("OK");
amandarm 49:4625aaa408fc 338 wait(1);
amandarm 49:4625aaa408fc 339 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 340 status_tela = "salvo_confirmacao";
amandarm 49:4625aaa408fc 341 }//salva essa posição como correta
amandarm 49:4625aaa408fc 342 else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){}
amandarm 49:4625aaa408fc 343 else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 344 funcao_salvo_agree1();
amandarm 49:4625aaa408fc 345 wait(1);
amandarm 49:4625aaa408fc 346 funcao_salvo_agree2();
amandarm 49:4625aaa408fc 347 status_tela = "salvo_confirmacao";}
amandarm 49:4625aaa408fc 348
amandarm 52:dca562b09080 349 if(tecla =='A' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 350 funcao_salvo_agree1();
amandarm 48:135139e2971f 351 wait(1);
amandarm 48:135139e2971f 352 funcao_salvo_agree2();
amandarm 52:dca562b09080 353 lcd.locate(18,2);lcd.printf("OK");
enricoan 53:1d0bb62c117f 354 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 355 }//salva essa posição como correta
amandarm 48:135139e2971f 356 else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){}
amandarm 48:135139e2971f 357 else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 358 funcao_salvo_agree1();
amandarm 48:135139e2971f 359 wait(1);
amandarm 48:135139e2971f 360 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 361 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 362
enricoan 43:cfc3da0299ff 363 tecla = pega_tecla();
enricoan 32:2a9b30e1e7ab 364 if(tecla =='1' && status_tela =="novo"){
amandarm 26:4123b9462158 365 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 366 status_tela ="forma";}
enricoan 53:1d0bb62c117f 367
enricoan 28:c4733814201a 368 else if(tecla =='2' && status_tela == "novo"){
enricoan 54:74a215a1f76b 369 volume = 0;
enricoan 54:74a215a1f76b 370 printf("\n%c",pega_tecla());
enricoan 53:1d0bb62c117f 371 funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF
Hiroball 34:1b5a00c55376 372 status_tela = "volume";
enricoan 54:74a215a1f76b 373 continuar = 1;
enricoan 54:74a215a1f76b 374 multiplicador = 10;
enricoan 54:74a215a1f76b 375 while(continuar){
enricoan 54:74a215a1f76b 376 printf("\n%c",pega_tecla());
enricoan 43:cfc3da0299ff 377 tecla = pega_tecla();
Hiroball 61:be02d7d4e208 378 lcd.locate(6,1);
enricoan 54:74a215a1f76b 379 wait(1);
enricoan 54:74a215a1f76b 380 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
Hiroball 61:be02d7d4e208 381 volume = multiplicador*volume + ((int)tecla-48);
Hiroball 61:be02d7d4e208 382 lcd.printf("%c", tecla);
Hiroball 34:1b5a00c55376 383 }
Hiroball 59:447534f1e4f5 384 else if(tecla == 'A'){
enricoan 53:1d0bb62c117f 385 lcd.locate(0,2);
Hiroball 61:be02d7d4e208 386 printf("Volume inputado!");
Hiroball 34:1b5a00c55376 387 continuar = 0;
enricoan 54:74a215a1f76b 388 wait(1);
Hiroball 34:1b5a00c55376 389 }
Hiroball 59:447534f1e4f5 390 else if(tecla=='B'){
Hiroball 59:447534f1e4f5 391 funcao_pega1();
Hiroball 59:447534f1e4f5 392 wait(1);
Hiroball 59:447534f1e4f5 393 funcao_pega2();
Hiroball 59:447534f1e4f5 394 status_tela = "novo";
Hiroball 61:be02d7d4e208 395 continuar = 0;
Hiroball 61:be02d7d4e208 396 }
Hiroball 34:1b5a00c55376 397 }
Hiroball 34:1b5a00c55376 398 }
enricoan 28:c4733814201a 399 else if(tecla == '3' && status_tela == "novo"){
amandarm 26:4123b9462158 400 funcao_pega_pos_x();
enricoan 63:32ba7c4becfc 401 pos_x_pega = coord_x;
enricoan 63:32ba7c4becfc 402 continuar = 1;
enricoan 63:32ba7c4becfc 403 while(continuar){
enricoan 63:32ba7c4becfc 404 tecla = pega_tecla();
enricoan 63:32ba7c4becfc 405 if(x_menos == 0){mov_x_menos();
enricoan 63:32ba7c4becfc 406 lcd.cls();
enricoan 63:32ba7c4becfc 407 lcd.printf("X: %4.1f", coord_x);}
enricoan 63:32ba7c4becfc 408 else if(x_mais == 0){mov_x_mais();
enricoan 63:32ba7c4becfc 409 lcd.cls();
enricoan 63:32ba7c4becfc 410 lcd.printf("X: %4.1f", coord_x);}
enricoan 63:32ba7c4becfc 411 if(tecla=='A'){
enricoan 63:32ba7c4becfc 412 continuar = 0;
enricoan 63:32ba7c4becfc 413 lcd.printf("Posicao de x salva!");
enricoan 63:32ba7c4becfc 414 printf("Posicao X: %4.1f", coord_x);
enricoan 63:32ba7c4becfc 415 }
enricoan 63:32ba7c4becfc 416 }
enricoan 32:2a9b30e1e7ab 417 status_tela = "pos_x";}
enricoan 28:c4733814201a 418 else if(tecla == 'B' && status_tela == "novo"){
amandarm 26:4123b9462158 419 funcao_inicio();
enricoan 32:2a9b30e1e7ab 420 status_tela = "inicio";}
enricoan 28:c4733814201a 421 else if(tecla == '1' && status_tela == "salvo"){
amandarm 26:4123b9462158 422 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 423 status_tela = "confirmacao";}
enricoan 28:c4733814201a 424 else if(tecla =='2' && status_tela == "salvo"){
amandarm 26:4123b9462158 425 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 426 status_tela = "confirmacao";}
enricoan 28:c4733814201a 427 else if(tecla =='B' && status_tela == "salvo"){
amandarm 26:4123b9462158 428 funcao_inicio();
enricoan 32:2a9b30e1e7ab 429 status_tela = "inicio";}
amandarm 35:a8256801e9ab 430
enricoan 63:32ba7c4becfc 431 wait(0.5);
enricoan 43:cfc3da0299ff 432 tecla = pega_tecla();
enricoan 28:c4733814201a 433 if(tecla == '1' && status_tela == "forma"){
amandarm 26:4123b9462158 434 funcao_pega_forma_quad();
amandarm 55:4d071fb49f24 435 tipo_pega = 1;
Hiroball 59:447534f1e4f5 436 tecla = pega_tecla();
Hiroball 59:447534f1e4f5 437 wait(1);
Hiroball 61:be02d7d4e208 438 status_tela ="forma_quad";
Hiroball 59:447534f1e4f5 439 continuar = 1;
Hiroball 59:447534f1e4f5 440 comprimento_quad = 0;
enricoan 63:32ba7c4becfc 441 lcd.locate(0,2);
Hiroball 59:447534f1e4f5 442 while(continuar){
Hiroball 59:447534f1e4f5 443 printf("\n%c",pega_tecla());
Hiroball 59:447534f1e4f5 444 tecla = pega_tecla();
Hiroball 59:447534f1e4f5 445 wait(1);
Hiroball 59:447534f1e4f5 446 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
enricoan 60:e2c632e8dee1 447 comprimento_quad = multiplicador*comprimento_quad + ((int)tecla - 48);
Hiroball 61:be02d7d4e208 448 lcd.printf("%c",tecla);
Hiroball 59:447534f1e4f5 449 }
Hiroball 59:447534f1e4f5 450 else if(tecla == 'A'){
Hiroball 59:447534f1e4f5 451 continuar = 0;
Hiroball 61:be02d7d4e208 452 printf("Comprimento inputado!");
Hiroball 61:be02d7d4e208 453 printf("\nComprimento: %d", comprimento_quad);
Hiroball 59:447534f1e4f5 454 }
Hiroball 59:447534f1e4f5 455 else if(tecla=='B'){
Hiroball 59:447534f1e4f5 456 funcao_pega_forma();
Hiroball 59:447534f1e4f5 457 status_tela = "forma";
Hiroball 59:447534f1e4f5 458 continuar = 0;}
Hiroball 59:447534f1e4f5 459 }
Hiroball 59:447534f1e4f5 460 }
enricoan 28:c4733814201a 461 else if(tecla == '2' && status_tela == "forma"){
amandarm 26:4123b9462158 462 funcao_pega_forma_red();
enricoan 56:e748b9bd5e3c 463 tipo_pega = 2;
Hiroball 61:be02d7d4e208 464 tecla = pega_tecla();
Hiroball 61:be02d7d4e208 465 wait(1);
Hiroball 61:be02d7d4e208 466 continuar = 1;
Hiroball 61:be02d7d4e208 467 diametro = 0;
Hiroball 61:be02d7d4e208 468 status_tela = "forma_red";
enricoan 63:32ba7c4becfc 469 lcd.locate(0,2);
Hiroball 61:be02d7d4e208 470 while(continuar){
Hiroball 61:be02d7d4e208 471 tecla = pega_tecla();
Hiroball 61:be02d7d4e208 472 wait(1);
Hiroball 61:be02d7d4e208 473 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
Hiroball 61:be02d7d4e208 474 diametro = multiplicador*diametro + ((int)tecla - 48);
Hiroball 61:be02d7d4e208 475 lcd.printf("%c",tecla);
Hiroball 61:be02d7d4e208 476 }
Hiroball 61:be02d7d4e208 477 else if(tecla == 'A'){
Hiroball 61:be02d7d4e208 478 continuar = 0;
Hiroball 61:be02d7d4e208 479 printf("Diametro inputado!");
Hiroball 61:be02d7d4e208 480 printf("Diametro: %d", diametro);
Hiroball 61:be02d7d4e208 481 }
Hiroball 61:be02d7d4e208 482 else if(tecla=='B'){
Hiroball 61:be02d7d4e208 483 funcao_pega_forma();
Hiroball 61:be02d7d4e208 484 status_tela = "forma";
Hiroball 61:be02d7d4e208 485 continuar = 0;}
Hiroball 61:be02d7d4e208 486 }
Hiroball 61:be02d7d4e208 487 }
enricoan 28:c4733814201a 488 else if(tecla == 'B' && status_tela == "forma"){
enricoan 56:e748b9bd5e3c 489 funcao_pega1();
enricoan 56:e748b9bd5e3c 490 wait(1);
enricoan 56:e748b9bd5e3c 491 funcao_pega2();
enricoan 32:2a9b30e1e7ab 492 status_tela = "novo";}
amandarm 35:a8256801e9ab 493
enricoan 43:cfc3da0299ff 494 tecla = pega_tecla();
enricoan 28:c4733814201a 495 if(tecla == 'A' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 496 funcao_pega1();
enricoan 63:32ba7c4becfc 497 medida_lado_pega = comprimento_quad;
enricoan 58:d573b618f45a 498 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 499 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 500 }
enricoan 58:d573b618f45a 501 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 502 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 503 }
enricoan 29:76d952358896 504 wait(1);
amandarm 26:4123b9462158 505 funcao_pega2();
enricoan 58:d573b618f45a 506 if(volume_pega !=0){
enricoan 58:d573b618f45a 507 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 508 }
enricoan 56:e748b9bd5e3c 509 status_tela ="novo";}
enricoan 28:c4733814201a 510 else if(tecla == 'B' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 511 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 512 status_tela = "forma";}
enricoan 28:c4733814201a 513 else if(tecla == 'A' && status_tela == "forma_red"){
enricoan 63:32ba7c4becfc 514 medida_lado_pega = diametro;
amandarm 26:4123b9462158 515 funcao_pega1();
enricoan 58:d573b618f45a 516 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 517 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 518 }
enricoan 58:d573b618f45a 519 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 520 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 521 }
enricoan 29:76d952358896 522 wait(1);
amandarm 26:4123b9462158 523 funcao_pega2();
enricoan 58:d573b618f45a 524 if(volume_pega !=0){
enricoan 58:d573b618f45a 525 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 526 }
enricoan 56:e748b9bd5e3c 527 status_tela ="novo";}
enricoan 28:c4733814201a 528 else if(tecla == 'B' && status_tela == "forma_red"){
amandarm 26:4123b9462158 529 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 530 status_tela = "forma";}
enricoan 28:c4733814201a 531 else if(tecla == 'A' && status_tela == "volume"){
amandarm 26:4123b9462158 532 funcao_pega1();
amandarm 55:4d071fb49f24 533 volume_pega = 12;
enricoan 58:d573b618f45a 534 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 535 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 536 }
enricoan 58:d573b618f45a 537 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 538 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 539 }
enricoan 29:76d952358896 540 wait(1);
amandarm 26:4123b9462158 541 funcao_pega2();
enricoan 58:d573b618f45a 542 if(volume_pega !=0){
enricoan 58:d573b618f45a 543 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 544 }
enricoan 56:e748b9bd5e3c 545 status_tela ="novo";}
enricoan 28:c4733814201a 546 else if( tecla == 'B' && status_tela == "volume"){
amandarm 26:4123b9462158 547 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 548 status_tela = "forma";}
enricoan 28:c4733814201a 549 else if(tecla == 'A' && status_tela == "pos_x"){
enricoan 29:76d952358896 550 funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y
amandarm 55:4d071fb49f24 551 pos_y_pega = 12.5;
enricoan 63:32ba7c4becfc 552 status_tela = "pos_y";
enricoan 63:32ba7c4becfc 553 }
enricoan 28:c4733814201a 554 else if(tecla == 'B' && status_tela == "pos_x"){
enricoan 63:32ba7c4becfc 555 funcao_pega1();
enricoan 63:32ba7c4becfc 556 wait(1);
enricoan 63:32ba7c4becfc 557 funcao_pega2();
enricoan 63:32ba7c4becfc 558 status_tela = "novo";}
amandarm 35:a8256801e9ab 559
enricoan 63:32ba7c4becfc 560 tecla = pega_tecla();
enricoan 63:32ba7c4becfc 561 wait(0.5);
enricoan 63:32ba7c4becfc 562 //passando direto
enricoan 28:c4733814201a 563 if(tecla == 'A' && status_tela == "pos_y"){
amandarm 26:4123b9462158 564 funcao_pega1();
enricoan 58:d573b618f45a 565 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 566 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 567 }
enricoan 58:d573b618f45a 568 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 569 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 570 }
enricoan 29:76d952358896 571 wait(1);
amandarm 26:4123b9462158 572 funcao_pega2();
enricoan 58:d573b618f45a 573 if(volume_pega !=0){
enricoan 58:d573b618f45a 574 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 575 }
enricoan 56:e748b9bd5e3c 576 wait(1);
enricoan 56:e748b9bd5e3c 577 status_tela ="novo";}
enricoan 28:c4733814201a 578 else if(tecla == 'B' && status_tela == "pos_y"){
amandarm 26:4123b9462158 579 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 580 status_tela = "forma";}
amandarm 55:4d071fb49f24 581
amandarm 55:4d071fb49f24 582
amandarm 55:4d071fb49f24 583 tecla=pega_tecla();
enricoan 56:e748b9bd5e3c 584 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 585 funcao_solta1();
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);
enricoan 56:e748b9bd5e3c 592 status_tela="solta";}
amandarm 55:4d071fb49f24 593
amandarm 55:4d071fb49f24 594 tecla=pega_tecla();
amandarm 55:4d071fb49f24 595 if(tecla == '1' && status_tela == "solta"){
amandarm 55:4d071fb49f24 596 funcao_solta_dimensao();
Hiroball 61:be02d7d4e208 597 continuar = 1;
Hiroball 61:be02d7d4e208 598 diametro_solta = 0;
amandarm 55:4d071fb49f24 599 status_tela="solta_dimensao";
Hiroball 61:be02d7d4e208 600 lcd.locate(0,2);
Hiroball 61:be02d7d4e208 601 while(continuar){
Hiroball 61:be02d7d4e208 602 tecla = pega_tecla();
Hiroball 61:be02d7d4e208 603 wait(1);
Hiroball 61:be02d7d4e208 604 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
Hiroball 61:be02d7d4e208 605 diametro_solta = multiplicador*diametro_solta + ((int)tecla - 48);
Hiroball 61:be02d7d4e208 606 lcd.printf("%c",tecla);
Hiroball 61:be02d7d4e208 607 }
Hiroball 61:be02d7d4e208 608 else if(tecla == 'A'){
Hiroball 61:be02d7d4e208 609 printf("Diametro do solta inputado!");
Hiroball 61:be02d7d4e208 610 printf("Diametro do solta: %d", diametro_solta);
Hiroball 61:be02d7d4e208 611 continuar = 0;
Hiroball 61:be02d7d4e208 612 }
Hiroball 61:be02d7d4e208 613 else if(tecla=='B'){
Hiroball 61:be02d7d4e208 614 funcao_pega_forma();
Hiroball 61:be02d7d4e208 615 status_tela = "solta";
Hiroball 61:be02d7d4e208 616 funcao_solta1();
Hiroball 61:be02d7d4e208 617 wait(3);
Hiroball 61:be02d7d4e208 618 funcao_solta2();
Hiroball 61:be02d7d4e208 619 continuar = 0;}
Hiroball 61:be02d7d4e208 620 }
Hiroball 61:be02d7d4e208 621 }
Hiroball 61:be02d7d4e208 622
amandarm 55:4d071fb49f24 623 else if(tecla == '2' && status_tela == "solta"){
amandarm 55:4d071fb49f24 624 funcao_solta_vol();
Hiroball 61:be02d7d4e208 625 volume_solta = 0;
Hiroball 61:be02d7d4e208 626 continuar = 1;
amandarm 55:4d071fb49f24 627 status_tela="solta_vol";
Hiroball 61:be02d7d4e208 628 lcd.locate(0,2);
Hiroball 61:be02d7d4e208 629 while(continuar){
Hiroball 61:be02d7d4e208 630 tecla = pega_tecla();
Hiroball 61:be02d7d4e208 631 wait(1);
Hiroball 61:be02d7d4e208 632 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
Hiroball 61:be02d7d4e208 633 volume_solta = multiplicador*volume_solta + ((int)tecla - 48);
Hiroball 61:be02d7d4e208 634 lcd.printf("%c",tecla);
Hiroball 61:be02d7d4e208 635 }
Hiroball 61:be02d7d4e208 636 else if(tecla == 'A'){
Hiroball 61:be02d7d4e208 637 printf("Volume solta inputado!");
Hiroball 61:be02d7d4e208 638 printf("Volume: %d", volume_solta);
Hiroball 61:be02d7d4e208 639 continuar = 0;
Hiroball 61:be02d7d4e208 640 }
Hiroball 61:be02d7d4e208 641 else if(tecla=='B'){
Hiroball 61:be02d7d4e208 642 funcao_pega_forma();
Hiroball 61:be02d7d4e208 643 status_tela = "solta";
Hiroball 61:be02d7d4e208 644 continuar = 0;
Hiroball 61:be02d7d4e208 645 funcao_solta1();
Hiroball 61:be02d7d4e208 646 wait(3);
Hiroball 61:be02d7d4e208 647 funcao_solta2();
Hiroball 61:be02d7d4e208 648 }
Hiroball 61:be02d7d4e208 649 }
amandarm 55:4d071fb49f24 650 }
amandarm 55:4d071fb49f24 651 else if(tecla == '3' && status_tela == "solta"){
amandarm 55:4d071fb49f24 652 funcao_solta_pos_x();
amandarm 55:4d071fb49f24 653 status_tela="solta_pos_x";
Hiroball 61:be02d7d4e208 654 continuar = 1;
Hiroball 61:be02d7d4e208 655 while(continuar){
enricoan 63:32ba7c4becfc 656 tecla = pega_tecla();
enricoan 63:32ba7c4becfc 657 if(x_menos == 0){mov_x_menos();
Hiroball 61:be02d7d4e208 658 lcd.cls();
Hiroball 61:be02d7d4e208 659 lcd.printf("X: %4.1f", coord_x);}
enricoan 63:32ba7c4becfc 660 else if(x_mais == 0){mov_x_mais();
Hiroball 61:be02d7d4e208 661 lcd.cls();
Hiroball 61:be02d7d4e208 662 lcd.printf("X: %4.1f", coord_x);}
Hiroball 61:be02d7d4e208 663 if(tecla=='A'){
Hiroball 61:be02d7d4e208 664 continuar = 0;
Hiroball 61:be02d7d4e208 665 printf("Posicao de x salva!");
Hiroball 61:be02d7d4e208 666 printf("Posicao X: %4.1f", coord_x);
Hiroball 61:be02d7d4e208 667 }
amandarm 55:4d071fb49f24 668 }
Hiroball 61:be02d7d4e208 669 }
amandarm 55:4d071fb49f24 670 else if(tecla == 'B' && status_tela == "solta"){
amandarm 55:4d071fb49f24 671 funcao_pega1();
enricoan 58:d573b618f45a 672 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 673 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 674 }
enricoan 58:d573b618f45a 675 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 676 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 677 }
amandarm 55:4d071fb49f24 678 wait(1);
amandarm 55:4d071fb49f24 679 funcao_pega2();
enricoan 58:d573b618f45a 680 if(volume_pega !=0){
enricoan 58:d573b618f45a 681 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 682 }
amandarm 55:4d071fb49f24 683 status_tela="inicio";
amandarm 55:4d071fb49f24 684 }
amandarm 55:4d071fb49f24 685
amandarm 55:4d071fb49f24 686 tecla=pega_tecla();
amandarm 55:4d071fb49f24 687 if(tecla=='A' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 688 dimensao_solta = 10;
amandarm 55:4d071fb49f24 689 funcao_solta1();
enricoan 58:d573b618f45a 690 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 691 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 692 }
enricoan 58:d573b618f45a 693 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 694 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 695 }
amandarm 55:4d071fb49f24 696 wait(3);
amandarm 55:4d071fb49f24 697 funcao_solta2();
enricoan 58:d573b618f45a 698 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 699 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 700 }
amandarm 55:4d071fb49f24 701 wait(3);
amandarm 55:4d071fb49f24 702 status_tela="solta";
amandarm 55:4d071fb49f24 703 }
amandarm 55:4d071fb49f24 704 else if(tecla=='B' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 705 funcao_solta1();
enricoan 58:d573b618f45a 706 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 707 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 708 }
enricoan 58:d573b618f45a 709 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 710 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 711 }
amandarm 55:4d071fb49f24 712 wait(3);
amandarm 55:4d071fb49f24 713 funcao_solta2();
enricoan 58:d573b618f45a 714 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 715 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 716 }
amandarm 55:4d071fb49f24 717 wait(3);
amandarm 55:4d071fb49f24 718 status_tela="solta";
amandarm 55:4d071fb49f24 719 }
amandarm 55:4d071fb49f24 720 if(tecla=='1' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 721 funcao_solta_vol_igual();
amandarm 55:4d071fb49f24 722 status_tela="solta_vol_igual";
amandarm 55:4d071fb49f24 723 }
amandarm 55:4d071fb49f24 724 else if(tecla=='2' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 725 funcao_solta_vol_cada();
amandarm 55:4d071fb49f24 726 status_tela="solta_vol_dif";
amandarm 55:4d071fb49f24 727 }
amandarm 55:4d071fb49f24 728 else if(tecla=='B' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 729 funcao_solta1();
enricoan 58:d573b618f45a 730 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 731 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 732 }
enricoan 58:d573b618f45a 733 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 734 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 735 }
amandarm 55:4d071fb49f24 736 wait(3);
amandarm 55:4d071fb49f24 737 funcao_solta2();
enricoan 58:d573b618f45a 738 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 739 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 740 }
amandarm 55:4d071fb49f24 741 wait(3);
amandarm 55:4d071fb49f24 742 status_tela="solta";
amandarm 55:4d071fb49f24 743 }
enricoan 56:e748b9bd5e3c 744 if(tecla=='A' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 745 funcao_solta_pos_y();
amandarm 55:4d071fb49f24 746 pos_x_solta = 10;
enricoan 56:e748b9bd5e3c 747 status_tela="solta_pos_y";
amandarm 55:4d071fb49f24 748 }
enricoan 56:e748b9bd5e3c 749 else if(tecla=='B' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 750 funcao_solta1();
enricoan 58:d573b618f45a 751 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 752 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 753 }
enricoan 58:d573b618f45a 754 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 755 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 756 }
amandarm 55:4d071fb49f24 757 wait(3);
amandarm 55:4d071fb49f24 758 funcao_solta2();
enricoan 58:d573b618f45a 759 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 760 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 761 }
amandarm 55:4d071fb49f24 762 wait(3);
amandarm 55:4d071fb49f24 763 status_tela="solta";
amandarm 55:4d071fb49f24 764 }
amandarm 55:4d071fb49f24 765
amandarm 55:4d071fb49f24 766 tecla=pega_tecla();
amandarm 55:4d071fb49f24 767 if(tecla=='A' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 768 volume_solta_1=10;
amandarm 55:4d071fb49f24 769 volume_solta_2=10;
amandarm 55:4d071fb49f24 770 volume_solta_3=10;
amandarm 55:4d071fb49f24 771 volume_solta_4=10;
amandarm 55:4d071fb49f24 772 volume_solta_5=10;
amandarm 55:4d071fb49f24 773 volume_solta_6=10;
amandarm 55:4d071fb49f24 774 volume_solta_7=10;
amandarm 55:4d071fb49f24 775 volume_solta_8=10;
amandarm 55:4d071fb49f24 776 volume_solta_9=10;
amandarm 55:4d071fb49f24 777
amandarm 55:4d071fb49f24 778 funcao_solta1();
enricoan 58:d573b618f45a 779 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 780 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 781 }
enricoan 58:d573b618f45a 782 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 783 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 784 }
amandarm 55:4d071fb49f24 785 wait(3);
amandarm 55:4d071fb49f24 786 funcao_solta2();
enricoan 58:d573b618f45a 787 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 788 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 789 }
amandarm 55:4d071fb49f24 790 wait(3);
enricoan 56:e748b9bd5e3c 791 status_tela="solta";}
amandarm 55:4d071fb49f24 792 else if(tecla=='B' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 793 funcao_solta_vol();
amandarm 55:4d071fb49f24 794 status_tela="solta_vol";
amandarm 55:4d071fb49f24 795 }
amandarm 55:4d071fb49f24 796 if(tecla=='1' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 797 volume_solta_1=10;
enricoan 56:e748b9bd5e3c 798 lcd.locate(12,0);lcd.printf("10");
amandarm 55:4d071fb49f24 799 }
amandarm 55:4d071fb49f24 800 if(tecla=='2' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 801 volume_solta_2=20;
enricoan 56:e748b9bd5e3c 802 lcd.locate(15,0);lcd.printf("20");
amandarm 55:4d071fb49f24 803 }
amandarm 55:4d071fb49f24 804 if(tecla=='3' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 805 volume_solta_3=30;
enricoan 56:e748b9bd5e3c 806 lcd.locate(18,0);lcd.printf("30");
amandarm 55:4d071fb49f24 807 }
amandarm 55:4d071fb49f24 808 if(tecla=='4' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 809 volume_solta_4=40;
enricoan 56:e748b9bd5e3c 810 lcd.locate(12,1);lcd.printf("40");
amandarm 55:4d071fb49f24 811 }
amandarm 55:4d071fb49f24 812 if(tecla=='5' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 813 volume_solta_5=50;
enricoan 56:e748b9bd5e3c 814 lcd.locate(15,1);lcd.printf("50");
amandarm 55:4d071fb49f24 815 }
amandarm 55:4d071fb49f24 816 if(tecla=='6' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 817 volume_solta_6=60;
enricoan 56:e748b9bd5e3c 818 lcd.locate(18,1);lcd.printf("60");
amandarm 55:4d071fb49f24 819 }
amandarm 55:4d071fb49f24 820 if(tecla=='7' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 821 volume_solta_7=70;
enricoan 56:e748b9bd5e3c 822 lcd.locate(12,2);lcd.printf("70");
amandarm 55:4d071fb49f24 823 }
amandarm 55:4d071fb49f24 824 if(tecla=='8' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 825 volume_solta_8=80;
enricoan 56:e748b9bd5e3c 826 lcd.locate(15,2);lcd.printf("80");
amandarm 55:4d071fb49f24 827 }
amandarm 55:4d071fb49f24 828 if(tecla=='9' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 829 volume_solta_9=90;
enricoan 56:e748b9bd5e3c 830 lcd.locate(18,2);lcd.printf("90");
amandarm 55:4d071fb49f24 831 }
amandarm 55:4d071fb49f24 832 if(tecla=='A' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 833 funcao_solta1();
enricoan 58:d573b618f45a 834 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 835 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 836 }
enricoan 58:d573b618f45a 837 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 838 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 839 }
amandarm 55:4d071fb49f24 840 wait(3);
amandarm 55:4d071fb49f24 841 funcao_solta2();
enricoan 58:d573b618f45a 842 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 843 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 844 }
amandarm 55:4d071fb49f24 845 wait(3);
amandarm 55:4d071fb49f24 846 status_tela="solta";
amandarm 55:4d071fb49f24 847 }
amandarm 55:4d071fb49f24 848 else if(tecla=='B' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 849 funcao_solta_vol();
amandarm 55:4d071fb49f24 850 status_tela="solta_vol";
amandarm 55:4d071fb49f24 851 }
enricoan 56:e748b9bd5e3c 852 if(tecla=='A' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 853 funcao_solta1();
enricoan 58:d573b618f45a 854 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 855 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 856 }
enricoan 58:d573b618f45a 857 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 858 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 859 }
amandarm 55:4d071fb49f24 860 wait(3);
amandarm 55:4d071fb49f24 861 funcao_solta2();
enricoan 58:d573b618f45a 862 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 863 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 864 }
amandarm 55:4d071fb49f24 865 pos_y_solta = 10;
amandarm 55:4d071fb49f24 866 wait(3);
amandarm 55:4d071fb49f24 867 status_tela="solta";
amandarm 55:4d071fb49f24 868 }
enricoan 56:e748b9bd5e3c 869 else if(tecla=='B' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 870 funcao_solta1();
enricoan 58:d573b618f45a 871 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 872 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 873 }
enricoan 58:d573b618f45a 874 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 875 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 876 }
amandarm 55:4d071fb49f24 877 wait(3);
amandarm 55:4d071fb49f24 878 funcao_solta2();
enricoan 58:d573b618f45a 879 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 880 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 881 }
amandarm 55:4d071fb49f24 882 pos_y_solta = 10;
amandarm 55:4d071fb49f24 883 wait(3);
amandarm 55:4d071fb49f24 884 status_tela="solta";
amandarm 55:4d071fb49f24 885 }
amandarm 55:4d071fb49f24 886
amandarm 55:4d071fb49f24 887 if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){
amandarm 55:4d071fb49f24 888 funcao_acomp();
amandarm 55:4d071fb49f24 889 status_tela="acompanhamento";
amandarm 55:4d071fb49f24 890 };
enricoan 66:ebc2a21cd514 891 }
amandarm 55:4d071fb49f24 892 }
enricoan 10:4f49e9859535 893 }