Projeto Mecatrônico
/
ProjetoMecatronico
testando
main_PM.cpp@64:90bc874124fc, 2020-06-02 (annotated)
- Committer:
- amandarm
- Date:
- Tue Jun 02 12:24:24 2020 +0000
- Revision:
- 64:90bc874124fc
- Parent:
- 62:858c3f22c337
posicionamento pos salva
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" |
enricoan | 62:858c3f22c337 | 4 | TextLCD lcd(D4, D5, D6, D7, D8, D9); |
amandarm | 31:acb062a05984 | 5 | #include "funcoes_ihm.h" |
amandarm | 38:2a0e12322e72 | 6 | #include "classe.h" |
enricoan | 33:a513498222c7 | 7 | #include <stdio.h> |
enricoan | 33:a513498222c7 | 8 | #include <string> |
amandarm | 35:a8256801e9ab | 9 | |
enricoan | 29:76d952358896 | 10 | //local para a declaracao de varioveis |
enricoan | 30:179ceb3e5791 | 11 | float t_motor = 0.002; //delay entre o acionamento de uma bobina do motor e a outra |
enricoan | 30:179ceb3e5791 | 12 | 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 | 13 | 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 | 14 | 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 | 15 | int parado[] = {0,0,0,0}; //valores enviados às bobinas do motor para deixá-lo parado |
enricoan | 30:179ceb3e5791 | 16 | char tecla; //variável que guarda a tecla apertada no teclado |
enricoan | 30:179ceb3e5791 | 17 | 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 | 18 | 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 | 19 | 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 | 20 | 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 | 21 | 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 | 22 | 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 | 23 | |
Hiroball | 59:447534f1e4f5 | 24 | |
enricoan | 29:76d952358896 | 25 | //pinos usados pelos botoes de fim de curso |
enricoan | 17:4d0b8ed791e0 | 26 | DigitalIn fdc_x(PC_10); |
enricoan | 17:4d0b8ed791e0 | 27 | DigitalIn fdc_y(PC_11); |
enricoan | 17:4d0b8ed791e0 | 28 | DigitalIn fdc_z(PC_12); |
enricoan | 20:81a44a25b21d | 29 | |
enricoan | 29:76d952358896 | 30 | //Iterrupcao botao de emergência |
enricoan | 62:858c3f22c337 | 31 | InterruptIn interrupcao(PB_11); |
amandarm | 25:b0db528c1985 | 32 | |
enricoan | 42:a6fbbe536814 | 33 | //pinos do rele, saida digital para acionar o rele se necessario, dada uma entrada no pino da emergencia |
enricoan | 30:179ceb3e5791 | 34 | DigitalOut rele1(PC_5); |
enricoan | 30:179ceb3e5791 | 35 | DigitalOut rele2(PB_9); |
amandarm | 25:b0db528c1985 | 36 | |
enricoan | 29:76d952358896 | 37 | //botoes para movimentacao eixo a eixo |
enricoan | 10:4f49e9859535 | 38 | DigitalIn x_mais(PA_0); |
enricoan | 10:4f49e9859535 | 39 | DigitalIn x_menos(PA_1); |
enricoan | 10:4f49e9859535 | 40 | DigitalIn y_mais(PC_0); |
enricoan | 10:4f49e9859535 | 41 | DigitalIn y_menos(PC_1); |
enricoan | 10:4f49e9859535 | 42 | DigitalIn z_mais(PC_2); |
enricoan | 10:4f49e9859535 | 43 | DigitalIn z_menos(PC_3); |
enricoan | 10:4f49e9859535 | 44 | |
enricoan | 10:4f49e9859535 | 45 | //pinos da placa usados na biblioteca do LCD |
enricoan | 42:a6fbbe536814 | 46 | //TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 10:4f49e9859535 | 47 | |
enricoan | 16:70baa0057a76 | 48 | //pinos do teclado |
enricoan | 40:39263f4cf8b7 | 49 | DigitalIn b(PC_4); |
enricoan | 40:39263f4cf8b7 | 50 | DigitalIn a(PB_0); |
enricoan | 40:39263f4cf8b7 | 51 | DigitalIn t_0(PC_13); |
enricoan | 40:39263f4cf8b7 | 52 | DigitalIn t_1(PB_7); |
enricoan | 40:39263f4cf8b7 | 53 | DigitalIn t_2(PD_2); |
enricoan | 41:9709891f77c5 | 54 | DigitalIn t_3(PA_4); |
enricoan | 40:39263f4cf8b7 | 55 | DigitalIn t_4(PB_12); |
enricoan | 40:39263f4cf8b7 | 56 | DigitalIn t_5(PB_15); |
enricoan | 41:9709891f77c5 | 57 | DigitalIn t_6(PA_7); |
enricoan | 40:39263f4cf8b7 | 58 | DigitalIn t_7(PB_14); |
enricoan | 40:39263f4cf8b7 | 59 | DigitalIn t_8(PA_6); |
enricoan | 40:39263f4cf8b7 | 60 | DigitalIn t_9(PB_13); |
enricoan | 16:70baa0057a76 | 61 | |
enricoan | 10:4f49e9859535 | 62 | //pinos de saída para os motores |
enricoan | 10:4f49e9859535 | 63 | //eixo x |
Hiroball | 11:dc557e461dfd | 64 | BusOut eixox(PA_15,PA_14,PA_13,PA_12); |
enricoan | 10:4f49e9859535 | 65 | //eixo y |
Hiroball | 11:dc557e461dfd | 66 | BusOut eixoy(PA_11,PA_10,PB_2,PB_1); |
enricoan | 10:4f49e9859535 | 67 | //eixo z |
Hiroball | 11:dc557e461dfd | 68 | BusOut eixoz(PC_9,PC_8,PB_8,PC_6); |
enricoan | 10:4f49e9859535 | 69 | |
enricoan | 42:a6fbbe536814 | 70 | //funcao para receber inputs do teclado |
enricoan | 43:cfc3da0299ff | 71 | char pega_tecla(){ |
enricoan | 43:cfc3da0299ff | 72 | if (b == 0)return ('A'); |
enricoan | 43:cfc3da0299ff | 73 | if (a == 0)return('B'); |
enricoan | 43:cfc3da0299ff | 74 | if (t_0 == 0)return('0'); |
enricoan | 43:cfc3da0299ff | 75 | if (t_1 == 0)return('1'); |
enricoan | 43:cfc3da0299ff | 76 | if (t_2 == 0)return('2'); |
enricoan | 43:cfc3da0299ff | 77 | if (t_3 == 0)return('3'); |
enricoan | 43:cfc3da0299ff | 78 | if (t_4 == 0)return('4'); |
enricoan | 43:cfc3da0299ff | 79 | if (t_5 == 0)return('5'); |
enricoan | 43:cfc3da0299ff | 80 | if (t_6 == 0)return('6'); |
enricoan | 43:cfc3da0299ff | 81 | if (t_7 == 0)return('7'); |
enricoan | 43:cfc3da0299ff | 82 | if (t_8 == 0)return('8'); |
enricoan | 54:74a215a1f76b | 83 | if (t_9 == 0)return('9'); |
enricoan | 54:74a215a1f76b | 84 | return('k');} |
enricoan | 42:a6fbbe536814 | 85 | |
enricoan | 32:2a9b30e1e7ab | 86 | //funcao de movimentacao dos motores |
enricoan | 32:2a9b30e1e7ab | 87 | 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 | 88 | 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 | 89 | 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 | 90 | 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 | 91 | 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 | 92 | 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 | 62:858c3f22c337 | 93 | int flag = 0; |
enricoan | 32:2a9b30e1e7ab | 94 | //Funcao de interrupcao |
enricoan | 62:858c3f22c337 | 95 | void emergencia(){//TextLCD lcd(D4, D5, D6, D7, D8, D9); |
enricoan | 62:858c3f22c337 | 96 | rele2 = 0; |
amandarm | 25:b0db528c1985 | 97 | eixox = 0b0000; |
amandarm | 25:b0db528c1985 | 98 | eixoy = 0b0000; |
amandarm | 25:b0db528c1985 | 99 | eixoz = 0b0000; |
enricoan | 62:858c3f22c337 | 100 | flag = 1;} |
enricoan | 56:e748b9bd5e3c | 101 | |
enricoan | 29:76d952358896 | 102 | //Funcao de zeramento |
amandarm | 57:e26deee15b8f | 103 | |
amandarm | 27:45f8125a0c0b | 104 | void zeramento(){ |
amandarm | 27:45f8125a0c0b | 105 | while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}} |
amandarm | 27:45f8125a0c0b | 106 | while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}} |
enricoan | 54:74a215a1f76b | 107 | while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}} |
enricoan | 29:76d952358896 | 108 | |
enricoan | 54:74a215a1f76b | 109 | //Variaveis para operacao IHM |
enricoan | 29:76d952358896 | 110 | using std::string; |
enricoan | 32:2a9b30e1e7ab | 111 | string status_tela = "zeramento"; |
amandarm | 35:a8256801e9ab | 112 | int programa = 0; |
enricoan | 29:76d952358896 | 113 | |
amandarm | 64:90bc874124fc | 114 | float pos_x_pega[30]; |
amandarm | 64:90bc874124fc | 115 | float pos_y_pega[30]; |
amandarm | 64:90bc874124fc | 116 | float medida_lado_pega[30]; |
amandarm | 64:90bc874124fc | 117 | float volume_pega[30]; |
amandarm | 64:90bc874124fc | 118 | int tipo_pega[30]; |
amandarm | 55:4d071fb49f24 | 119 | |
amandarm | 64:90bc874124fc | 120 | float dimensao_solta[30]; |
amandarm | 55:4d071fb49f24 | 121 | |
amandarm | 64:90bc874124fc | 122 | float volume_solta_1[30]; |
amandarm | 64:90bc874124fc | 123 | float volume_solta_2[30]; |
amandarm | 64:90bc874124fc | 124 | float volume_solta_3[30]; |
amandarm | 64:90bc874124fc | 125 | float volume_solta_4[30]; |
amandarm | 64:90bc874124fc | 126 | float volume_solta_5[30]; |
amandarm | 64:90bc874124fc | 127 | float volume_solta_6[30]; |
amandarm | 64:90bc874124fc | 128 | float volume_solta_7[30]; |
amandarm | 64:90bc874124fc | 129 | float volume_solta_8[30]; |
amandarm | 64:90bc874124fc | 130 | float volume_solta_9[30]; |
amandarm | 55:4d071fb49f24 | 131 | |
amandarm | 64:90bc874124fc | 132 | float pos_x_solta[30]; |
amandarm | 64:90bc874124fc | 133 | float pos_y_solta[30]; |
amandarm | 55:4d071fb49f24 | 134 | |
amandarm | 57:e26deee15b8f | 135 | //main |
amandarm | 57:e26deee15b8f | 136 | |
enricoan | 29:76d952358896 | 137 | int main() { |
enricoan | 62:858c3f22c337 | 138 | interrupcao.fall(&emergencia); |
enricoan | 54:74a215a1f76b | 139 | int volume; |
Hiroball | 59:447534f1e4f5 | 140 | int comprimento_quad; |
enricoan | 54:74a215a1f76b | 141 | bool continuar; |
enricoan | 54:74a215a1f76b | 142 | int multiplicador; |
enricoan | 62:858c3f22c337 | 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 | 56:e748b9bd5e3c | 159 | lcd.printf("A - proximo"); |
enricoan | 33:a513498222c7 | 160 | while(1) { |
enricoan | 62:858c3f22c337 | 161 | if (flag == 1){ |
enricoan | 62:858c3f22c337 | 162 | lcd.printf("Botao de emergencia"); |
enricoan | 62:858c3f22c337 | 163 | lcd.locate(0,1); |
enricoan | 62:858c3f22c337 | 164 | lcd.printf(" acionado "); |
enricoan | 62:858c3f22c337 | 165 | lcd.locate(0,2); |
enricoan | 62:858c3f22c337 | 166 | lcd.printf("Operacao pausada");} |
enricoan | 62:858c3f22c337 | 167 | else{ |
enricoan | 50:cd54c98b6ef1 | 168 | tecla = pega_tecla(); |
enricoan | 50:cd54c98b6ef1 | 169 | printf("\n%s",status_tela); |
enricoan | 50:cd54c98b6ef1 | 170 | printf("\n%c",tecla); |
enricoan | 29:76d952358896 | 171 | if(tecla == 'A' && status_tela == "zeramento"){ |
amandarm | 27:45f8125a0c0b | 172 | zeramento(); |
enricoan | 33:a513498222c7 | 173 | status_tela = "inicio"; |
enricoan | 29:76d952358896 | 174 | funcao_inicio();} |
enricoan | 43:cfc3da0299ff | 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 | 64:90bc874124fc | 272 | if(coordx > pos_x_pega[programa]){ |
amandarm | 64:90bc874124fc | 273 | mov_x_menos() |
amandarm | 64:90bc874124fc | 274 | } |
amandarm | 64:90bc874124fc | 275 | if(coordx < pos_x_pega[programa]{ |
amandarm | 64:90bc874124fc | 276 | mov_x_mais() |
amandarm | 64:90bc874124fc | 277 | } |
amandarm | 36:12c0f6dfb3dc | 278 | //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega) |
amandarm | 35:a8256801e9ab | 279 | funcao_salvo_agree_pos_certo(); |
amandarm | 49:4625aaa408fc | 280 | status_tela="salvo_pos_certo_pega" ;} |
amandarm | 35:a8256801e9ab | 281 | else if(tecla =='2' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 282 | funcao_salvo_agree_solta_aviso(); |
amandarm | 44:f0b7a2fe28d9 | 283 | wait(3); |
amandarm | 36:12c0f6dfb3dc | 284 | //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta) |
amandarm | 35:a8256801e9ab | 285 | funcao_salvo_agree_pos_certo(); |
amandarm | 49:4625aaa408fc | 286 | status_tela = "salvo_pos_certo_solta";} |
amandarm | 35:a8256801e9ab | 287 | else if(tecla =='3' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 288 | funcao_salvo_agree_pega_vol(); |
amandarm | 36:12c0f6dfb3dc | 289 | //programação de volume igual da de cima (programa.vol_pega) |
amandarm | 52:dca562b09080 | 290 | status_tela="salvo_conf_vol_pega";} |
amandarm | 35:a8256801e9ab | 291 | else if(tecla =='4' && status_tela =="salvo_confirmacao"){ |
amandarm | 35:a8256801e9ab | 292 | funcao_salvo_agree_solta_vol(); |
amandarm | 36:12c0f6dfb3dc | 293 | //volumes configurados por cada pipeta. (programa.vol_solta_pipeta) |
amandarm | 35:a8256801e9ab | 294 | status_tela="salvo_conf_vol_solta";} |
amandarm | 35:a8256801e9ab | 295 | else if(tecla =='B' && status_tela =="salvo_confirmacao"){ |
amandarm | 47:0d9c10a9f87d | 296 | funcao_salvo1(); |
amandarm | 35:a8256801e9ab | 297 | wait(1); |
amandarm | 47:0d9c10a9f87d | 298 | funcao_salvo2(); |
amandarm | 35:a8256801e9ab | 299 | programa = 1; |
amandarm | 35:a8256801e9ab | 300 | status_tela = "salvo";} |
amandarm | 35:a8256801e9ab | 301 | |
enricoan | 43:cfc3da0299ff | 302 | tecla = pega_tecla(); |
amandarm | 49:4625aaa408fc | 303 | if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){ |
amandarm | 48:135139e2971f | 304 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 305 | lcd.locate(18,1);lcd.printf("OK"); |
amandarm | 48:135139e2971f | 306 | wait(1); |
amandarm | 48:135139e2971f | 307 | funcao_salvo_agree2(); |
enricoan | 53:1d0bb62c117f | 308 | status_tela = "salvo_confirmacao"; |
amandarm | 48:135139e2971f | 309 | }//salva essa posição como correta |
amandarm | 64:90bc874124fc | 310 | else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){ |
amandarm | 64:90bc874124fc | 311 | //colocar a programação de andar na tela do Maurício |
amandarm | 64:90bc874124fc | 312 | } |
amandarm | 49:4625aaa408fc | 313 | else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){ |
amandarm | 35:a8256801e9ab | 314 | funcao_salvo_agree1(); |
amandarm | 35:a8256801e9ab | 315 | wait(1); |
amandarm | 35:a8256801e9ab | 316 | funcao_salvo_agree2(); |
amandarm | 48:135139e2971f | 317 | status_tela = "salvo_confirmacao";} |
amandarm | 48:135139e2971f | 318 | |
amandarm | 52:dca562b09080 | 319 | if(tecla =='A' && status_tela =="salvo_conf_vol_pega"){ |
amandarm | 52:dca562b09080 | 320 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 321 | wait(1); |
amandarm | 52:dca562b09080 | 322 | funcao_salvo_agree2(); |
amandarm | 52:dca562b09080 | 323 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 53:1d0bb62c117f | 324 | status_tela = "salvo_confirmacao"; |
amandarm | 52:dca562b09080 | 325 | }//salva essa posição como correta |
amandarm | 52:dca562b09080 | 326 | else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){ |
amandarm | 52:dca562b09080 | 327 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 328 | wait(1); |
amandarm | 52:dca562b09080 | 329 | funcao_salvo_agree2(); |
amandarm | 52:dca562b09080 | 330 | status_tela = "salvo_confirmacao";} |
amandarm | 52:dca562b09080 | 331 | |
amandarm | 49:4625aaa408fc | 332 | if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){ |
amandarm | 49:4625aaa408fc | 333 | funcao_salvo_agree1(); |
amandarm | 52:dca562b09080 | 334 | lcd.locate(18,2);lcd.printf("OK"); |
amandarm | 49:4625aaa408fc | 335 | wait(1); |
amandarm | 49:4625aaa408fc | 336 | funcao_salvo_agree2(); |
enricoan | 53:1d0bb62c117f | 337 | status_tela = "salvo_confirmacao"; |
amandarm | 49:4625aaa408fc | 338 | }//salva essa posição como correta |
amandarm | 49:4625aaa408fc | 339 | else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){} |
amandarm | 49:4625aaa408fc | 340 | else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){ |
amandarm | 49:4625aaa408fc | 341 | funcao_salvo_agree1(); |
amandarm | 49:4625aaa408fc | 342 | wait(1); |
amandarm | 49:4625aaa408fc | 343 | funcao_salvo_agree2(); |
amandarm | 49:4625aaa408fc | 344 | status_tela = "salvo_confirmacao";} |
amandarm | 49:4625aaa408fc | 345 | |
amandarm | 52:dca562b09080 | 346 | if(tecla =='A' && 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 | 52:dca562b09080 | 350 | lcd.locate(18,2);lcd.printf("OK"); |
enricoan | 53:1d0bb62c117f | 351 | status_tela = "salvo_confirmacao"; |
amandarm | 48:135139e2971f | 352 | }//salva essa posição como correta |
amandarm | 48:135139e2971f | 353 | else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){} |
amandarm | 48:135139e2971f | 354 | else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){ |
amandarm | 48:135139e2971f | 355 | funcao_salvo_agree1(); |
amandarm | 48:135139e2971f | 356 | wait(1); |
amandarm | 48:135139e2971f | 357 | funcao_salvo_agree2(); |
amandarm | 35:a8256801e9ab | 358 | status_tela = "salvo_confirmacao";} |
amandarm | 35:a8256801e9ab | 359 | |
enricoan | 43:cfc3da0299ff | 360 | tecla = pega_tecla(); |
enricoan | 32:2a9b30e1e7ab | 361 | if(tecla =='1' && status_tela =="novo"){ |
amandarm | 26:4123b9462158 | 362 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 363 | status_tela ="forma";} |
enricoan | 53:1d0bb62c117f | 364 | |
enricoan | 28:c4733814201a | 365 | else if(tecla =='2' && status_tela == "novo"){ |
enricoan | 54:74a215a1f76b | 366 | volume = 0; |
enricoan | 54:74a215a1f76b | 367 | printf("\n%c",pega_tecla()); |
enricoan | 53:1d0bb62c117f | 368 | funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF |
Hiroball | 34:1b5a00c55376 | 369 | status_tela = "volume"; |
enricoan | 54:74a215a1f76b | 370 | continuar = 1; |
enricoan | 54:74a215a1f76b | 371 | multiplicador = 10; |
enricoan | 54:74a215a1f76b | 372 | while(continuar){ |
enricoan | 54:74a215a1f76b | 373 | printf("\n%c",pega_tecla()); |
enricoan | 43:cfc3da0299ff | 374 | tecla = pega_tecla(); |
enricoan | 54:74a215a1f76b | 375 | wait(1); |
enricoan | 54:74a215a1f76b | 376 | if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){ |
enricoan | 53:1d0bb62c117f | 377 | lcd.locate(6,1); |
Hiroball | 34:1b5a00c55376 | 378 | volume = multiplicador*volume + (int)tecla; |
enricoan | 54:74a215a1f76b | 379 | printf("\nVolume: %d", volume); |
Hiroball | 34:1b5a00c55376 | 380 | } |
Hiroball | 59:447534f1e4f5 | 381 | else if(tecla == 'A'){ |
enricoan | 53:1d0bb62c117f | 382 | lcd.locate(0,2); |
Hiroball | 34:1b5a00c55376 | 383 | lcd.printf("Volume: %d", volume); |
Hiroball | 34:1b5a00c55376 | 384 | continuar = 0; |
enricoan | 54:74a215a1f76b | 385 | wait(1); |
Hiroball | 34:1b5a00c55376 | 386 | } |
Hiroball | 59:447534f1e4f5 | 387 | //############ Faz sentido apertar B e voltar para essas duas telas, ne?################# |
Hiroball | 59:447534f1e4f5 | 388 | else if(tecla=='B'){ |
Hiroball | 59:447534f1e4f5 | 389 | funcao_pega1(); |
Hiroball | 59:447534f1e4f5 | 390 | wait(1); |
Hiroball | 59:447534f1e4f5 | 391 | funcao_pega2(); |
Hiroball | 59:447534f1e4f5 | 392 | status_tela = "novo"; |
Hiroball | 59:447534f1e4f5 | 393 | continuar = 0;} |
Hiroball | 34:1b5a00c55376 | 394 | } |
Hiroball | 34:1b5a00c55376 | 395 | } |
enricoan | 28:c4733814201a | 396 | else if(tecla == '3' && status_tela == "novo"){ |
amandarm | 26:4123b9462158 | 397 | funcao_pega_pos_x(); |
amandarm | 55:4d071fb49f24 | 398 | pos_x_pega = 12.5; |
enricoan | 32:2a9b30e1e7ab | 399 | status_tela = "pos_x";} |
enricoan | 28:c4733814201a | 400 | else if(tecla == 'B' && status_tela == "novo"){ |
amandarm | 26:4123b9462158 | 401 | funcao_inicio(); |
enricoan | 32:2a9b30e1e7ab | 402 | status_tela = "inicio";} |
enricoan | 28:c4733814201a | 403 | else if(tecla == '1' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 404 | funcao_salvo_agree1(); |
enricoan | 32:2a9b30e1e7ab | 405 | status_tela = "confirmacao";} |
enricoan | 28:c4733814201a | 406 | else if(tecla =='2' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 407 | funcao_salvo_agree1(); |
enricoan | 32:2a9b30e1e7ab | 408 | status_tela = "confirmacao";} |
enricoan | 28:c4733814201a | 409 | else if(tecla =='B' && status_tela == "salvo"){ |
amandarm | 26:4123b9462158 | 410 | funcao_inicio(); |
enricoan | 32:2a9b30e1e7ab | 411 | status_tela = "inicio";} |
amandarm | 35:a8256801e9ab | 412 | |
enricoan | 56:e748b9bd5e3c | 413 | tecla = 'F'; |
enricoan | 56:e748b9bd5e3c | 414 | wait(1); |
enricoan | 43:cfc3da0299ff | 415 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 416 | if(tecla == '1' && status_tela == "forma"){ |
amandarm | 26:4123b9462158 | 417 | funcao_pega_forma_quad(); |
amandarm | 55:4d071fb49f24 | 418 | tipo_pega = 1; |
Hiroball | 59:447534f1e4f5 | 419 | tecla = pega_tecla(); |
Hiroball | 59:447534f1e4f5 | 420 | wait(1); |
Hiroball | 59:447534f1e4f5 | 421 | continuar = 1; |
Hiroball | 59:447534f1e4f5 | 422 | multiplicador = 10; |
Hiroball | 59:447534f1e4f5 | 423 | comprimento_quad = 0; |
Hiroball | 59:447534f1e4f5 | 424 | while(continuar){ |
Hiroball | 59:447534f1e4f5 | 425 | printf("\n%c",pega_tecla()); |
Hiroball | 59:447534f1e4f5 | 426 | tecla = pega_tecla(); |
Hiroball | 59:447534f1e4f5 | 427 | wait(1); |
Hiroball | 59:447534f1e4f5 | 428 | status_tela ="forma_quad"; |
Hiroball | 59:447534f1e4f5 | 429 | if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){ |
Hiroball | 59:447534f1e4f5 | 430 | lcd.locate(0,2); |
enricoan | 60:e2c632e8dee1 | 431 | comprimento_quad = multiplicador*comprimento_quad + ((int)tecla - 48); |
Hiroball | 59:447534f1e4f5 | 432 | printf("\nComprimento: %d", comprimento_quad); |
Hiroball | 59:447534f1e4f5 | 433 | } |
Hiroball | 59:447534f1e4f5 | 434 | else if(tecla == 'A'){ |
Hiroball | 59:447534f1e4f5 | 435 | lcd.locate(0,2); |
Hiroball | 59:447534f1e4f5 | 436 | lcd.printf("Comprimento: %d", comprimento_quad); |
Hiroball | 59:447534f1e4f5 | 437 | continuar = 0; |
Hiroball | 59:447534f1e4f5 | 438 | wait(1); |
Hiroball | 59:447534f1e4f5 | 439 | } |
Hiroball | 59:447534f1e4f5 | 440 | else if(tecla=='B'){ |
Hiroball | 59:447534f1e4f5 | 441 | funcao_pega_forma(); |
Hiroball | 59:447534f1e4f5 | 442 | status_tela = "forma"; |
Hiroball | 59:447534f1e4f5 | 443 | continuar = 0;} |
Hiroball | 59:447534f1e4f5 | 444 | } |
Hiroball | 59:447534f1e4f5 | 445 | } |
enricoan | 28:c4733814201a | 446 | else if(tecla == '2' && status_tela == "forma"){ |
amandarm | 26:4123b9462158 | 447 | funcao_pega_forma_red(); |
enricoan | 56:e748b9bd5e3c | 448 | tipo_pega = 2; |
amandarm | 55:4d071fb49f24 | 449 | status_tela = "forma_red";} |
enricoan | 28:c4733814201a | 450 | else if(tecla == 'B' && status_tela == "forma"){ |
enricoan | 56:e748b9bd5e3c | 451 | funcao_pega1(); |
enricoan | 56:e748b9bd5e3c | 452 | wait(1); |
enricoan | 56:e748b9bd5e3c | 453 | funcao_pega2(); |
enricoan | 32:2a9b30e1e7ab | 454 | status_tela = "novo";} |
amandarm | 35:a8256801e9ab | 455 | |
enricoan | 43:cfc3da0299ff | 456 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 457 | if(tecla == 'A' && status_tela == "forma_quad"){ |
amandarm | 26:4123b9462158 | 458 | funcao_pega1(); |
amandarm | 55:4d071fb49f24 | 459 | medida_lado_pega = 10; |
enricoan | 58:d573b618f45a | 460 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 461 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 462 | } |
enricoan | 58:d573b618f45a | 463 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 464 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 465 | } |
enricoan | 29:76d952358896 | 466 | wait(1); |
amandarm | 26:4123b9462158 | 467 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 468 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 469 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 470 | } |
enricoan | 56:e748b9bd5e3c | 471 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 472 | else if(tecla == 'B' && status_tela == "forma_quad"){ |
amandarm | 26:4123b9462158 | 473 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 474 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 475 | else if(tecla == 'A' && status_tela == "forma_red"){ |
amandarm | 55:4d071fb49f24 | 476 | medida_lado_pega = 10; |
amandarm | 26:4123b9462158 | 477 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 478 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 479 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 480 | } |
enricoan | 58:d573b618f45a | 481 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 482 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 483 | } |
enricoan | 29:76d952358896 | 484 | wait(1); |
amandarm | 26:4123b9462158 | 485 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 486 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 487 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 488 | } |
enricoan | 56:e748b9bd5e3c | 489 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 490 | else if(tecla == 'B' && status_tela == "forma_red"){ |
amandarm | 26:4123b9462158 | 491 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 492 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 493 | else if(tecla == 'A' && status_tela == "volume"){ |
amandarm | 26:4123b9462158 | 494 | funcao_pega1(); |
amandarm | 55:4d071fb49f24 | 495 | volume_pega = 12; |
enricoan | 58:d573b618f45a | 496 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 497 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 498 | } |
enricoan | 58:d573b618f45a | 499 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 500 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 501 | } |
enricoan | 29:76d952358896 | 502 | wait(1); |
amandarm | 26:4123b9462158 | 503 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 504 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 505 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 506 | } |
enricoan | 56:e748b9bd5e3c | 507 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 508 | else if( tecla == 'B' && status_tela == "volume"){ |
amandarm | 26:4123b9462158 | 509 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 510 | status_tela = "forma";} |
enricoan | 28:c4733814201a | 511 | else if(tecla == 'A' && status_tela == "pos_x"){ |
enricoan | 29:76d952358896 | 512 | funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y |
amandarm | 55:4d071fb49f24 | 513 | pos_y_pega = 12.5; |
enricoan | 32:2a9b30e1e7ab | 514 | status_tela = "pos_y";} |
enricoan | 28:c4733814201a | 515 | else if(tecla == 'B' && status_tela == "pos_x"){ |
amandarm | 26:4123b9462158 | 516 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 517 | status_tela = "forma";} |
amandarm | 35:a8256801e9ab | 518 | |
enricoan | 43:cfc3da0299ff | 519 | tecla = pega_tecla(); |
enricoan | 28:c4733814201a | 520 | if(tecla == 'A' && status_tela == "pos_y"){ |
amandarm | 26:4123b9462158 | 521 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 522 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 523 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 524 | } |
enricoan | 58:d573b618f45a | 525 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 526 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 527 | } |
enricoan | 29:76d952358896 | 528 | wait(1); |
amandarm | 26:4123b9462158 | 529 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 530 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 531 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 532 | } |
enricoan | 56:e748b9bd5e3c | 533 | wait(1); |
enricoan | 56:e748b9bd5e3c | 534 | status_tela ="novo";} |
enricoan | 28:c4733814201a | 535 | else if(tecla == 'B' && status_tela == "pos_y"){ |
amandarm | 26:4123b9462158 | 536 | funcao_pega_forma(); |
enricoan | 32:2a9b30e1e7ab | 537 | status_tela = "forma";} |
amandarm | 55:4d071fb49f24 | 538 | |
amandarm | 55:4d071fb49f24 | 539 | |
amandarm | 55:4d071fb49f24 | 540 | tecla=pega_tecla(); |
enricoan | 56:e748b9bd5e3c | 541 | 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 | 542 | funcao_solta1(); |
amandarm | 55:4d071fb49f24 | 543 | wait(3); |
amandarm | 55:4d071fb49f24 | 544 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 545 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 546 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 547 | } |
amandarm | 55:4d071fb49f24 | 548 | wait(3); |
enricoan | 56:e748b9bd5e3c | 549 | status_tela="solta";} |
amandarm | 55:4d071fb49f24 | 550 | |
amandarm | 55:4d071fb49f24 | 551 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 552 | if(tecla == '1' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 553 | funcao_solta_dimensao(); |
amandarm | 55:4d071fb49f24 | 554 | status_tela="solta_dimensao"; |
amandarm | 55:4d071fb49f24 | 555 | } |
amandarm | 55:4d071fb49f24 | 556 | else if(tecla == '2' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 557 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 558 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 559 | } |
amandarm | 55:4d071fb49f24 | 560 | else if(tecla == '3' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 561 | funcao_solta_pos_x(); |
amandarm | 55:4d071fb49f24 | 562 | status_tela="solta_pos_x"; |
amandarm | 55:4d071fb49f24 | 563 | } |
amandarm | 55:4d071fb49f24 | 564 | else if(tecla == 'B' && status_tela == "solta"){ |
amandarm | 55:4d071fb49f24 | 565 | funcao_pega1(); |
enricoan | 58:d573b618f45a | 566 | if(pos_y_pega !=0){ |
enricoan | 58:d573b618f45a | 567 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 568 | } |
enricoan | 58:d573b618f45a | 569 | if(medida_lado_pega !=0){ |
enricoan | 58:d573b618f45a | 570 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 571 | } |
amandarm | 55:4d071fb49f24 | 572 | wait(1); |
amandarm | 55:4d071fb49f24 | 573 | funcao_pega2(); |
enricoan | 58:d573b618f45a | 574 | if(volume_pega !=0){ |
enricoan | 58:d573b618f45a | 575 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 576 | } |
amandarm | 55:4d071fb49f24 | 577 | status_tela="inicio"; |
amandarm | 55:4d071fb49f24 | 578 | } |
amandarm | 55:4d071fb49f24 | 579 | |
amandarm | 55:4d071fb49f24 | 580 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 581 | if(tecla=='A' && status_tela=="solta_dimensao"){ |
amandarm | 55:4d071fb49f24 | 582 | dimensao_solta = 10; |
amandarm | 55:4d071fb49f24 | 583 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 584 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 585 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 586 | } |
enricoan | 58:d573b618f45a | 587 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 588 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 589 | } |
amandarm | 55:4d071fb49f24 | 590 | wait(3); |
amandarm | 55:4d071fb49f24 | 591 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 592 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 593 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 594 | } |
amandarm | 55:4d071fb49f24 | 595 | wait(3); |
amandarm | 55:4d071fb49f24 | 596 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 597 | } |
amandarm | 55:4d071fb49f24 | 598 | else if(tecla=='B' && status_tela=="solta_dimensao"){ |
amandarm | 55:4d071fb49f24 | 599 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 600 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 601 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 602 | } |
enricoan | 58:d573b618f45a | 603 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 604 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 605 | } |
amandarm | 55:4d071fb49f24 | 606 | wait(3); |
amandarm | 55:4d071fb49f24 | 607 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 608 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 609 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 610 | } |
amandarm | 55:4d071fb49f24 | 611 | wait(3); |
amandarm | 55:4d071fb49f24 | 612 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 613 | } |
amandarm | 55:4d071fb49f24 | 614 | if(tecla=='1' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 615 | funcao_solta_vol_igual(); |
amandarm | 55:4d071fb49f24 | 616 | status_tela="solta_vol_igual"; |
amandarm | 55:4d071fb49f24 | 617 | } |
amandarm | 55:4d071fb49f24 | 618 | else if(tecla=='2' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 619 | funcao_solta_vol_cada(); |
amandarm | 55:4d071fb49f24 | 620 | status_tela="solta_vol_dif"; |
amandarm | 55:4d071fb49f24 | 621 | } |
amandarm | 55:4d071fb49f24 | 622 | else if(tecla=='B' && status_tela=="solta_vol"){ |
amandarm | 55:4d071fb49f24 | 623 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 624 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 625 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 626 | } |
enricoan | 58:d573b618f45a | 627 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 628 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 629 | } |
amandarm | 55:4d071fb49f24 | 630 | wait(3); |
amandarm | 55:4d071fb49f24 | 631 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 632 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 633 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 634 | } |
amandarm | 55:4d071fb49f24 | 635 | wait(3); |
amandarm | 55:4d071fb49f24 | 636 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 637 | } |
enricoan | 56:e748b9bd5e3c | 638 | if(tecla=='A' && status_tela=="solta_pos_x"){ |
amandarm | 55:4d071fb49f24 | 639 | funcao_solta_pos_y(); |
amandarm | 55:4d071fb49f24 | 640 | pos_x_solta = 10; |
enricoan | 56:e748b9bd5e3c | 641 | status_tela="solta_pos_y"; |
amandarm | 55:4d071fb49f24 | 642 | } |
enricoan | 56:e748b9bd5e3c | 643 | else if(tecla=='B' && status_tela=="solta_pos_x"){ |
amandarm | 55:4d071fb49f24 | 644 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 645 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 646 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 647 | } |
enricoan | 58:d573b618f45a | 648 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 649 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 650 | } |
amandarm | 55:4d071fb49f24 | 651 | wait(3); |
amandarm | 55:4d071fb49f24 | 652 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 653 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 654 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 655 | } |
amandarm | 55:4d071fb49f24 | 656 | wait(3); |
amandarm | 55:4d071fb49f24 | 657 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 658 | } |
amandarm | 55:4d071fb49f24 | 659 | |
amandarm | 55:4d071fb49f24 | 660 | tecla=pega_tecla(); |
amandarm | 55:4d071fb49f24 | 661 | if(tecla=='A' && status_tela=="solta_vol_igual"){ |
amandarm | 55:4d071fb49f24 | 662 | volume_solta_1=10; |
amandarm | 55:4d071fb49f24 | 663 | volume_solta_2=10; |
amandarm | 55:4d071fb49f24 | 664 | volume_solta_3=10; |
amandarm | 55:4d071fb49f24 | 665 | volume_solta_4=10; |
amandarm | 55:4d071fb49f24 | 666 | volume_solta_5=10; |
amandarm | 55:4d071fb49f24 | 667 | volume_solta_6=10; |
amandarm | 55:4d071fb49f24 | 668 | volume_solta_7=10; |
amandarm | 55:4d071fb49f24 | 669 | volume_solta_8=10; |
amandarm | 55:4d071fb49f24 | 670 | volume_solta_9=10; |
amandarm | 55:4d071fb49f24 | 671 | |
amandarm | 55:4d071fb49f24 | 672 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 673 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 674 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 675 | } |
enricoan | 58:d573b618f45a | 676 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 677 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 678 | } |
amandarm | 55:4d071fb49f24 | 679 | wait(3); |
amandarm | 55:4d071fb49f24 | 680 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 681 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 682 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 683 | } |
amandarm | 55:4d071fb49f24 | 684 | wait(3); |
enricoan | 56:e748b9bd5e3c | 685 | status_tela="solta";} |
amandarm | 55:4d071fb49f24 | 686 | else if(tecla=='B' && status_tela=="solta_vol_igual"){ |
amandarm | 55:4d071fb49f24 | 687 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 688 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 689 | } |
amandarm | 55:4d071fb49f24 | 690 | if(tecla=='1' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 691 | volume_solta_1=10; |
enricoan | 56:e748b9bd5e3c | 692 | lcd.locate(12,0);lcd.printf("10"); |
amandarm | 55:4d071fb49f24 | 693 | } |
amandarm | 55:4d071fb49f24 | 694 | if(tecla=='2' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 695 | volume_solta_2=20; |
enricoan | 56:e748b9bd5e3c | 696 | lcd.locate(15,0);lcd.printf("20"); |
amandarm | 55:4d071fb49f24 | 697 | } |
amandarm | 55:4d071fb49f24 | 698 | if(tecla=='3' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 699 | volume_solta_3=30; |
enricoan | 56:e748b9bd5e3c | 700 | lcd.locate(18,0);lcd.printf("30"); |
amandarm | 55:4d071fb49f24 | 701 | } |
amandarm | 55:4d071fb49f24 | 702 | if(tecla=='4' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 703 | volume_solta_4=40; |
enricoan | 56:e748b9bd5e3c | 704 | lcd.locate(12,1);lcd.printf("40"); |
amandarm | 55:4d071fb49f24 | 705 | } |
amandarm | 55:4d071fb49f24 | 706 | if(tecla=='5' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 707 | volume_solta_5=50; |
enricoan | 56:e748b9bd5e3c | 708 | lcd.locate(15,1);lcd.printf("50"); |
amandarm | 55:4d071fb49f24 | 709 | } |
amandarm | 55:4d071fb49f24 | 710 | if(tecla=='6' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 711 | volume_solta_6=60; |
enricoan | 56:e748b9bd5e3c | 712 | lcd.locate(18,1);lcd.printf("60"); |
amandarm | 55:4d071fb49f24 | 713 | } |
amandarm | 55:4d071fb49f24 | 714 | if(tecla=='7' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 715 | volume_solta_7=70; |
enricoan | 56:e748b9bd5e3c | 716 | lcd.locate(12,2);lcd.printf("70"); |
amandarm | 55:4d071fb49f24 | 717 | } |
amandarm | 55:4d071fb49f24 | 718 | if(tecla=='8' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 719 | volume_solta_8=80; |
enricoan | 56:e748b9bd5e3c | 720 | lcd.locate(15,2);lcd.printf("80"); |
amandarm | 55:4d071fb49f24 | 721 | } |
amandarm | 55:4d071fb49f24 | 722 | if(tecla=='9' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 723 | volume_solta_9=90; |
enricoan | 56:e748b9bd5e3c | 724 | lcd.locate(18,2);lcd.printf("90"); |
amandarm | 55:4d071fb49f24 | 725 | } |
amandarm | 55:4d071fb49f24 | 726 | if(tecla=='A' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 727 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 728 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 729 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 730 | } |
enricoan | 58:d573b618f45a | 731 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 732 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 733 | } |
amandarm | 55:4d071fb49f24 | 734 | wait(3); |
amandarm | 55:4d071fb49f24 | 735 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 736 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 737 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 738 | } |
amandarm | 55:4d071fb49f24 | 739 | wait(3); |
amandarm | 55:4d071fb49f24 | 740 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 741 | } |
amandarm | 55:4d071fb49f24 | 742 | else if(tecla=='B' && status_tela=="solta_vol_dif"){ |
amandarm | 55:4d071fb49f24 | 743 | funcao_solta_vol(); |
amandarm | 55:4d071fb49f24 | 744 | status_tela="solta_vol"; |
amandarm | 55:4d071fb49f24 | 745 | } |
enricoan | 56:e748b9bd5e3c | 746 | if(tecla=='A' && status_tela=="solta_pos_y"){ |
amandarm | 55:4d071fb49f24 | 747 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 748 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 749 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 750 | } |
enricoan | 58:d573b618f45a | 751 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 752 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 753 | } |
amandarm | 55:4d071fb49f24 | 754 | wait(3); |
amandarm | 55:4d071fb49f24 | 755 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 756 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 757 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 758 | } |
amandarm | 55:4d071fb49f24 | 759 | pos_y_solta = 10; |
amandarm | 55:4d071fb49f24 | 760 | wait(3); |
amandarm | 55:4d071fb49f24 | 761 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 762 | } |
enricoan | 56:e748b9bd5e3c | 763 | else if(tecla=='B' && status_tela=="solta_pos_y"){ |
amandarm | 55:4d071fb49f24 | 764 | funcao_solta1(); |
enricoan | 58:d573b618f45a | 765 | if(pos_y_solta !=0){ |
enricoan | 58:d573b618f45a | 766 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 767 | } |
enricoan | 58:d573b618f45a | 768 | if(dimensao_solta !=0){ |
enricoan | 58:d573b618f45a | 769 | lcd.locate(18,1);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 770 | } |
amandarm | 55:4d071fb49f24 | 771 | wait(3); |
amandarm | 55:4d071fb49f24 | 772 | funcao_solta2(); |
enricoan | 58:d573b618f45a | 773 | if(volume_solta_9 !=0){ |
enricoan | 58:d573b618f45a | 774 | lcd.locate(18,0);lcd.printf("OK"); |
enricoan | 58:d573b618f45a | 775 | } |
amandarm | 55:4d071fb49f24 | 776 | pos_y_solta = 10; |
amandarm | 55:4d071fb49f24 | 777 | wait(3); |
amandarm | 55:4d071fb49f24 | 778 | status_tela="solta"; |
amandarm | 55:4d071fb49f24 | 779 | } |
amandarm | 55:4d071fb49f24 | 780 | |
amandarm | 55:4d071fb49f24 | 781 | if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){ |
amandarm | 55:4d071fb49f24 | 782 | funcao_acomp(); |
amandarm | 55:4d071fb49f24 | 783 | status_tela="acompanhamento"; |
amandarm | 55:4d071fb49f24 | 784 | }; |
enricoan | 62:858c3f22c337 | 785 | } |
amandarm | 55:4d071fb49f24 | 786 | } |
enricoan | 10:4f49e9859535 | 787 | } |