Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@58:d573b618f45a, 2020-05-30 (annotated)

Committer:
enricoan
Date:
Sat May 30 22:03:30 2020 +0000
Revision:
58:d573b618f45a
Parent:
57:e26deee15b8f
Child:
59:447534f1e4f5
telas mais organizadas mas com bug no ok

Who changed what in which revision?

UserRevisionLine numberNew contents of line
enricoan 29:76d952358896 1 //local para inclusao de bibliotecas
enricoan 10:4f49e9859535 2 #include "mbed.h"
enricoan 10:4f49e9859535 3 #include "TextLCD.h"
amandarm 31:acb062a05984 4 #include "funcoes_ihm.h"
amandarm 38:2a0e12322e72 5 #include "classe.h"
enricoan 33:a513498222c7 6 #include <stdio.h>
enricoan 33:a513498222c7 7 #include <string>
amandarm 35:a8256801e9ab 8
enricoan 29:76d952358896 9 //local para a declaracao de varioveis
enricoan 30:179ceb3e5791 10 float t_motor = 0.002; //delay entre o acionamento de uma bobina do motor e a outra
enricoan 30:179ceb3e5791 11 float t_teclado = 0.01; //delay entre a leitura de um botão do teclado, necessário para que um click nao gere mais de uma saída
enricoan 24:38820e43b9fe 12 int hor[] = {12,6,3,9}; //valores que, ao serem convertidos em binário, geram a sequência de acionamento do motor no sentido horário enviando a sequência de 0's e 1's às bobinas
enricoan 24:38820e43b9fe 13 int antihor[] = {3,6,12,9}; //valores que, ao serem convertidos em binário, geram a sequência de acionamento do motor no sentido anti-horário enviando a sequência de 0's e 1's às bobinas
enricoan 24:38820e43b9fe 14 int parado[] = {0,0,0,0}; //valores enviados às bobinas do motor para deixá-lo parado
enricoan 30:179ceb3e5791 15 char tecla; //variável que guarda a tecla apertada no teclado
enricoan 30:179ceb3e5791 16 float coord_x = 0; //variável que guardará a posição linear do eixo x, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 17 float coord_y = 0; //variável que guardará a posição linear do eixo y, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 18 float coord_z = 0; //variável que guardará a posição linear do eixo z, ela é incrementada com a conta do deslocamento linear dado um deslocamento angular sempre que o eixo é movimentado depois do referencimaneto
enricoan 30:179ceb3e5791 19 int est_x = 0; //variável que indicará o estado do eixo x, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 30:179ceb3e5791 20 int est_y = 0; //variável que indicará o estado do eixo y, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 30:179ceb3e5791 21 int est_z = 0; //variável que indicará o estado do eixo z, pemitindo ou não que ele possa ser avançado depois de atingir o fim de curso
enricoan 17:4d0b8ed791e0 22
enricoan 29:76d952358896 23 //pinos usados pelos botoes de fim de curso
enricoan 17:4d0b8ed791e0 24 DigitalIn fdc_x(PC_10);
enricoan 17:4d0b8ed791e0 25 DigitalIn fdc_y(PC_11);
enricoan 17:4d0b8ed791e0 26 DigitalIn fdc_z(PC_12);
enricoan 20:81a44a25b21d 27
enricoan 29:76d952358896 28 //Iterrupcao botao de emergência
enricoan 43:cfc3da0299ff 29 InterruptIn interrupcao(PC_14);
amandarm 25:b0db528c1985 30
enricoan 42:a6fbbe536814 31 //pinos do rele, saida digital para acionar o rele se necessario, dada uma entrada no pino da emergencia
enricoan 30:179ceb3e5791 32 DigitalOut rele1(PC_5);
enricoan 30:179ceb3e5791 33 DigitalOut rele2(PB_9);
amandarm 25:b0db528c1985 34
enricoan 29:76d952358896 35 //botoes para movimentacao eixo a eixo
enricoan 10:4f49e9859535 36 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 37 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 38 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 39 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 40 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 41 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 42
enricoan 10:4f49e9859535 43 //pinos da placa usados na biblioteca do LCD
enricoan 42:a6fbbe536814 44 //TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 45
enricoan 16:70baa0057a76 46 //pinos do teclado
enricoan 40:39263f4cf8b7 47 DigitalIn b(PC_4);
enricoan 40:39263f4cf8b7 48 DigitalIn a(PB_0);
enricoan 40:39263f4cf8b7 49 DigitalIn t_0(PC_13);
enricoan 40:39263f4cf8b7 50 DigitalIn t_1(PB_7);
enricoan 40:39263f4cf8b7 51 DigitalIn t_2(PD_2);
enricoan 41:9709891f77c5 52 DigitalIn t_3(PA_4);
enricoan 40:39263f4cf8b7 53 DigitalIn t_4(PB_12);
enricoan 40:39263f4cf8b7 54 DigitalIn t_5(PB_15);
enricoan 41:9709891f77c5 55 DigitalIn t_6(PA_7);
enricoan 40:39263f4cf8b7 56 DigitalIn t_7(PB_14);
enricoan 40:39263f4cf8b7 57 DigitalIn t_8(PA_6);
enricoan 40:39263f4cf8b7 58 DigitalIn t_9(PB_13);
enricoan 16:70baa0057a76 59
enricoan 10:4f49e9859535 60 //pinos de saída para os motores
enricoan 10:4f49e9859535 61 //eixo x
Hiroball 11:dc557e461dfd 62 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 63 //eixo y
Hiroball 11:dc557e461dfd 64 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 65 //eixo z
Hiroball 11:dc557e461dfd 66 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 67
enricoan 42:a6fbbe536814 68 //funcao para receber inputs do teclado
enricoan 43:cfc3da0299ff 69 char pega_tecla(){
enricoan 43:cfc3da0299ff 70 if (b == 0)return ('A');
enricoan 43:cfc3da0299ff 71 if (a == 0)return('B');
enricoan 43:cfc3da0299ff 72 if (t_0 == 0)return('0');
enricoan 43:cfc3da0299ff 73 if (t_1 == 0)return('1');
enricoan 43:cfc3da0299ff 74 if (t_2 == 0)return('2');
enricoan 43:cfc3da0299ff 75 if (t_3 == 0)return('3');
enricoan 43:cfc3da0299ff 76 if (t_4 == 0)return('4');
enricoan 43:cfc3da0299ff 77 if (t_5 == 0)return('5');
enricoan 43:cfc3da0299ff 78 if (t_6 == 0)return('6');
enricoan 43:cfc3da0299ff 79 if (t_7 == 0)return('7');
enricoan 43:cfc3da0299ff 80 if (t_8 == 0)return('8');
enricoan 54:74a215a1f76b 81 if (t_9 == 0)return('9');
enricoan 54:74a215a1f76b 82 return('k');}
enricoan 42:a6fbbe536814 83
enricoan 32:2a9b30e1e7ab 84 //funcao de movimentacao dos motores
enricoan 32:2a9b30e1e7ab 85 void mov_x_menos(){for(int i = 0; i < 4; i++){eixox = antihor[i];wait(t_motor);coord_x -= (5.625*5/32)/360;est_x = 0;}}
enricoan 32:2a9b30e1e7ab 86 void mov_y_menos(){for(int i = 0; i < 4; i++){eixoy = antihor[i];wait(t_motor);coord_y -= (5.625*5/32)/360;est_y = 0;}}
enricoan 32:2a9b30e1e7ab 87 void mov_z_menos(){for(int i = 0; i < 4; i++){eixoz = antihor[i];wait(t_motor);coord_z -= (5.625*5/32)/360;est_z = 0;}}
enricoan 32:2a9b30e1e7ab 88 void mov_x_mais() {for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);coord_x += (5.625*5/32)/360;est_x = 0;}}
enricoan 32:2a9b30e1e7ab 89 void mov_y_mais() {for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);coord_y += (5.625*5/32)/360;est_y = 0;}}
enricoan 32:2a9b30e1e7ab 90 void mov_z_mais() {for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);coord_z += (5.625*5/32)/360;est_z = 0;}}
enricoan 32:2a9b30e1e7ab 91
enricoan 32:2a9b30e1e7ab 92 //Funcao de interrupcao
enricoan 32:2a9b30e1e7ab 93 void emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 32:2a9b30e1e7ab 94 rele1 = 0;
amandarm 25:b0db528c1985 95 eixox = 0b0000;
amandarm 25:b0db528c1985 96 eixoy = 0b0000;
amandarm 25:b0db528c1985 97 eixoz = 0b0000;
amandarm 25:b0db528c1985 98 lcd.cls();
enricoan 29:76d952358896 99 lcd.printf("Botao Emergencia");
amandarm 25:b0db528c1985 100 lcd.locate(0,1);
amandarm 25:b0db528c1985 101 lcd.printf(" acionado ");
amandarm 25:b0db528c1985 102 lcd.locate(0,2);
amandarm 46:e73e36a20134 103 lcd.printf("Operacao pausada");
amandarm 46:e73e36a20134 104 wait(5);}
enricoan 56:e748b9bd5e3c 105
enricoan 29:76d952358896 106 //Funcao de zeramento
amandarm 57:e26deee15b8f 107
amandarm 27:45f8125a0c0b 108 void zeramento(){
amandarm 27:45f8125a0c0b 109 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
amandarm 27:45f8125a0c0b 110 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
enricoan 54:74a215a1f76b 111 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}}
enricoan 29:76d952358896 112
enricoan 54:74a215a1f76b 113 //Variaveis para operacao IHM
enricoan 29:76d952358896 114 using std::string;
enricoan 32:2a9b30e1e7ab 115 string status_tela = "zeramento";
amandarm 35:a8256801e9ab 116 int programa = 0;
enricoan 29:76d952358896 117
amandarm 55:4d071fb49f24 118 float pos_x_pega = 0;
amandarm 55:4d071fb49f24 119 float pos_y_pega = 0;
amandarm 55:4d071fb49f24 120 float medida_lado_pega=0;
amandarm 55:4d071fb49f24 121 float volume_pega = 0;
amandarm 55:4d071fb49f24 122 int tipo_pega=0;
amandarm 55:4d071fb49f24 123
amandarm 55:4d071fb49f24 124 float dimensao_solta=0;
amandarm 55:4d071fb49f24 125
amandarm 55:4d071fb49f24 126 float volume_solta_1=0;
amandarm 55:4d071fb49f24 127 float volume_solta_2=0;
amandarm 55:4d071fb49f24 128 float volume_solta_3=0;
amandarm 55:4d071fb49f24 129 float volume_solta_4=0;
amandarm 55:4d071fb49f24 130 float volume_solta_5=0;
amandarm 55:4d071fb49f24 131 float volume_solta_6=0;
amandarm 55:4d071fb49f24 132 float volume_solta_7=0;
amandarm 55:4d071fb49f24 133 float volume_solta_8=0;
amandarm 55:4d071fb49f24 134 float volume_solta_9=0;
amandarm 55:4d071fb49f24 135
amandarm 55:4d071fb49f24 136 float pos_x_solta=0;
amandarm 55:4d071fb49f24 137 float pos_y_solta=0;
amandarm 55:4d071fb49f24 138
amandarm 57:e26deee15b8f 139 //main
amandarm 57:e26deee15b8f 140
enricoan 29:76d952358896 141 int main() {
enricoan 56:e748b9bd5e3c 142 interrupcao.fall(&emergencia);
enricoan 54:74a215a1f76b 143 int volume;
enricoan 54:74a215a1f76b 144 bool continuar;
enricoan 54:74a215a1f76b 145 int multiplicador;
enricoan 32:2a9b30e1e7ab 146 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 29:76d952358896 147 lcd.printf("Bem-vindo ao Pipemax");
enricoan 29:76d952358896 148 lcd.locate(0,1);
enricoan 29:76d952358896 149 lcd.printf("o seu sistema");
enricoan 29:76d952358896 150 lcd.locate(0,2);
enricoan 29:76d952358896 151 lcd.printf("automatizado");
enricoan 29:76d952358896 152 lcd.locate(0,3);
enricoan 29:76d952358896 153 lcd.printf("de pipetagem");
enricoan 33:a513498222c7 154 wait(3);
enricoan 28:c4733814201a 155 lcd.cls();
enricoan 29:76d952358896 156 lcd.printf("Por favor, aceite");
amandarm 27:45f8125a0c0b 157 lcd.locate(0,1);
enricoan 29:76d952358896 158 lcd.printf("o zeramento do seu");
amandarm 27:45f8125a0c0b 159 lcd.locate(0,2);
enricoan 29:76d952358896 160 lcd.printf("sistema");
amandarm 27:45f8125a0c0b 161 lcd.locate(0,3);
enricoan 56:e748b9bd5e3c 162 lcd.printf("A - proximo");
enricoan 33:a513498222c7 163 while(1) {
enricoan 50:cd54c98b6ef1 164 tecla = pega_tecla();
enricoan 50:cd54c98b6ef1 165 printf("\n%s",status_tela);
enricoan 50:cd54c98b6ef1 166 printf("\n%c",tecla);
enricoan 29:76d952358896 167 if(tecla == 'A' && status_tela == "zeramento"){
amandarm 27:45f8125a0c0b 168 zeramento();
enricoan 33:a513498222c7 169 status_tela = "inicio";
enricoan 29:76d952358896 170 funcao_inicio();}
enricoan 43:cfc3da0299ff 171
enricoan 53:1d0bb62c117f 172 /*tentativa de fazer o motor parar ao apertar algum dos fins de curso
enricoan 18:3c40a8a17963 173 if(fdc_x == 0 || fdc_y == 0 || fdc_z == 0){
enricoan 18:3c40a8a17963 174 for(int i = 0; i < 4; i++){eixox = parado[i];wait(t_motor);est_x = 1;}
enricoan 18:3c40a8a17963 175 for(int i = 0; i < 4; i++){eixoy = parado[i];wait(t_motor);est_y = 1;}
enricoan 18:3c40a8a17963 176 for(int i = 0; i < 4; i++){eixoz = parado[i];wait(t_motor);est_z = 1;}
enricoan 53:1d0bb62c117f 177 }*/
enricoan 19:ebe198368444 178 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 179 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 180 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 181
enricoan 33:a513498222c7 182 while(x_menos == 0){mov_x_menos();
enricoan 54:74a215a1f76b 183 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 184 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 185 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 186
enricoan 33:a513498222c7 187 while(y_menos == 0){mov_y_menos();
enricoan 54:74a215a1f76b 188 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 189 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 190 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 191
enricoan 33:a513498222c7 192 while(z_menos == 0){mov_z_menos();
enricoan 54:74a215a1f76b 193 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 194 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 195 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 196
enricoan 33:a513498222c7 197 while(x_mais == 0){mov_x_mais();
enricoan 54:74a215a1f76b 198 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 199 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 200 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 201
enricoan 33:a513498222c7 202 while(y_mais == 0){mov_y_mais();
enricoan 54:74a215a1f76b 203 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 204 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 205 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 206
enricoan 33:a513498222c7 207 while(z_mais == 0){mov_z_mais();
enricoan 54:74a215a1f76b 208 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 209 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 210 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 211
enricoan 33:a513498222c7 212 if(x_mais && x_menos && y_mais && y_menos && z_mais && z_menos != 0){
enricoan 16:70baa0057a76 213 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 214 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 33:a513498222c7 215 for(int i = 0; i < 4; i++){eixoz = parado[i];}}
amandarm 35:a8256801e9ab 216
enricoan 43:cfc3da0299ff 217 tecla = pega_tecla();
enricoan 28:c4733814201a 218 if(tecla =='1' && status_tela == "inicio"){
amandarm 26:4123b9462158 219 funcao_pega1();
enricoan 29:76d952358896 220 wait(1);
amandarm 26:4123b9462158 221 funcao_pega2();
enricoan 32:2a9b30e1e7ab 222 status_tela = "novo";}
enricoan 28:c4733814201a 223 else if(tecla == '2' && status_tela == "inicio"){
amandarm 26:4123b9462158 224 funcao_salvo1();
enricoan 29:76d952358896 225 wait(1);
amandarm 26:4123b9462158 226 funcao_salvo2();
enricoan 32:2a9b30e1e7ab 227 status_tela = "salvo";}
amandarm 35:a8256801e9ab 228
enricoan 43:cfc3da0299ff 229 tecla = pega_tecla();
amandarm 35:a8256801e9ab 230 if(tecla =='1' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 231 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 232 wait(1);
amandarm 35:a8256801e9ab 233 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 234 programa = 1;
amandarm 35:a8256801e9ab 235 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 236 else if(tecla =='2' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 237 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 238 wait(1);
amandarm 35:a8256801e9ab 239 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 240 programa = 2;
amandarm 35:a8256801e9ab 241 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 242 else if(tecla =='3' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 243 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 244 wait(1);
amandarm 35:a8256801e9ab 245 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 246 programa = 3;
amandarm 35:a8256801e9ab 247 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 248 else if(tecla =='4' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 249 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 250 wait(1);
amandarm 35:a8256801e9ab 251 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 252 programa = 4;
amandarm 35:a8256801e9ab 253 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 254 else if(tecla =='5' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 255 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 256 wait(1);
amandarm 35:a8256801e9ab 257 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 258 programa = 5;
amandarm 35:a8256801e9ab 259 status_tela = "salvo_confirmacao";}
amandarm 44:f0b7a2fe28d9 260 else if(tecla =='6' && status_tela =="salvo"){
amandarm 44:f0b7a2fe28d9 261 funcao_salvo_agree1();
amandarm 44:f0b7a2fe28d9 262 wait(1);
amandarm 44:f0b7a2fe28d9 263 funcao_salvo_agree2();
amandarm 44:f0b7a2fe28d9 264 programa = 6;
amandarm 44:f0b7a2fe28d9 265 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 266 else if(tecla =='B' && status_tela =="salvo"){
amandarm 47:0d9c10a9f87d 267 funcao_inicio();
amandarm 35:a8256801e9ab 268 status_tela = "inicio";}
amandarm 35:a8256801e9ab 269
enricoan 43:cfc3da0299ff 270 tecla = pega_tecla();
amandarm 35:a8256801e9ab 271 if(tecla =='1' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 272 funcao_salvo_agree_pos_aviso();
amandarm 44:f0b7a2fe28d9 273 wait(3);
amandarm 36:12c0f6dfb3dc 274 //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega)
amandarm 35:a8256801e9ab 275 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 276 status_tela="salvo_pos_certo_pega" ;}
amandarm 35:a8256801e9ab 277 else if(tecla =='2' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 278 funcao_salvo_agree_solta_aviso();
amandarm 44:f0b7a2fe28d9 279 wait(3);
amandarm 36:12c0f6dfb3dc 280 //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta)
amandarm 35:a8256801e9ab 281 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 282 status_tela = "salvo_pos_certo_solta";}
amandarm 35:a8256801e9ab 283 else if(tecla =='3' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 284 funcao_salvo_agree_pega_vol();
amandarm 36:12c0f6dfb3dc 285 //programação de volume igual da de cima (programa.vol_pega)
amandarm 52:dca562b09080 286 status_tela="salvo_conf_vol_pega";}
amandarm 35:a8256801e9ab 287 else if(tecla =='4' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 288 funcao_salvo_agree_solta_vol();
amandarm 36:12c0f6dfb3dc 289 //volumes configurados por cada pipeta. (programa.vol_solta_pipeta)
amandarm 35:a8256801e9ab 290 status_tela="salvo_conf_vol_solta";}
amandarm 35:a8256801e9ab 291 else if(tecla =='B' && status_tela =="salvo_confirmacao"){
amandarm 47:0d9c10a9f87d 292 funcao_salvo1();
amandarm 35:a8256801e9ab 293 wait(1);
amandarm 47:0d9c10a9f87d 294 funcao_salvo2();
amandarm 35:a8256801e9ab 295 programa = 1;
amandarm 35:a8256801e9ab 296 status_tela = "salvo";}
amandarm 35:a8256801e9ab 297
enricoan 43:cfc3da0299ff 298 tecla = pega_tecla();
amandarm 49:4625aaa408fc 299 if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){
amandarm 48:135139e2971f 300 funcao_salvo_agree1();
amandarm 52:dca562b09080 301 lcd.locate(18,1);lcd.printf("OK");
amandarm 48:135139e2971f 302 wait(1);
amandarm 48:135139e2971f 303 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 304 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 305 }//salva essa posição como correta
amandarm 49:4625aaa408fc 306 else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){}
amandarm 49:4625aaa408fc 307 else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){
amandarm 35:a8256801e9ab 308 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 309 wait(1);
amandarm 35:a8256801e9ab 310 funcao_salvo_agree2();
amandarm 48:135139e2971f 311 status_tela = "salvo_confirmacao";}
amandarm 48:135139e2971f 312
amandarm 52:dca562b09080 313 if(tecla =='A' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 314 funcao_salvo_agree1();
amandarm 52:dca562b09080 315 wait(1);
amandarm 52:dca562b09080 316 funcao_salvo_agree2();
amandarm 52:dca562b09080 317 lcd.locate(18,1);lcd.printf("OK");
enricoan 53:1d0bb62c117f 318 status_tela = "salvo_confirmacao";
amandarm 52:dca562b09080 319 }//salva essa posição como correta
amandarm 52:dca562b09080 320 else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 321 funcao_salvo_agree1();
amandarm 52:dca562b09080 322 wait(1);
amandarm 52:dca562b09080 323 funcao_salvo_agree2();
amandarm 52:dca562b09080 324 status_tela = "salvo_confirmacao";}
amandarm 52:dca562b09080 325
amandarm 49:4625aaa408fc 326 if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 327 funcao_salvo_agree1();
amandarm 52:dca562b09080 328 lcd.locate(18,2);lcd.printf("OK");
amandarm 49:4625aaa408fc 329 wait(1);
amandarm 49:4625aaa408fc 330 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 331 status_tela = "salvo_confirmacao";
amandarm 49:4625aaa408fc 332 }//salva essa posição como correta
amandarm 49:4625aaa408fc 333 else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){}
amandarm 49:4625aaa408fc 334 else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 335 funcao_salvo_agree1();
amandarm 49:4625aaa408fc 336 wait(1);
amandarm 49:4625aaa408fc 337 funcao_salvo_agree2();
amandarm 49:4625aaa408fc 338 status_tela = "salvo_confirmacao";}
amandarm 49:4625aaa408fc 339
amandarm 52:dca562b09080 340 if(tecla =='A' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 341 funcao_salvo_agree1();
amandarm 48:135139e2971f 342 wait(1);
amandarm 48:135139e2971f 343 funcao_salvo_agree2();
amandarm 52:dca562b09080 344 lcd.locate(18,2);lcd.printf("OK");
enricoan 53:1d0bb62c117f 345 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 346 }//salva essa posição como correta
amandarm 48:135139e2971f 347 else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){}
amandarm 48:135139e2971f 348 else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 349 funcao_salvo_agree1();
amandarm 48:135139e2971f 350 wait(1);
amandarm 48:135139e2971f 351 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 352 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 353
enricoan 43:cfc3da0299ff 354 tecla = pega_tecla();
enricoan 32:2a9b30e1e7ab 355 if(tecla =='1' && status_tela =="novo"){
amandarm 26:4123b9462158 356 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 357 status_tela ="forma";}
enricoan 53:1d0bb62c117f 358
enricoan 28:c4733814201a 359 else if(tecla =='2' && status_tela == "novo"){
enricoan 54:74a215a1f76b 360 volume = 0;
enricoan 54:74a215a1f76b 361 printf("\n%c",pega_tecla());
enricoan 53:1d0bb62c117f 362 funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF
Hiroball 34:1b5a00c55376 363 status_tela = "volume";
enricoan 54:74a215a1f76b 364 continuar = 1;
enricoan 54:74a215a1f76b 365 multiplicador = 10;
enricoan 54:74a215a1f76b 366 while(continuar){
enricoan 54:74a215a1f76b 367 printf("\n%c",pega_tecla());
enricoan 43:cfc3da0299ff 368 tecla = pega_tecla();
enricoan 54:74a215a1f76b 369 wait(1);
enricoan 54:74a215a1f76b 370 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
enricoan 53:1d0bb62c117f 371 lcd.locate(6,1);
Hiroball 34:1b5a00c55376 372 volume = multiplicador*volume + (int)tecla;
enricoan 54:74a215a1f76b 373 printf("\nVolume: %d", volume);
Hiroball 34:1b5a00c55376 374 }
enricoan 53:1d0bb62c117f 375 if(tecla == 'A'){
enricoan 53:1d0bb62c117f 376 lcd.locate(0,2);
Hiroball 34:1b5a00c55376 377 lcd.printf("Volume: %d", volume);
Hiroball 34:1b5a00c55376 378 continuar = 0;
enricoan 54:74a215a1f76b 379 wait(1);
Hiroball 34:1b5a00c55376 380 }
Hiroball 34:1b5a00c55376 381 }
Hiroball 34:1b5a00c55376 382 }
enricoan 28:c4733814201a 383 else if(tecla == '3' && status_tela == "novo"){
amandarm 26:4123b9462158 384 funcao_pega_pos_x();
amandarm 55:4d071fb49f24 385 pos_x_pega = 12.5;
enricoan 32:2a9b30e1e7ab 386 status_tela = "pos_x";}
enricoan 28:c4733814201a 387 else if(tecla == 'B' && status_tela == "novo"){
amandarm 26:4123b9462158 388 funcao_inicio();
enricoan 32:2a9b30e1e7ab 389 status_tela = "inicio";}
enricoan 28:c4733814201a 390 else if(tecla == '1' && status_tela == "salvo"){
amandarm 26:4123b9462158 391 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 392 status_tela = "confirmacao";}
enricoan 28:c4733814201a 393 else if(tecla =='2' && status_tela == "salvo"){
amandarm 26:4123b9462158 394 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 395 status_tela = "confirmacao";}
enricoan 28:c4733814201a 396 else if(tecla =='B' && status_tela == "salvo"){
amandarm 26:4123b9462158 397 funcao_inicio();
enricoan 32:2a9b30e1e7ab 398 status_tela = "inicio";}
amandarm 35:a8256801e9ab 399
enricoan 56:e748b9bd5e3c 400 tecla = 'F';
enricoan 56:e748b9bd5e3c 401 wait(1);
enricoan 43:cfc3da0299ff 402 tecla = pega_tecla();
enricoan 28:c4733814201a 403 if(tecla == '1' && status_tela == "forma"){
amandarm 26:4123b9462158 404 funcao_pega_forma_quad();
amandarm 55:4d071fb49f24 405 tipo_pega = 1;
enricoan 32:2a9b30e1e7ab 406 status_tela ="forma_quad";}
enricoan 28:c4733814201a 407 else if(tecla == '2' && status_tela == "forma"){
amandarm 26:4123b9462158 408 funcao_pega_forma_red();
enricoan 56:e748b9bd5e3c 409 tipo_pega = 2;
amandarm 55:4d071fb49f24 410 status_tela = "forma_red";}
enricoan 28:c4733814201a 411 else if(tecla == 'B' && status_tela == "forma"){
enricoan 56:e748b9bd5e3c 412 funcao_pega1();
enricoan 56:e748b9bd5e3c 413 wait(1);
enricoan 56:e748b9bd5e3c 414 funcao_pega2();
enricoan 32:2a9b30e1e7ab 415 status_tela = "novo";}
amandarm 35:a8256801e9ab 416
enricoan 43:cfc3da0299ff 417 tecla = pega_tecla();
enricoan 28:c4733814201a 418 if(tecla == 'A' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 419 funcao_pega1();
amandarm 55:4d071fb49f24 420 medida_lado_pega = 10;
enricoan 58:d573b618f45a 421 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 422 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 423 }
enricoan 58:d573b618f45a 424 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 425 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 426 }
enricoan 29:76d952358896 427 wait(1);
amandarm 26:4123b9462158 428 funcao_pega2();
enricoan 58:d573b618f45a 429 if(volume_pega !=0){
enricoan 58:d573b618f45a 430 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 431 }
enricoan 56:e748b9bd5e3c 432 status_tela ="novo";}
enricoan 28:c4733814201a 433 else if(tecla == 'B' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 434 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 435 status_tela = "forma";}
enricoan 28:c4733814201a 436 else if(tecla == 'A' && status_tela == "forma_red"){
amandarm 55:4d071fb49f24 437 medida_lado_pega = 10;
amandarm 26:4123b9462158 438 funcao_pega1();
enricoan 58:d573b618f45a 439 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 440 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 441 }
enricoan 58:d573b618f45a 442 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 443 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 444 }
enricoan 29:76d952358896 445 wait(1);
amandarm 26:4123b9462158 446 funcao_pega2();
enricoan 58:d573b618f45a 447 if(volume_pega !=0){
enricoan 58:d573b618f45a 448 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 449 }
enricoan 56:e748b9bd5e3c 450 status_tela ="novo";}
enricoan 28:c4733814201a 451 else if(tecla == 'B' && status_tela == "forma_red"){
amandarm 26:4123b9462158 452 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 453 status_tela = "forma";}
enricoan 28:c4733814201a 454 else if(tecla == 'A' && status_tela == "volume"){
amandarm 26:4123b9462158 455 funcao_pega1();
amandarm 55:4d071fb49f24 456 volume_pega = 12;
enricoan 58:d573b618f45a 457 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 458 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 459 }
enricoan 58:d573b618f45a 460 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 461 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 462 }
enricoan 29:76d952358896 463 wait(1);
amandarm 26:4123b9462158 464 funcao_pega2();
enricoan 58:d573b618f45a 465 if(volume_pega !=0){
enricoan 58:d573b618f45a 466 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 467 }
enricoan 56:e748b9bd5e3c 468 status_tela ="novo";}
enricoan 28:c4733814201a 469 else if( tecla == 'B' && status_tela == "volume"){
amandarm 26:4123b9462158 470 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 471 status_tela = "forma";}
enricoan 28:c4733814201a 472 else if(tecla == 'A' && status_tela == "pos_x"){
enricoan 29:76d952358896 473 funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y
amandarm 55:4d071fb49f24 474 pos_y_pega = 12.5;
enricoan 32:2a9b30e1e7ab 475 status_tela = "pos_y";}
enricoan 28:c4733814201a 476 else if(tecla == 'B' && status_tela == "pos_x"){
amandarm 26:4123b9462158 477 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 478 status_tela = "forma";}
amandarm 35:a8256801e9ab 479
enricoan 43:cfc3da0299ff 480 tecla = pega_tecla();
enricoan 28:c4733814201a 481 if(tecla == 'A' && status_tela == "pos_y"){
amandarm 26:4123b9462158 482 funcao_pega1();
enricoan 58:d573b618f45a 483 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 484 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 485 }
enricoan 58:d573b618f45a 486 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 487 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 488 }
enricoan 29:76d952358896 489 wait(1);
amandarm 26:4123b9462158 490 funcao_pega2();
enricoan 58:d573b618f45a 491 if(volume_pega !=0){
enricoan 58:d573b618f45a 492 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 493 }
enricoan 56:e748b9bd5e3c 494 wait(1);
enricoan 56:e748b9bd5e3c 495 status_tela ="novo";}
enricoan 28:c4733814201a 496 else if(tecla == 'B' && status_tela == "pos_y"){
amandarm 26:4123b9462158 497 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 498 status_tela = "forma";}
amandarm 55:4d071fb49f24 499
amandarm 55:4d071fb49f24 500
amandarm 55:4d071fb49f24 501 tecla=pega_tecla();
enricoan 56:e748b9bd5e3c 502 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 503 funcao_solta1();
amandarm 55:4d071fb49f24 504 wait(3);
amandarm 55:4d071fb49f24 505 funcao_solta2();
enricoan 58:d573b618f45a 506 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 507 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 508 }
amandarm 55:4d071fb49f24 509 wait(3);
enricoan 56:e748b9bd5e3c 510 status_tela="solta";}
amandarm 55:4d071fb49f24 511
amandarm 55:4d071fb49f24 512 tecla=pega_tecla();
amandarm 55:4d071fb49f24 513 if(tecla == '1' && status_tela == "solta"){
amandarm 55:4d071fb49f24 514 funcao_solta_dimensao();
amandarm 55:4d071fb49f24 515 status_tela="solta_dimensao";
amandarm 55:4d071fb49f24 516 }
amandarm 55:4d071fb49f24 517 else if(tecla == '2' && status_tela == "solta"){
amandarm 55:4d071fb49f24 518 funcao_solta_vol();
amandarm 55:4d071fb49f24 519 status_tela="solta_vol";
amandarm 55:4d071fb49f24 520 }
amandarm 55:4d071fb49f24 521 else if(tecla == '3' && status_tela == "solta"){
amandarm 55:4d071fb49f24 522 funcao_solta_pos_x();
amandarm 55:4d071fb49f24 523 status_tela="solta_pos_x";
amandarm 55:4d071fb49f24 524 }
amandarm 55:4d071fb49f24 525 else if(tecla == 'B' && status_tela == "solta"){
amandarm 55:4d071fb49f24 526 funcao_pega1();
enricoan 58:d573b618f45a 527 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 528 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 529 }
enricoan 58:d573b618f45a 530 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 531 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 532 }
amandarm 55:4d071fb49f24 533 wait(1);
amandarm 55:4d071fb49f24 534 funcao_pega2();
enricoan 58:d573b618f45a 535 if(volume_pega !=0){
enricoan 58:d573b618f45a 536 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 537 }
amandarm 55:4d071fb49f24 538 status_tela="inicio";
amandarm 55:4d071fb49f24 539 }
amandarm 55:4d071fb49f24 540
amandarm 55:4d071fb49f24 541 tecla=pega_tecla();
amandarm 55:4d071fb49f24 542 if(tecla=='A' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 543 dimensao_solta = 10;
amandarm 55:4d071fb49f24 544 funcao_solta1();
enricoan 58:d573b618f45a 545 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 546 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 547 }
enricoan 58:d573b618f45a 548 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 549 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 550 }
amandarm 55:4d071fb49f24 551 wait(3);
amandarm 55:4d071fb49f24 552 funcao_solta2();
enricoan 58:d573b618f45a 553 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 554 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 555 }
amandarm 55:4d071fb49f24 556 wait(3);
amandarm 55:4d071fb49f24 557 status_tela="solta";
amandarm 55:4d071fb49f24 558 }
amandarm 55:4d071fb49f24 559 else if(tecla=='B' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 560 funcao_solta1();
enricoan 58:d573b618f45a 561 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 562 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 563 }
enricoan 58:d573b618f45a 564 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 565 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 566 }
amandarm 55:4d071fb49f24 567 wait(3);
amandarm 55:4d071fb49f24 568 funcao_solta2();
enricoan 58:d573b618f45a 569 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 570 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 571 }
amandarm 55:4d071fb49f24 572 wait(3);
amandarm 55:4d071fb49f24 573 status_tela="solta";
amandarm 55:4d071fb49f24 574 }
amandarm 55:4d071fb49f24 575 if(tecla=='1' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 576 funcao_solta_vol_igual();
amandarm 55:4d071fb49f24 577 status_tela="solta_vol_igual";
amandarm 55:4d071fb49f24 578 }
amandarm 55:4d071fb49f24 579 else if(tecla=='2' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 580 funcao_solta_vol_cada();
amandarm 55:4d071fb49f24 581 status_tela="solta_vol_dif";
amandarm 55:4d071fb49f24 582 }
amandarm 55:4d071fb49f24 583 else if(tecla=='B' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 584 funcao_solta1();
enricoan 58:d573b618f45a 585 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 586 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 587 }
enricoan 58:d573b618f45a 588 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 589 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 590 }
amandarm 55:4d071fb49f24 591 wait(3);
amandarm 55:4d071fb49f24 592 funcao_solta2();
enricoan 58:d573b618f45a 593 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 594 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 595 }
amandarm 55:4d071fb49f24 596 wait(3);
amandarm 55:4d071fb49f24 597 status_tela="solta";
amandarm 55:4d071fb49f24 598 }
enricoan 56:e748b9bd5e3c 599 if(tecla=='A' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 600 funcao_solta_pos_y();
amandarm 55:4d071fb49f24 601 pos_x_solta = 10;
enricoan 56:e748b9bd5e3c 602 status_tela="solta_pos_y";
amandarm 55:4d071fb49f24 603 }
enricoan 56:e748b9bd5e3c 604 else if(tecla=='B' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 605 funcao_solta1();
enricoan 58:d573b618f45a 606 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 607 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 608 }
enricoan 58:d573b618f45a 609 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 610 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 611 }
amandarm 55:4d071fb49f24 612 wait(3);
amandarm 55:4d071fb49f24 613 funcao_solta2();
enricoan 58:d573b618f45a 614 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 615 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 616 }
amandarm 55:4d071fb49f24 617 wait(3);
amandarm 55:4d071fb49f24 618 status_tela="solta";
amandarm 55:4d071fb49f24 619 }
amandarm 55:4d071fb49f24 620
amandarm 55:4d071fb49f24 621 tecla=pega_tecla();
amandarm 55:4d071fb49f24 622 if(tecla=='A' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 623 volume_solta_1=10;
amandarm 55:4d071fb49f24 624 volume_solta_2=10;
amandarm 55:4d071fb49f24 625 volume_solta_3=10;
amandarm 55:4d071fb49f24 626 volume_solta_4=10;
amandarm 55:4d071fb49f24 627 volume_solta_5=10;
amandarm 55:4d071fb49f24 628 volume_solta_6=10;
amandarm 55:4d071fb49f24 629 volume_solta_7=10;
amandarm 55:4d071fb49f24 630 volume_solta_8=10;
amandarm 55:4d071fb49f24 631 volume_solta_9=10;
amandarm 55:4d071fb49f24 632
amandarm 55:4d071fb49f24 633 funcao_solta1();
enricoan 58:d573b618f45a 634 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 635 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 636 }
enricoan 58:d573b618f45a 637 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 638 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 639 }
amandarm 55:4d071fb49f24 640 wait(3);
amandarm 55:4d071fb49f24 641 funcao_solta2();
enricoan 58:d573b618f45a 642 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 643 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 644 }
amandarm 55:4d071fb49f24 645 wait(3);
enricoan 56:e748b9bd5e3c 646 status_tela="solta";}
amandarm 55:4d071fb49f24 647 else if(tecla=='B' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 648 funcao_solta_vol();
amandarm 55:4d071fb49f24 649 status_tela="solta_vol";
amandarm 55:4d071fb49f24 650 }
amandarm 55:4d071fb49f24 651 if(tecla=='1' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 652 volume_solta_1=10;
enricoan 56:e748b9bd5e3c 653 lcd.locate(12,0);lcd.printf("10");
amandarm 55:4d071fb49f24 654 }
amandarm 55:4d071fb49f24 655 if(tecla=='2' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 656 volume_solta_2=20;
enricoan 56:e748b9bd5e3c 657 lcd.locate(15,0);lcd.printf("20");
amandarm 55:4d071fb49f24 658 }
amandarm 55:4d071fb49f24 659 if(tecla=='3' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 660 volume_solta_3=30;
enricoan 56:e748b9bd5e3c 661 lcd.locate(18,0);lcd.printf("30");
amandarm 55:4d071fb49f24 662 }
amandarm 55:4d071fb49f24 663 if(tecla=='4' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 664 volume_solta_4=40;
enricoan 56:e748b9bd5e3c 665 lcd.locate(12,1);lcd.printf("40");
amandarm 55:4d071fb49f24 666 }
amandarm 55:4d071fb49f24 667 if(tecla=='5' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 668 volume_solta_5=50;
enricoan 56:e748b9bd5e3c 669 lcd.locate(15,1);lcd.printf("50");
amandarm 55:4d071fb49f24 670 }
amandarm 55:4d071fb49f24 671 if(tecla=='6' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 672 volume_solta_6=60;
enricoan 56:e748b9bd5e3c 673 lcd.locate(18,1);lcd.printf("60");
amandarm 55:4d071fb49f24 674 }
amandarm 55:4d071fb49f24 675 if(tecla=='7' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 676 volume_solta_7=70;
enricoan 56:e748b9bd5e3c 677 lcd.locate(12,2);lcd.printf("70");
amandarm 55:4d071fb49f24 678 }
amandarm 55:4d071fb49f24 679 if(tecla=='8' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 680 volume_solta_8=80;
enricoan 56:e748b9bd5e3c 681 lcd.locate(15,2);lcd.printf("80");
amandarm 55:4d071fb49f24 682 }
amandarm 55:4d071fb49f24 683 if(tecla=='9' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 684 volume_solta_9=90;
enricoan 56:e748b9bd5e3c 685 lcd.locate(18,2);lcd.printf("90");
amandarm 55:4d071fb49f24 686 }
amandarm 55:4d071fb49f24 687 if(tecla=='A' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 688 funcao_solta1();
enricoan 58:d573b618f45a 689 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 690 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 691 }
enricoan 58:d573b618f45a 692 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 693 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 694 }
amandarm 55:4d071fb49f24 695 wait(3);
amandarm 55:4d071fb49f24 696 funcao_solta2();
enricoan 58:d573b618f45a 697 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 698 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 699 }
amandarm 55:4d071fb49f24 700 wait(3);
amandarm 55:4d071fb49f24 701 status_tela="solta";
amandarm 55:4d071fb49f24 702 }
amandarm 55:4d071fb49f24 703 else if(tecla=='B' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 704 funcao_solta_vol();
amandarm 55:4d071fb49f24 705 status_tela="solta_vol";
amandarm 55:4d071fb49f24 706 }
enricoan 56:e748b9bd5e3c 707 if(tecla=='A' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 708 funcao_solta1();
enricoan 58:d573b618f45a 709 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 710 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 711 }
enricoan 58:d573b618f45a 712 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 713 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 714 }
amandarm 55:4d071fb49f24 715 wait(3);
amandarm 55:4d071fb49f24 716 funcao_solta2();
enricoan 58:d573b618f45a 717 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 718 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 719 }
amandarm 55:4d071fb49f24 720 pos_y_solta = 10;
amandarm 55:4d071fb49f24 721 wait(3);
amandarm 55:4d071fb49f24 722 status_tela="solta";
amandarm 55:4d071fb49f24 723 }
enricoan 56:e748b9bd5e3c 724 else if(tecla=='B' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 725 funcao_solta1();
enricoan 58:d573b618f45a 726 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 727 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 728 }
enricoan 58:d573b618f45a 729 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 730 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 731 }
amandarm 55:4d071fb49f24 732 wait(3);
amandarm 55:4d071fb49f24 733 funcao_solta2();
enricoan 58:d573b618f45a 734 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 735 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 736 }
amandarm 55:4d071fb49f24 737 pos_y_solta = 10;
amandarm 55:4d071fb49f24 738 wait(3);
amandarm 55:4d071fb49f24 739 status_tela="solta";
amandarm 55:4d071fb49f24 740 }
amandarm 55:4d071fb49f24 741
amandarm 55:4d071fb49f24 742 if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){
amandarm 55:4d071fb49f24 743 funcao_acomp();
amandarm 55:4d071fb49f24 744 status_tela="acompanhamento";
amandarm 55:4d071fb49f24 745 };
amandarm 55:4d071fb49f24 746 }
enricoan 10:4f49e9859535 747 }