Projeto Mecatrônico
/
ProjetoMecatronico
testando
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?
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" |
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 | } |