Projeto Mecatrônico / Mbed 2 deprecated ProjetoMecatronico

testando

Dependencies:   mbed TextLCD2

main_PM.cpp@60:e2c632e8dee1, 2020-06-01 (annotated)

Committer:
enricoan
Date:
Mon Jun 01 17:14:49 2020 +0000
Revision:
60:e2c632e8dee1
Parent:
59:447534f1e4f5
Child:
61:be02d7d4e208
Child:
62:858c3f22c337
-48

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
Hiroball 59:447534f1e4f5 23
enricoan 29:76d952358896 24 //pinos usados pelos botoes de fim de curso
enricoan 17:4d0b8ed791e0 25 DigitalIn fdc_x(PC_10);
enricoan 17:4d0b8ed791e0 26 DigitalIn fdc_y(PC_11);
enricoan 17:4d0b8ed791e0 27 DigitalIn fdc_z(PC_12);
enricoan 20:81a44a25b21d 28
enricoan 29:76d952358896 29 //Iterrupcao botao de emergência
enricoan 43:cfc3da0299ff 30 InterruptIn interrupcao(PC_14);
amandarm 25:b0db528c1985 31
enricoan 42:a6fbbe536814 32 //pinos do rele, saida digital para acionar o rele se necessario, dada uma entrada no pino da emergencia
enricoan 30:179ceb3e5791 33 DigitalOut rele1(PC_5);
enricoan 30:179ceb3e5791 34 DigitalOut rele2(PB_9);
amandarm 25:b0db528c1985 35
enricoan 29:76d952358896 36 //botoes para movimentacao eixo a eixo
enricoan 10:4f49e9859535 37 DigitalIn x_mais(PA_0);
enricoan 10:4f49e9859535 38 DigitalIn x_menos(PA_1);
enricoan 10:4f49e9859535 39 DigitalIn y_mais(PC_0);
enricoan 10:4f49e9859535 40 DigitalIn y_menos(PC_1);
enricoan 10:4f49e9859535 41 DigitalIn z_mais(PC_2);
enricoan 10:4f49e9859535 42 DigitalIn z_menos(PC_3);
enricoan 10:4f49e9859535 43
enricoan 10:4f49e9859535 44 //pinos da placa usados na biblioteca do LCD
enricoan 42:a6fbbe536814 45 //TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 10:4f49e9859535 46
enricoan 16:70baa0057a76 47 //pinos do teclado
enricoan 40:39263f4cf8b7 48 DigitalIn b(PC_4);
enricoan 40:39263f4cf8b7 49 DigitalIn a(PB_0);
enricoan 40:39263f4cf8b7 50 DigitalIn t_0(PC_13);
enricoan 40:39263f4cf8b7 51 DigitalIn t_1(PB_7);
enricoan 40:39263f4cf8b7 52 DigitalIn t_2(PD_2);
enricoan 41:9709891f77c5 53 DigitalIn t_3(PA_4);
enricoan 40:39263f4cf8b7 54 DigitalIn t_4(PB_12);
enricoan 40:39263f4cf8b7 55 DigitalIn t_5(PB_15);
enricoan 41:9709891f77c5 56 DigitalIn t_6(PA_7);
enricoan 40:39263f4cf8b7 57 DigitalIn t_7(PB_14);
enricoan 40:39263f4cf8b7 58 DigitalIn t_8(PA_6);
enricoan 40:39263f4cf8b7 59 DigitalIn t_9(PB_13);
enricoan 16:70baa0057a76 60
enricoan 10:4f49e9859535 61 //pinos de saída para os motores
enricoan 10:4f49e9859535 62 //eixo x
Hiroball 11:dc557e461dfd 63 BusOut eixox(PA_15,PA_14,PA_13,PA_12);
enricoan 10:4f49e9859535 64 //eixo y
Hiroball 11:dc557e461dfd 65 BusOut eixoy(PA_11,PA_10,PB_2,PB_1);
enricoan 10:4f49e9859535 66 //eixo z
Hiroball 11:dc557e461dfd 67 BusOut eixoz(PC_9,PC_8,PB_8,PC_6);
enricoan 10:4f49e9859535 68
enricoan 42:a6fbbe536814 69 //funcao para receber inputs do teclado
enricoan 43:cfc3da0299ff 70 char pega_tecla(){
enricoan 43:cfc3da0299ff 71 if (b == 0)return ('A');
enricoan 43:cfc3da0299ff 72 if (a == 0)return('B');
enricoan 43:cfc3da0299ff 73 if (t_0 == 0)return('0');
enricoan 43:cfc3da0299ff 74 if (t_1 == 0)return('1');
enricoan 43:cfc3da0299ff 75 if (t_2 == 0)return('2');
enricoan 43:cfc3da0299ff 76 if (t_3 == 0)return('3');
enricoan 43:cfc3da0299ff 77 if (t_4 == 0)return('4');
enricoan 43:cfc3da0299ff 78 if (t_5 == 0)return('5');
enricoan 43:cfc3da0299ff 79 if (t_6 == 0)return('6');
enricoan 43:cfc3da0299ff 80 if (t_7 == 0)return('7');
enricoan 43:cfc3da0299ff 81 if (t_8 == 0)return('8');
enricoan 54:74a215a1f76b 82 if (t_9 == 0)return('9');
enricoan 54:74a215a1f76b 83 return('k');}
enricoan 42:a6fbbe536814 84
enricoan 32:2a9b30e1e7ab 85 //funcao de movimentacao dos motores
enricoan 32:2a9b30e1e7ab 86 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 87 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 88 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 89 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 90 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 91 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 92
enricoan 32:2a9b30e1e7ab 93 //Funcao de interrupcao
enricoan 32:2a9b30e1e7ab 94 void emergencia(){TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 32:2a9b30e1e7ab 95 rele1 = 0;
amandarm 25:b0db528c1985 96 eixox = 0b0000;
amandarm 25:b0db528c1985 97 eixoy = 0b0000;
amandarm 25:b0db528c1985 98 eixoz = 0b0000;
amandarm 25:b0db528c1985 99 lcd.cls();
enricoan 29:76d952358896 100 lcd.printf("Botao Emergencia");
amandarm 25:b0db528c1985 101 lcd.locate(0,1);
amandarm 25:b0db528c1985 102 lcd.printf(" acionado ");
amandarm 25:b0db528c1985 103 lcd.locate(0,2);
amandarm 46:e73e36a20134 104 lcd.printf("Operacao pausada");
amandarm 46:e73e36a20134 105 wait(5);}
enricoan 56:e748b9bd5e3c 106
enricoan 29:76d952358896 107 //Funcao de zeramento
amandarm 57:e26deee15b8f 108
amandarm 27:45f8125a0c0b 109 void zeramento(){
amandarm 27:45f8125a0c0b 110 while (fdc_x != 0){for(int i = 0; i < 4; i++){eixox = hor[i];wait(t_motor);est_x = 1;}}
amandarm 27:45f8125a0c0b 111 while (fdc_y != 0){for(int i = 0; i < 4; i++){eixoy = hor[i];wait(t_motor);est_y = 1;}}
enricoan 54:74a215a1f76b 112 while (fdc_z != 0){for(int i = 0; i < 4; i++){eixoz = hor[i];wait(t_motor);est_z = 1;}}}
enricoan 29:76d952358896 113
enricoan 54:74a215a1f76b 114 //Variaveis para operacao IHM
enricoan 29:76d952358896 115 using std::string;
enricoan 32:2a9b30e1e7ab 116 string status_tela = "zeramento";
amandarm 35:a8256801e9ab 117 int programa = 0;
enricoan 29:76d952358896 118
amandarm 55:4d071fb49f24 119 float pos_x_pega = 0;
amandarm 55:4d071fb49f24 120 float pos_y_pega = 0;
amandarm 55:4d071fb49f24 121 float medida_lado_pega=0;
amandarm 55:4d071fb49f24 122 float volume_pega = 0;
amandarm 55:4d071fb49f24 123 int tipo_pega=0;
amandarm 55:4d071fb49f24 124
amandarm 55:4d071fb49f24 125 float dimensao_solta=0;
amandarm 55:4d071fb49f24 126
amandarm 55:4d071fb49f24 127 float volume_solta_1=0;
amandarm 55:4d071fb49f24 128 float volume_solta_2=0;
amandarm 55:4d071fb49f24 129 float volume_solta_3=0;
amandarm 55:4d071fb49f24 130 float volume_solta_4=0;
amandarm 55:4d071fb49f24 131 float volume_solta_5=0;
amandarm 55:4d071fb49f24 132 float volume_solta_6=0;
amandarm 55:4d071fb49f24 133 float volume_solta_7=0;
amandarm 55:4d071fb49f24 134 float volume_solta_8=0;
amandarm 55:4d071fb49f24 135 float volume_solta_9=0;
amandarm 55:4d071fb49f24 136
amandarm 55:4d071fb49f24 137 float pos_x_solta=0;
amandarm 55:4d071fb49f24 138 float pos_y_solta=0;
amandarm 55:4d071fb49f24 139
amandarm 57:e26deee15b8f 140 //main
amandarm 57:e26deee15b8f 141
enricoan 29:76d952358896 142 int main() {
enricoan 56:e748b9bd5e3c 143 interrupcao.fall(&emergencia);
enricoan 54:74a215a1f76b 144 int volume;
Hiroball 59:447534f1e4f5 145 int comprimento_quad;
enricoan 54:74a215a1f76b 146 bool continuar;
enricoan 54:74a215a1f76b 147 int multiplicador;
enricoan 32:2a9b30e1e7ab 148 TextLCD lcd(D4, D5, D6, D7, D8, D9);
enricoan 29:76d952358896 149 lcd.printf("Bem-vindo ao Pipemax");
enricoan 29:76d952358896 150 lcd.locate(0,1);
enricoan 29:76d952358896 151 lcd.printf("o seu sistema");
enricoan 29:76d952358896 152 lcd.locate(0,2);
enricoan 29:76d952358896 153 lcd.printf("automatizado");
enricoan 29:76d952358896 154 lcd.locate(0,3);
enricoan 29:76d952358896 155 lcd.printf("de pipetagem");
enricoan 33:a513498222c7 156 wait(3);
enricoan 28:c4733814201a 157 lcd.cls();
enricoan 29:76d952358896 158 lcd.printf("Por favor, aceite");
amandarm 27:45f8125a0c0b 159 lcd.locate(0,1);
enricoan 29:76d952358896 160 lcd.printf("o zeramento do seu");
amandarm 27:45f8125a0c0b 161 lcd.locate(0,2);
enricoan 29:76d952358896 162 lcd.printf("sistema");
amandarm 27:45f8125a0c0b 163 lcd.locate(0,3);
enricoan 56:e748b9bd5e3c 164 lcd.printf("A - proximo");
enricoan 33:a513498222c7 165 while(1) {
enricoan 50:cd54c98b6ef1 166 tecla = pega_tecla();
enricoan 50:cd54c98b6ef1 167 printf("\n%s",status_tela);
enricoan 50:cd54c98b6ef1 168 printf("\n%c",tecla);
enricoan 29:76d952358896 169 if(tecla == 'A' && status_tela == "zeramento"){
amandarm 27:45f8125a0c0b 170 zeramento();
enricoan 33:a513498222c7 171 status_tela = "inicio";
enricoan 29:76d952358896 172 funcao_inicio();}
enricoan 43:cfc3da0299ff 173
enricoan 19:ebe198368444 174 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 175 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 176 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 177
enricoan 33:a513498222c7 178 while(x_menos == 0){mov_x_menos();
enricoan 54:74a215a1f76b 179 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 180 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 181 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 182
enricoan 33:a513498222c7 183 while(y_menos == 0){mov_y_menos();
enricoan 54:74a215a1f76b 184 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 185 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 186 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 187
enricoan 33:a513498222c7 188 while(z_menos == 0){mov_z_menos();
enricoan 54:74a215a1f76b 189 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 32:2a9b30e1e7ab 190 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 32:2a9b30e1e7ab 191 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 32:2a9b30e1e7ab 192
enricoan 33:a513498222c7 193 while(x_mais == 0){mov_x_mais();
enricoan 54:74a215a1f76b 194 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 195 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 196 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 197
enricoan 33:a513498222c7 198 while(y_mais == 0){mov_y_mais();
enricoan 54:74a215a1f76b 199 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 200 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 201 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 202
enricoan 33:a513498222c7 203 while(z_mais == 0){mov_z_mais();
enricoan 54:74a215a1f76b 204 lcd.cls(); lcd.printf("X: %4.1f", coord_x);
enricoan 33:a513498222c7 205 lcd.locate(0,1);lcd.printf("Y: %4.1f", coord_y);
enricoan 33:a513498222c7 206 lcd.locate(0,2);lcd.printf("Z: %4.1f", coord_z);}
enricoan 33:a513498222c7 207
enricoan 33:a513498222c7 208 if(x_mais && x_menos && y_mais && y_menos && z_mais && z_menos != 0){
enricoan 16:70baa0057a76 209 for(int i = 0; i < 4; i++){eixox = parado[i];}
enricoan 16:70baa0057a76 210 for(int i = 0; i < 4; i++){eixoy = parado[i];}
enricoan 33:a513498222c7 211 for(int i = 0; i < 4; i++){eixoz = parado[i];}}
amandarm 35:a8256801e9ab 212
enricoan 43:cfc3da0299ff 213 tecla = pega_tecla();
enricoan 28:c4733814201a 214 if(tecla =='1' && status_tela == "inicio"){
amandarm 26:4123b9462158 215 funcao_pega1();
enricoan 29:76d952358896 216 wait(1);
amandarm 26:4123b9462158 217 funcao_pega2();
enricoan 32:2a9b30e1e7ab 218 status_tela = "novo";}
enricoan 28:c4733814201a 219 else if(tecla == '2' && status_tela == "inicio"){
amandarm 26:4123b9462158 220 funcao_salvo1();
enricoan 29:76d952358896 221 wait(1);
amandarm 26:4123b9462158 222 funcao_salvo2();
enricoan 32:2a9b30e1e7ab 223 status_tela = "salvo";}
amandarm 35:a8256801e9ab 224
enricoan 43:cfc3da0299ff 225 tecla = pega_tecla();
amandarm 35:a8256801e9ab 226 if(tecla =='1' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 227 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 228 wait(1);
amandarm 35:a8256801e9ab 229 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 230 programa = 1;
amandarm 35:a8256801e9ab 231 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 232 else if(tecla =='2' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 233 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 234 wait(1);
amandarm 35:a8256801e9ab 235 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 236 programa = 2;
amandarm 35:a8256801e9ab 237 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 238 else if(tecla =='3' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 239 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 240 wait(1);
amandarm 35:a8256801e9ab 241 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 242 programa = 3;
amandarm 35:a8256801e9ab 243 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 244 else if(tecla =='4' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 245 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 246 wait(1);
amandarm 35:a8256801e9ab 247 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 248 programa = 4;
amandarm 35:a8256801e9ab 249 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 250 else if(tecla =='5' && status_tela =="salvo"){
amandarm 35:a8256801e9ab 251 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 252 wait(1);
amandarm 35:a8256801e9ab 253 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 254 programa = 5;
amandarm 35:a8256801e9ab 255 status_tela = "salvo_confirmacao";}
amandarm 44:f0b7a2fe28d9 256 else if(tecla =='6' && status_tela =="salvo"){
amandarm 44:f0b7a2fe28d9 257 funcao_salvo_agree1();
amandarm 44:f0b7a2fe28d9 258 wait(1);
amandarm 44:f0b7a2fe28d9 259 funcao_salvo_agree2();
amandarm 44:f0b7a2fe28d9 260 programa = 6;
amandarm 44:f0b7a2fe28d9 261 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 262 else if(tecla =='B' && status_tela =="salvo"){
amandarm 47:0d9c10a9f87d 263 funcao_inicio();
amandarm 35:a8256801e9ab 264 status_tela = "inicio";}
amandarm 35:a8256801e9ab 265
enricoan 43:cfc3da0299ff 266 tecla = pega_tecla();
amandarm 35:a8256801e9ab 267 if(tecla =='1' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 268 funcao_salvo_agree_pos_aviso();
amandarm 44:f0b7a2fe28d9 269 wait(3);
amandarm 36:12c0f6dfb3dc 270 //posicionar no local da pega salvo; (motor -> programa.pos_x_pega e motor -> programa.pos_y_pega)
amandarm 35:a8256801e9ab 271 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 272 status_tela="salvo_pos_certo_pega" ;}
amandarm 35:a8256801e9ab 273 else if(tecla =='2' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 274 funcao_salvo_agree_solta_aviso();
amandarm 44:f0b7a2fe28d9 275 wait(3);
amandarm 36:12c0f6dfb3dc 276 //posicionar no local de solta para confirmação; (motor -> programa.pos_x_solta e motor -> programa.pos_y_solta)
amandarm 35:a8256801e9ab 277 funcao_salvo_agree_pos_certo();
amandarm 49:4625aaa408fc 278 status_tela = "salvo_pos_certo_solta";}
amandarm 35:a8256801e9ab 279 else if(tecla =='3' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 280 funcao_salvo_agree_pega_vol();
amandarm 36:12c0f6dfb3dc 281 //programação de volume igual da de cima (programa.vol_pega)
amandarm 52:dca562b09080 282 status_tela="salvo_conf_vol_pega";}
amandarm 35:a8256801e9ab 283 else if(tecla =='4' && status_tela =="salvo_confirmacao"){
amandarm 35:a8256801e9ab 284 funcao_salvo_agree_solta_vol();
amandarm 36:12c0f6dfb3dc 285 //volumes configurados por cada pipeta. (programa.vol_solta_pipeta)
amandarm 35:a8256801e9ab 286 status_tela="salvo_conf_vol_solta";}
amandarm 35:a8256801e9ab 287 else if(tecla =='B' && status_tela =="salvo_confirmacao"){
amandarm 47:0d9c10a9f87d 288 funcao_salvo1();
amandarm 35:a8256801e9ab 289 wait(1);
amandarm 47:0d9c10a9f87d 290 funcao_salvo2();
amandarm 35:a8256801e9ab 291 programa = 1;
amandarm 35:a8256801e9ab 292 status_tela = "salvo";}
amandarm 35:a8256801e9ab 293
enricoan 43:cfc3da0299ff 294 tecla = pega_tecla();
amandarm 49:4625aaa408fc 295 if(tecla =='1' && status_tela =="salvo_pos_certo_pega"){
amandarm 48:135139e2971f 296 funcao_salvo_agree1();
amandarm 52:dca562b09080 297 lcd.locate(18,1);lcd.printf("OK");
amandarm 48:135139e2971f 298 wait(1);
amandarm 48:135139e2971f 299 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 300 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 301 }//salva essa posição como correta
amandarm 49:4625aaa408fc 302 else if(tecla =='2' && status_tela =="salvo_pos_certo_pega"){}
amandarm 49:4625aaa408fc 303 else if(tecla =='B' && status_tela =="salvo_pos_certo_pega"){
amandarm 35:a8256801e9ab 304 funcao_salvo_agree1();
amandarm 35:a8256801e9ab 305 wait(1);
amandarm 35:a8256801e9ab 306 funcao_salvo_agree2();
amandarm 48:135139e2971f 307 status_tela = "salvo_confirmacao";}
amandarm 48:135139e2971f 308
amandarm 52:dca562b09080 309 if(tecla =='A' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 310 funcao_salvo_agree1();
amandarm 52:dca562b09080 311 wait(1);
amandarm 52:dca562b09080 312 funcao_salvo_agree2();
amandarm 52:dca562b09080 313 lcd.locate(18,1);lcd.printf("OK");
enricoan 53:1d0bb62c117f 314 status_tela = "salvo_confirmacao";
amandarm 52:dca562b09080 315 }//salva essa posição como correta
amandarm 52:dca562b09080 316 else if(tecla =='B' && status_tela =="salvo_conf_vol_pega"){
amandarm 52:dca562b09080 317 funcao_salvo_agree1();
amandarm 52:dca562b09080 318 wait(1);
amandarm 52:dca562b09080 319 funcao_salvo_agree2();
amandarm 52:dca562b09080 320 status_tela = "salvo_confirmacao";}
amandarm 52:dca562b09080 321
amandarm 49:4625aaa408fc 322 if(tecla =='1' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 323 funcao_salvo_agree1();
amandarm 52:dca562b09080 324 lcd.locate(18,2);lcd.printf("OK");
amandarm 49:4625aaa408fc 325 wait(1);
amandarm 49:4625aaa408fc 326 funcao_salvo_agree2();
enricoan 53:1d0bb62c117f 327 status_tela = "salvo_confirmacao";
amandarm 49:4625aaa408fc 328 }//salva essa posição como correta
amandarm 49:4625aaa408fc 329 else if(tecla =='2' && status_tela =="salvo_pos_certo_solta"){}
amandarm 49:4625aaa408fc 330 else if(tecla =='B' && status_tela =="salvo_pos_certo_solta"){
amandarm 49:4625aaa408fc 331 funcao_salvo_agree1();
amandarm 49:4625aaa408fc 332 wait(1);
amandarm 49:4625aaa408fc 333 funcao_salvo_agree2();
amandarm 49:4625aaa408fc 334 status_tela = "salvo_confirmacao";}
amandarm 49:4625aaa408fc 335
amandarm 52:dca562b09080 336 if(tecla =='A' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 337 funcao_salvo_agree1();
amandarm 48:135139e2971f 338 wait(1);
amandarm 48:135139e2971f 339 funcao_salvo_agree2();
amandarm 52:dca562b09080 340 lcd.locate(18,2);lcd.printf("OK");
enricoan 53:1d0bb62c117f 341 status_tela = "salvo_confirmacao";
amandarm 48:135139e2971f 342 }//salva essa posição como correta
amandarm 48:135139e2971f 343 else if(tecla =='2' && status_tela =="salvo_conf_vol_solta"){}
amandarm 48:135139e2971f 344 else if(tecla =='B' && status_tela =="salvo_conf_vol_solta"){
amandarm 48:135139e2971f 345 funcao_salvo_agree1();
amandarm 48:135139e2971f 346 wait(1);
amandarm 48:135139e2971f 347 funcao_salvo_agree2();
amandarm 35:a8256801e9ab 348 status_tela = "salvo_confirmacao";}
amandarm 35:a8256801e9ab 349
enricoan 43:cfc3da0299ff 350 tecla = pega_tecla();
enricoan 32:2a9b30e1e7ab 351 if(tecla =='1' && status_tela =="novo"){
amandarm 26:4123b9462158 352 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 353 status_tela ="forma";}
enricoan 53:1d0bb62c117f 354
enricoan 28:c4733814201a 355 else if(tecla =='2' && status_tela == "novo"){
enricoan 54:74a215a1f76b 356 volume = 0;
enricoan 54:74a215a1f76b 357 printf("\n%c",pega_tecla());
enricoan 53:1d0bb62c117f 358 funcao_pega_volume(); //!!!!!!!!!!!!!!!!!!!!!!!!!!!WTFFFFF
Hiroball 34:1b5a00c55376 359 status_tela = "volume";
enricoan 54:74a215a1f76b 360 continuar = 1;
enricoan 54:74a215a1f76b 361 multiplicador = 10;
enricoan 54:74a215a1f76b 362 while(continuar){
enricoan 54:74a215a1f76b 363 printf("\n%c",pega_tecla());
enricoan 43:cfc3da0299ff 364 tecla = pega_tecla();
enricoan 54:74a215a1f76b 365 wait(1);
enricoan 54:74a215a1f76b 366 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
enricoan 53:1d0bb62c117f 367 lcd.locate(6,1);
Hiroball 34:1b5a00c55376 368 volume = multiplicador*volume + (int)tecla;
enricoan 54:74a215a1f76b 369 printf("\nVolume: %d", volume);
Hiroball 34:1b5a00c55376 370 }
Hiroball 59:447534f1e4f5 371 else if(tecla == 'A'){
enricoan 53:1d0bb62c117f 372 lcd.locate(0,2);
Hiroball 34:1b5a00c55376 373 lcd.printf("Volume: %d", volume);
Hiroball 34:1b5a00c55376 374 continuar = 0;
enricoan 54:74a215a1f76b 375 wait(1);
Hiroball 34:1b5a00c55376 376 }
Hiroball 59:447534f1e4f5 377 //############ Faz sentido apertar B e voltar para essas duas telas, ne?#################
Hiroball 59:447534f1e4f5 378 else if(tecla=='B'){
Hiroball 59:447534f1e4f5 379 funcao_pega1();
Hiroball 59:447534f1e4f5 380 wait(1);
Hiroball 59:447534f1e4f5 381 funcao_pega2();
Hiroball 59:447534f1e4f5 382 status_tela = "novo";
Hiroball 59:447534f1e4f5 383 continuar = 0;}
Hiroball 34:1b5a00c55376 384 }
Hiroball 34:1b5a00c55376 385 }
enricoan 28:c4733814201a 386 else if(tecla == '3' && status_tela == "novo"){
amandarm 26:4123b9462158 387 funcao_pega_pos_x();
amandarm 55:4d071fb49f24 388 pos_x_pega = 12.5;
enricoan 32:2a9b30e1e7ab 389 status_tela = "pos_x";}
enricoan 28:c4733814201a 390 else if(tecla == 'B' && status_tela == "novo"){
amandarm 26:4123b9462158 391 funcao_inicio();
enricoan 32:2a9b30e1e7ab 392 status_tela = "inicio";}
enricoan 28:c4733814201a 393 else if(tecla == '1' && status_tela == "salvo"){
amandarm 26:4123b9462158 394 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 395 status_tela = "confirmacao";}
enricoan 28:c4733814201a 396 else if(tecla =='2' && status_tela == "salvo"){
amandarm 26:4123b9462158 397 funcao_salvo_agree1();
enricoan 32:2a9b30e1e7ab 398 status_tela = "confirmacao";}
enricoan 28:c4733814201a 399 else if(tecla =='B' && status_tela == "salvo"){
amandarm 26:4123b9462158 400 funcao_inicio();
enricoan 32:2a9b30e1e7ab 401 status_tela = "inicio";}
amandarm 35:a8256801e9ab 402
enricoan 56:e748b9bd5e3c 403 tecla = 'F';
enricoan 56:e748b9bd5e3c 404 wait(1);
enricoan 43:cfc3da0299ff 405 tecla = pega_tecla();
enricoan 28:c4733814201a 406 if(tecla == '1' && status_tela == "forma"){
amandarm 26:4123b9462158 407 funcao_pega_forma_quad();
amandarm 55:4d071fb49f24 408 tipo_pega = 1;
Hiroball 59:447534f1e4f5 409 tecla = pega_tecla();
Hiroball 59:447534f1e4f5 410 wait(1);
Hiroball 59:447534f1e4f5 411 continuar = 1;
Hiroball 59:447534f1e4f5 412 multiplicador = 10;
Hiroball 59:447534f1e4f5 413 comprimento_quad = 0;
Hiroball 59:447534f1e4f5 414 while(continuar){
Hiroball 59:447534f1e4f5 415 printf("\n%c",pega_tecla());
Hiroball 59:447534f1e4f5 416 tecla = pega_tecla();
Hiroball 59:447534f1e4f5 417 wait(1);
Hiroball 59:447534f1e4f5 418 status_tela ="forma_quad";
Hiroball 59:447534f1e4f5 419 if(tecla!= 'A' && tecla!='B' && tecla!= 'k'){
Hiroball 59:447534f1e4f5 420 lcd.locate(0,2);
enricoan 60:e2c632e8dee1 421 comprimento_quad = multiplicador*comprimento_quad + ((int)tecla - 48);
Hiroball 59:447534f1e4f5 422 printf("\nComprimento: %d", comprimento_quad);
Hiroball 59:447534f1e4f5 423 }
Hiroball 59:447534f1e4f5 424 else if(tecla == 'A'){
Hiroball 59:447534f1e4f5 425 lcd.locate(0,2);
Hiroball 59:447534f1e4f5 426 lcd.printf("Comprimento: %d", comprimento_quad);
Hiroball 59:447534f1e4f5 427 continuar = 0;
Hiroball 59:447534f1e4f5 428 wait(1);
Hiroball 59:447534f1e4f5 429 }
Hiroball 59:447534f1e4f5 430 else if(tecla=='B'){
Hiroball 59:447534f1e4f5 431 funcao_pega_forma();
Hiroball 59:447534f1e4f5 432 status_tela = "forma";
Hiroball 59:447534f1e4f5 433 continuar = 0;}
Hiroball 59:447534f1e4f5 434 }
Hiroball 59:447534f1e4f5 435 }
enricoan 28:c4733814201a 436 else if(tecla == '2' && status_tela == "forma"){
amandarm 26:4123b9462158 437 funcao_pega_forma_red();
enricoan 56:e748b9bd5e3c 438 tipo_pega = 2;
amandarm 55:4d071fb49f24 439 status_tela = "forma_red";}
enricoan 28:c4733814201a 440 else if(tecla == 'B' && status_tela == "forma"){
enricoan 56:e748b9bd5e3c 441 funcao_pega1();
enricoan 56:e748b9bd5e3c 442 wait(1);
enricoan 56:e748b9bd5e3c 443 funcao_pega2();
enricoan 32:2a9b30e1e7ab 444 status_tela = "novo";}
amandarm 35:a8256801e9ab 445
enricoan 43:cfc3da0299ff 446 tecla = pega_tecla();
enricoan 28:c4733814201a 447 if(tecla == 'A' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 448 funcao_pega1();
amandarm 55:4d071fb49f24 449 medida_lado_pega = 10;
enricoan 58:d573b618f45a 450 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 451 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 452 }
enricoan 58:d573b618f45a 453 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 454 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 455 }
enricoan 29:76d952358896 456 wait(1);
amandarm 26:4123b9462158 457 funcao_pega2();
enricoan 58:d573b618f45a 458 if(volume_pega !=0){
enricoan 58:d573b618f45a 459 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 460 }
enricoan 56:e748b9bd5e3c 461 status_tela ="novo";}
enricoan 28:c4733814201a 462 else if(tecla == 'B' && status_tela == "forma_quad"){
amandarm 26:4123b9462158 463 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 464 status_tela = "forma";}
enricoan 28:c4733814201a 465 else if(tecla == 'A' && status_tela == "forma_red"){
amandarm 55:4d071fb49f24 466 medida_lado_pega = 10;
amandarm 26:4123b9462158 467 funcao_pega1();
enricoan 58:d573b618f45a 468 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 469 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 470 }
enricoan 58:d573b618f45a 471 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 472 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 473 }
enricoan 29:76d952358896 474 wait(1);
amandarm 26:4123b9462158 475 funcao_pega2();
enricoan 58:d573b618f45a 476 if(volume_pega !=0){
enricoan 58:d573b618f45a 477 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 478 }
enricoan 56:e748b9bd5e3c 479 status_tela ="novo";}
enricoan 28:c4733814201a 480 else if(tecla == 'B' && status_tela == "forma_red"){
amandarm 26:4123b9462158 481 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 482 status_tela = "forma";}
enricoan 28:c4733814201a 483 else if(tecla == 'A' && status_tela == "volume"){
amandarm 26:4123b9462158 484 funcao_pega1();
amandarm 55:4d071fb49f24 485 volume_pega = 12;
enricoan 58:d573b618f45a 486 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 487 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 488 }
enricoan 58:d573b618f45a 489 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 490 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 491 }
enricoan 29:76d952358896 492 wait(1);
amandarm 26:4123b9462158 493 funcao_pega2();
enricoan 58:d573b618f45a 494 if(volume_pega !=0){
enricoan 58:d573b618f45a 495 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 496 }
enricoan 56:e748b9bd5e3c 497 status_tela ="novo";}
enricoan 28:c4733814201a 498 else if( tecla == 'B' && status_tela == "volume"){
amandarm 26:4123b9462158 499 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 500 status_tela = "forma";}
enricoan 28:c4733814201a 501 else if(tecla == 'A' && status_tela == "pos_x"){
enricoan 29:76d952358896 502 funcao_pega_pos_y(); //colocar programacao que contem o posicionamento do eixo y
amandarm 55:4d071fb49f24 503 pos_y_pega = 12.5;
enricoan 32:2a9b30e1e7ab 504 status_tela = "pos_y";}
enricoan 28:c4733814201a 505 else if(tecla == 'B' && status_tela == "pos_x"){
amandarm 26:4123b9462158 506 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 507 status_tela = "forma";}
amandarm 35:a8256801e9ab 508
enricoan 43:cfc3da0299ff 509 tecla = pega_tecla();
enricoan 28:c4733814201a 510 if(tecla == 'A' && status_tela == "pos_y"){
amandarm 26:4123b9462158 511 funcao_pega1();
enricoan 58:d573b618f45a 512 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 513 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 514 }
enricoan 58:d573b618f45a 515 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 516 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 517 }
enricoan 29:76d952358896 518 wait(1);
amandarm 26:4123b9462158 519 funcao_pega2();
enricoan 58:d573b618f45a 520 if(volume_pega !=0){
enricoan 58:d573b618f45a 521 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 522 }
enricoan 56:e748b9bd5e3c 523 wait(1);
enricoan 56:e748b9bd5e3c 524 status_tela ="novo";}
enricoan 28:c4733814201a 525 else if(tecla == 'B' && status_tela == "pos_y"){
amandarm 26:4123b9462158 526 funcao_pega_forma();
enricoan 32:2a9b30e1e7ab 527 status_tela = "forma";}
amandarm 55:4d071fb49f24 528
amandarm 55:4d071fb49f24 529
amandarm 55:4d071fb49f24 530 tecla=pega_tecla();
enricoan 56:e748b9bd5e3c 531 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 532 funcao_solta1();
amandarm 55:4d071fb49f24 533 wait(3);
amandarm 55:4d071fb49f24 534 funcao_solta2();
enricoan 58:d573b618f45a 535 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 536 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 537 }
amandarm 55:4d071fb49f24 538 wait(3);
enricoan 56:e748b9bd5e3c 539 status_tela="solta";}
amandarm 55:4d071fb49f24 540
amandarm 55:4d071fb49f24 541 tecla=pega_tecla();
amandarm 55:4d071fb49f24 542 if(tecla == '1' && status_tela == "solta"){
amandarm 55:4d071fb49f24 543 funcao_solta_dimensao();
amandarm 55:4d071fb49f24 544 status_tela="solta_dimensao";
amandarm 55:4d071fb49f24 545 }
amandarm 55:4d071fb49f24 546 else if(tecla == '2' && status_tela == "solta"){
amandarm 55:4d071fb49f24 547 funcao_solta_vol();
amandarm 55:4d071fb49f24 548 status_tela="solta_vol";
amandarm 55:4d071fb49f24 549 }
amandarm 55:4d071fb49f24 550 else if(tecla == '3' && status_tela == "solta"){
amandarm 55:4d071fb49f24 551 funcao_solta_pos_x();
amandarm 55:4d071fb49f24 552 status_tela="solta_pos_x";
amandarm 55:4d071fb49f24 553 }
amandarm 55:4d071fb49f24 554 else if(tecla == 'B' && status_tela == "solta"){
amandarm 55:4d071fb49f24 555 funcao_pega1();
enricoan 58:d573b618f45a 556 if(pos_y_pega !=0){
enricoan 58:d573b618f45a 557 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 558 }
enricoan 58:d573b618f45a 559 if(medida_lado_pega !=0){
enricoan 58:d573b618f45a 560 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 561 }
amandarm 55:4d071fb49f24 562 wait(1);
amandarm 55:4d071fb49f24 563 funcao_pega2();
enricoan 58:d573b618f45a 564 if(volume_pega !=0){
enricoan 58:d573b618f45a 565 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 566 }
amandarm 55:4d071fb49f24 567 status_tela="inicio";
amandarm 55:4d071fb49f24 568 }
amandarm 55:4d071fb49f24 569
amandarm 55:4d071fb49f24 570 tecla=pega_tecla();
amandarm 55:4d071fb49f24 571 if(tecla=='A' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 572 dimensao_solta = 10;
amandarm 55:4d071fb49f24 573 funcao_solta1();
enricoan 58:d573b618f45a 574 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 575 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 576 }
enricoan 58:d573b618f45a 577 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 578 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 579 }
amandarm 55:4d071fb49f24 580 wait(3);
amandarm 55:4d071fb49f24 581 funcao_solta2();
enricoan 58:d573b618f45a 582 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 583 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 584 }
amandarm 55:4d071fb49f24 585 wait(3);
amandarm 55:4d071fb49f24 586 status_tela="solta";
amandarm 55:4d071fb49f24 587 }
amandarm 55:4d071fb49f24 588 else if(tecla=='B' && status_tela=="solta_dimensao"){
amandarm 55:4d071fb49f24 589 funcao_solta1();
enricoan 58:d573b618f45a 590 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 591 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 592 }
enricoan 58:d573b618f45a 593 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 594 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 595 }
amandarm 55:4d071fb49f24 596 wait(3);
amandarm 55:4d071fb49f24 597 funcao_solta2();
enricoan 58:d573b618f45a 598 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 599 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 600 }
amandarm 55:4d071fb49f24 601 wait(3);
amandarm 55:4d071fb49f24 602 status_tela="solta";
amandarm 55:4d071fb49f24 603 }
amandarm 55:4d071fb49f24 604 if(tecla=='1' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 605 funcao_solta_vol_igual();
amandarm 55:4d071fb49f24 606 status_tela="solta_vol_igual";
amandarm 55:4d071fb49f24 607 }
amandarm 55:4d071fb49f24 608 else if(tecla=='2' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 609 funcao_solta_vol_cada();
amandarm 55:4d071fb49f24 610 status_tela="solta_vol_dif";
amandarm 55:4d071fb49f24 611 }
amandarm 55:4d071fb49f24 612 else if(tecla=='B' && status_tela=="solta_vol"){
amandarm 55:4d071fb49f24 613 funcao_solta1();
enricoan 58:d573b618f45a 614 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 615 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 616 }
enricoan 58:d573b618f45a 617 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 618 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 619 }
amandarm 55:4d071fb49f24 620 wait(3);
amandarm 55:4d071fb49f24 621 funcao_solta2();
enricoan 58:d573b618f45a 622 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 623 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 624 }
amandarm 55:4d071fb49f24 625 wait(3);
amandarm 55:4d071fb49f24 626 status_tela="solta";
amandarm 55:4d071fb49f24 627 }
enricoan 56:e748b9bd5e3c 628 if(tecla=='A' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 629 funcao_solta_pos_y();
amandarm 55:4d071fb49f24 630 pos_x_solta = 10;
enricoan 56:e748b9bd5e3c 631 status_tela="solta_pos_y";
amandarm 55:4d071fb49f24 632 }
enricoan 56:e748b9bd5e3c 633 else if(tecla=='B' && status_tela=="solta_pos_x"){
amandarm 55:4d071fb49f24 634 funcao_solta1();
enricoan 58:d573b618f45a 635 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 636 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 637 }
enricoan 58:d573b618f45a 638 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 639 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 640 }
amandarm 55:4d071fb49f24 641 wait(3);
amandarm 55:4d071fb49f24 642 funcao_solta2();
enricoan 58:d573b618f45a 643 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 644 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 645 }
amandarm 55:4d071fb49f24 646 wait(3);
amandarm 55:4d071fb49f24 647 status_tela="solta";
amandarm 55:4d071fb49f24 648 }
amandarm 55:4d071fb49f24 649
amandarm 55:4d071fb49f24 650 tecla=pega_tecla();
amandarm 55:4d071fb49f24 651 if(tecla=='A' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 652 volume_solta_1=10;
amandarm 55:4d071fb49f24 653 volume_solta_2=10;
amandarm 55:4d071fb49f24 654 volume_solta_3=10;
amandarm 55:4d071fb49f24 655 volume_solta_4=10;
amandarm 55:4d071fb49f24 656 volume_solta_5=10;
amandarm 55:4d071fb49f24 657 volume_solta_6=10;
amandarm 55:4d071fb49f24 658 volume_solta_7=10;
amandarm 55:4d071fb49f24 659 volume_solta_8=10;
amandarm 55:4d071fb49f24 660 volume_solta_9=10;
amandarm 55:4d071fb49f24 661
amandarm 55:4d071fb49f24 662 funcao_solta1();
enricoan 58:d573b618f45a 663 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 664 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 665 }
enricoan 58:d573b618f45a 666 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 667 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 668 }
amandarm 55:4d071fb49f24 669 wait(3);
amandarm 55:4d071fb49f24 670 funcao_solta2();
enricoan 58:d573b618f45a 671 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 672 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 673 }
amandarm 55:4d071fb49f24 674 wait(3);
enricoan 56:e748b9bd5e3c 675 status_tela="solta";}
amandarm 55:4d071fb49f24 676 else if(tecla=='B' && status_tela=="solta_vol_igual"){
amandarm 55:4d071fb49f24 677 funcao_solta_vol();
amandarm 55:4d071fb49f24 678 status_tela="solta_vol";
amandarm 55:4d071fb49f24 679 }
amandarm 55:4d071fb49f24 680 if(tecla=='1' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 681 volume_solta_1=10;
enricoan 56:e748b9bd5e3c 682 lcd.locate(12,0);lcd.printf("10");
amandarm 55:4d071fb49f24 683 }
amandarm 55:4d071fb49f24 684 if(tecla=='2' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 685 volume_solta_2=20;
enricoan 56:e748b9bd5e3c 686 lcd.locate(15,0);lcd.printf("20");
amandarm 55:4d071fb49f24 687 }
amandarm 55:4d071fb49f24 688 if(tecla=='3' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 689 volume_solta_3=30;
enricoan 56:e748b9bd5e3c 690 lcd.locate(18,0);lcd.printf("30");
amandarm 55:4d071fb49f24 691 }
amandarm 55:4d071fb49f24 692 if(tecla=='4' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 693 volume_solta_4=40;
enricoan 56:e748b9bd5e3c 694 lcd.locate(12,1);lcd.printf("40");
amandarm 55:4d071fb49f24 695 }
amandarm 55:4d071fb49f24 696 if(tecla=='5' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 697 volume_solta_5=50;
enricoan 56:e748b9bd5e3c 698 lcd.locate(15,1);lcd.printf("50");
amandarm 55:4d071fb49f24 699 }
amandarm 55:4d071fb49f24 700 if(tecla=='6' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 701 volume_solta_6=60;
enricoan 56:e748b9bd5e3c 702 lcd.locate(18,1);lcd.printf("60");
amandarm 55:4d071fb49f24 703 }
amandarm 55:4d071fb49f24 704 if(tecla=='7' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 705 volume_solta_7=70;
enricoan 56:e748b9bd5e3c 706 lcd.locate(12,2);lcd.printf("70");
amandarm 55:4d071fb49f24 707 }
amandarm 55:4d071fb49f24 708 if(tecla=='8' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 709 volume_solta_8=80;
enricoan 56:e748b9bd5e3c 710 lcd.locate(15,2);lcd.printf("80");
amandarm 55:4d071fb49f24 711 }
amandarm 55:4d071fb49f24 712 if(tecla=='9' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 713 volume_solta_9=90;
enricoan 56:e748b9bd5e3c 714 lcd.locate(18,2);lcd.printf("90");
amandarm 55:4d071fb49f24 715 }
amandarm 55:4d071fb49f24 716 if(tecla=='A' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 717 funcao_solta1();
enricoan 58:d573b618f45a 718 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 719 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 720 }
enricoan 58:d573b618f45a 721 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 722 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 723 }
amandarm 55:4d071fb49f24 724 wait(3);
amandarm 55:4d071fb49f24 725 funcao_solta2();
enricoan 58:d573b618f45a 726 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 727 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 728 }
amandarm 55:4d071fb49f24 729 wait(3);
amandarm 55:4d071fb49f24 730 status_tela="solta";
amandarm 55:4d071fb49f24 731 }
amandarm 55:4d071fb49f24 732 else if(tecla=='B' && status_tela=="solta_vol_dif"){
amandarm 55:4d071fb49f24 733 funcao_solta_vol();
amandarm 55:4d071fb49f24 734 status_tela="solta_vol";
amandarm 55:4d071fb49f24 735 }
enricoan 56:e748b9bd5e3c 736 if(tecla=='A' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 737 funcao_solta1();
enricoan 58:d573b618f45a 738 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 739 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 740 }
enricoan 58:d573b618f45a 741 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 742 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 743 }
amandarm 55:4d071fb49f24 744 wait(3);
amandarm 55:4d071fb49f24 745 funcao_solta2();
enricoan 58:d573b618f45a 746 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 747 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 748 }
amandarm 55:4d071fb49f24 749 pos_y_solta = 10;
amandarm 55:4d071fb49f24 750 wait(3);
amandarm 55:4d071fb49f24 751 status_tela="solta";
amandarm 55:4d071fb49f24 752 }
enricoan 56:e748b9bd5e3c 753 else if(tecla=='B' && status_tela=="solta_pos_y"){
amandarm 55:4d071fb49f24 754 funcao_solta1();
enricoan 58:d573b618f45a 755 if(pos_y_solta !=0){
enricoan 58:d573b618f45a 756 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 757 }
enricoan 58:d573b618f45a 758 if(dimensao_solta !=0){
enricoan 58:d573b618f45a 759 lcd.locate(18,1);lcd.printf("OK");
enricoan 58:d573b618f45a 760 }
amandarm 55:4d071fb49f24 761 wait(3);
amandarm 55:4d071fb49f24 762 funcao_solta2();
enricoan 58:d573b618f45a 763 if(volume_solta_9 !=0){
enricoan 58:d573b618f45a 764 lcd.locate(18,0);lcd.printf("OK");
enricoan 58:d573b618f45a 765 }
amandarm 55:4d071fb49f24 766 pos_y_solta = 10;
amandarm 55:4d071fb49f24 767 wait(3);
amandarm 55:4d071fb49f24 768 status_tela="solta";
amandarm 55:4d071fb49f24 769 }
amandarm 55:4d071fb49f24 770
amandarm 55:4d071fb49f24 771 if(pos_x_solta!=0 && pos_y_solta!=0 && volume_solta_9!=0 && dimensao_solta!=0 && status_tela=="solta"){
amandarm 55:4d071fb49f24 772 funcao_acomp();
amandarm 55:4d071fb49f24 773 status_tela="acompanhamento";
amandarm 55:4d071fb49f24 774 };
amandarm 55:4d071fb49f24 775 }
enricoan 10:4f49e9859535 776 }