Projeto_Mecatronico_Team / Mbed 2 deprecated Projeto_Mecatronico

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Dependencies:   mbed filesystem TextLCD

Fork of Projeto_Mecatronico by Fernando Sakabe

main.cpp@25:7c7567ae64ed, 2022-05-23 (annotated)

Committer:
ricardoparanhos
Date:
Mon May 23 01:41:23 2022 +0000
Revision:
25:7c7567ae64ed
Parent:
24:098413c4c0bb
Child:
26:6be302ad0278
22/05/22 - 22h42

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ricardoparanhos 18:6631cd661227 1 #include "JOG.h"
ricardoparanhos 19:370efb0ce814 2 #include "home.h"
ricardoparanhos 25:7c7567ae64ed 3 #include "LCD.h"
ricardoparanhos 25:7c7567ae64ed 4 #include "tempo_de_ciclo.h"
ricardoparanhos 25:7c7567ae64ed 5 //#include <sstream>
fernandosakabe 0:ecc1b15ec2a9 6
ricardoparanhos 25:7c7567ae64ed 7 int main()
ricardoparanhos 25:7c7567ae64ed 8 {
ricardoparanhos 25:7c7567ae64ed 9 int posicoes_x[] = {0, 1024, 512, 800, 0, 0, 0, 0, 0, 0, 0, 0};
ricardoparanhos 25:7c7567ae64ed 10 int posicoes_y[] = {0, 1024, 512, 800, 0, 0, 0, 0, 0, 0, 0, 0};
ricardoparanhos 25:7c7567ae64ed 11 int posicoes_z[] = {0, 1024, 512, 800, 0, 0, 0, 0, 0, 0, 0, 0};
ricardoparanhos 25:7c7567ae64ed 12 int pegas[] = {0, 0, 2, 1, 0, 0, 0, 0, 0, 0, 0, 0};
ricardoparanhos 24:098413c4c0bb 13 int referenciar = 0;
ricardoparanhos 25:7c7567ae64ed 14 char tempo_no_lcd[80];
ricardoparanhos 25:7c7567ae64ed 15
ricardoparanhos 22:7c38592facf5 16
ricardoparanhos 25:7c7567ae64ed 17 while(1) {
ricardoparanhos 25:7c7567ae64ed 18 /*display_to_lcd("Bem vindo /n");
ricardoparanhos 25:7c7567ae64ed 19 display_to_lcd("Prosseguir");
ricardoparanhos 25:7c7567ae64ed 20 if(arrow_right == 1){
ricardoparanhos 25:7c7567ae64ed 21 display_to_lcd("Setar nova posição /n");
ricardoparanhos 25:7c7567ae64ed 22 display_to_lcd("Utilizar a última posição");
ricardoparanhos 25:7c7567ae64ed 23 if(arrow_up == 1) {
ricardoparanhos 25:7c7567ae64ed 24 home();
ricardoparanhos 25:7c7567ae64ed 25 referenciamento();
ricardoparanhos 25:7c7567ae64ed 26 adquirir_posições();
ricardoparanhos 25:7c7567ae64ed 27 }
ricardoparanhos 25:7c7567ae64ed 28 if(arrow_down == 1 {
ricardoparanhos 25:7c7567ae64ed 29 last_update()
ricardoparanhos 25:7c7567ae64ed 30 }
ricardoparanhos 25:7c7567ae64ed 31 }*/
ricardoparanhos 24:098413c4c0bb 32 // home();
ricardoparanhos 25:7c7567ae64ed 33 // JOG
ricardoparanhos 25:7c7567ae64ed 34 // int numero_pegas = 0;
ricardoparanhos 25:7c7567ae64ed 35 // int x_pega = posicoes_x[1];
ricardoparanhos 25:7c7567ae64ed 36 // int y_pega = posicoes_y[1];
ricardoparanhos 25:7c7567ae64ed 37 // int z_pega = posicoes_z[1];
ricardoparanhos 25:7c7567ae64ed 38 // int counter = 0;
ricardoparanhos 25:7c7567ae64ed 39 // if (referenciar == 0) {
ricardoparanhos 25:7c7567ae64ed 40 // for (int i=1; i < 12; i++) {
ricardoparanhos 25:7c7567ae64ed 41 // int voltar_home = 0;
ricardoparanhos 25:7c7567ae64ed 42 // int x_posicao = posicoes_x[i];
ricardoparanhos 25:7c7567ae64ed 43 // int y_posicao = posicoes_y[i];
ricardoparanhos 25:7c7567ae64ed 44 // int z_posicao = posicoes_z[i];
ricardoparanhos 25:7c7567ae64ed 45 // numero_pegas = pegas[i];
ricardoparanhos 25:7c7567ae64ed 46 // if (x_posicao == 0 && y_posicao == 0 && counter == 0) {
ricardoparanhos 25:7c7567ae64ed 47 // voltar_home = 1;
ricardoparanhos 25:7c7567ae64ed 48 // counter = 1;
ricardoparanhos 25:7c7567ae64ed 49 // } else if (i == 1) {
ricardoparanhos 25:7c7567ae64ed 50 // voltar_home = 1;
ricardoparanhos 25:7c7567ae64ed 51 // }
ricardoparanhos 25:7c7567ae64ed 52 // jog (x_posicao, y_posicao, z_posicao, x_pega, y_pega, z_pega, numero_pegas, voltar_home);
ricardoparanhos 25:7c7567ae64ed 53 // }
ricardoparanhos 25:7c7567ae64ed 54 // referenciar = 1;
ricardoparanhos 25:7c7567ae64ed 55 // }
ricardoparanhos 25:7c7567ae64ed 56
ricardoparanhos 25:7c7567ae64ed 57 // JOG PREVIEW
ricardoparanhos 25:7c7567ae64ed 58
ricardoparanhos 25:7c7567ae64ed 59 //if (referenciar == 0) {
ricardoparanhos 25:7c7567ae64ed 60 // for (int i=0; i < 11; i++) {
ricardoparanhos 25:7c7567ae64ed 61 // int posicao_anterior_x = posicoes_x[i];
ricardoparanhos 25:7c7567ae64ed 62 // int posicao_anterior_y = posicoes_y[i];
ricardoparanhos 25:7c7567ae64ed 63 // int posicao_anterior_z = posicoes_z[i];
ricardoparanhos 25:7c7567ae64ed 64 // int posicao_atual_x = posicoes_x[i+1];
ricardoparanhos 25:7c7567ae64ed 65 // int posicao_atual_y = posicoes_y[i+1];
ricardoparanhos 25:7c7567ae64ed 66 // int posicao_atual_z = posicoes_z[i+1];
ricardoparanhos 25:7c7567ae64ed 67 // jog_preview (posicao_atual_x, posicao_atual_y, posicao_atual_z, posicao_anterior_x, posicao_anterior_y, posicao_anterior_z);
ricardoparanhos 25:7c7567ae64ed 68 // }
ricardoparanhos 25:7c7567ae64ed 69 // referenciar = 1;
ricardoparanhos 25:7c7567ae64ed 70 // }
ricardoparanhos 25:7c7567ae64ed 71
ricardoparanhos 25:7c7567ae64ed 72 // TEMPO DE CICLO
ricardoparanhos 24:098413c4c0bb 73 int numero_pegas = 0;
ricardoparanhos 25:7c7567ae64ed 74 float tempo_total = 0;
ricardoparanhos 25:7c7567ae64ed 75 float mover = 0;
ricardoparanhos 24:098413c4c0bb 76 int x_pega = posicoes_x[1];
ricardoparanhos 24:098413c4c0bb 77 int y_pega = posicoes_y[1];
ricardoparanhos 24:098413c4c0bb 78 int z_pega = posicoes_z[1];
ricardoparanhos 25:7c7567ae64ed 79 if (referenciar == 0) {
ricardoparanhos 25:7c7567ae64ed 80 for (int i=1; i < 12; i++) {
ricardoparanhos 25:7c7567ae64ed 81 int posicao_atual_x = posicoes_x[i];
ricardoparanhos 25:7c7567ae64ed 82 int posicao_atual_y = posicoes_y[i];
ricardoparanhos 25:7c7567ae64ed 83 int posicao_atual_z = posicoes_z[i];
ricardoparanhos 24:098413c4c0bb 84 numero_pegas = pegas[i];
ricardoparanhos 25:7c7567ae64ed 85 mover = tempo_de_ciclo (posicao_atual_x, posicao_atual_y, posicao_atual_z, x_pega, y_pega, z_pega, numero_pegas, i);
ricardoparanhos 25:7c7567ae64ed 86 tempo_total += mover;
ricardoparanhos 24:098413c4c0bb 87 }
ricardoparanhos 24:098413c4c0bb 88 referenciar = 1;
ricardoparanhos 25:7c7567ae64ed 89 printf("%.2f segundos \n", tempo_total);
ricardoparanhos 24:098413c4c0bb 90 }
fernandosakabe 1:acfe1330ef8b 91 }
ricardoparanhos 2:dc140db16b42 92 }