Peter Betz
/
accuBlast_inputs
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Dependencies: mbed reScale USBDevice
Diff: main.cpp
- Revision:
- 11:baedb9e32b6d
- Parent:
- 10:a3ada529b264
- Child:
- 24:633485c12ef1
--- a/main.cpp Thu Apr 11 23:22:45 2019 +0000
+++ b/main.cpp Sun Oct 06 21:18:30 2019 +0000
@@ -1,23 +1,38 @@
- #include "mbed.h"
+#include "mbed.h"
#include "reScale.h"
+// 2019-10-01: Updated to include pulse, Nozzle direction.
//Serial pc(USBTX, USBRX);
//InterruptIn aux1(P0_7, PullUp); // index pulse
DigitalIn aux1(P0_7);
-DigitalIn cw(P1_24);
+DigitalIn aux2(P1_21);
+DigitalIn cw(P1_24);
DigitalIn ccw(P2_7);
+DigitalIn pulse(P0_6);
int cwRequested = 0;
int ccwRequested = 0;
+int pulseActive = 0;
+int pulseFlag =1; // is pulse high or low. (off is high after the opto)
+int pulseStart = 0;
+int pulseCount = 0;
+int lastPulse = 0; // for debounce
+int pulseDebounce = 1; //ms for debounce pulse signal
+
int aux1State = 0;
+int autoMode = 0; // setting for AUTO mode (X7a, Pulse etc.)
+int aux2Mode =0; // aux 2 use, twitch wait, etc.
+int twitchWaitFlag = 0; // was twitch wait enabled?
+int waitFlag = 0;
DigitalOut dir(P0_15);
+DigitalOut auxOut1(P0_8);
Serial display(P0_14, P0_13, 19200); // RS 485 TX RX?
Serial inputs(P1_23,P0_20, 9600); //rs232 TX RX
@@ -27,122 +42,228 @@
int minServo = 500;
reScale servo1Scale(90,-90,minServo,maxServo); //19850 is 1.0v from voltage divider at 10k.
- PwmOut servo1(P1_13); //display board
+PwmOut servo1(P1_13); // PRODUCTION
+//PwmOut servo1(P2_2); // TEST!!!
+
//char tens = '0';
//char ones = '1';
int Hundreds = 0;
- int Tens = 0;
- int Ones = 0;
-
- int twitch = 0;
- int twitchStart=0;
- int twitchDirection=0;
- int lastTwitchMove = 0;
- int maxTwitch = 0;
- int minTwitch = 0;
- int tReadMs = 10;
-
- int currentNozzle = 0;
+int Tens = 0;
+int Ones = 0;
+
+int twitch = 0;
+int twitchStart=0;
+int twitchDirection=0;
+int lastTwitchMove = 0;
+int maxTwitch1 = 0;
+int maxTwitch2 = 0;
+int minTwitch1 = 0;
+int minTwitch2 = 0;
+int tReadMs = 5;
+int twitchIncrement = 10;
+
+int currentNozzle = 0;
int index = 0; // for parsing serial
int n1Pos = 0;
- int servo1Pos = 0;
- int lastServo1Pos = 999;
+int lastN1Called = 0; // store the last actual tool position sent from the display because twitch code can shift it.
+
+int n1Dir = 0;
+
+int servo1Pos = 0;
+int lastServo1Pos = 0;
-DigitalOut servo2(P2_2);
+//DigitalOut servo2(P2_18);
/*
void triggered()
{
servo2 = 1;
-
+
if (cw == 0){
cwRequested = 1;
}
-
+
else if (ccw == 0){
ccwRequested = 1;
}
-
-}
-
+
+}
+
*/
Timer t;
-int main() {
-
-cw.mode(PullUp);
-ccw.mode(PullUp);
-aux1.mode(PullUp);
+int main()
+{
+
+ servo1.period(0.020); // servo requires a 20ms period
-t.start();
+ cw.mode(PullUp);
+ ccw.mode(PullUp);
+ aux1.mode(PullUp);
+ aux2.mode(PullUp);
+ pulse.mode(PullUp);
+ // auxOut1 = 1;
+
+ t.start();
+ lastPulse = t.read_ms();
//aux1.rise(&triggered);
-servo2 = 0;
+//servo2 = 0;
- uint8_t c = 0; // for 485 link
-
+ uint8_t c = 0; // for 485 link
+
while(1) {
-
-
- if (t.read() > 1200){
- t.reset();
- lastTwitchMove = t.read_ms();
- }
-
-
-//************************************ Interrupt response **********************
-
-
- if (aux1 == 0 && aux1State == 0)
- {
-
- if (cw == 1)
- {
+
+ if (t.read() > 1200) {
+ t.reset();
+ lastTwitchMove = t.read_ms();
+ lastPulse = t.read_ms();
+ }
+
+
+//************************************ Interrupt response **********************
+
+
+ if (aux1 == 0 && aux1State == 0) {
+
+ wait(0.1); //**************************2019-06-27
+
+ if (cw == 1) {
//servo2 = 1;
-dir= 1;
+ dir= 1;
//wait(0.001);
-display.printf("M");
-wait(0.05);
-display.printf("-");
-wait(0.001);
-dir=0;
-aux1State = 1;
-//wait(.001);
-}
+ display.printf("M");
+ wait(0.05);
+ display.printf("-");
+ wait(0.001);
+ dir=0;
+ aux1State = 1;
+//wait(.1);
+ }
-if (ccw == 1)
-{
-dir= 1;
+ if (ccw == 1) {
+ dir= 1;
//wait(0.01);
-display.printf("M");
-wait(0.05);
-display.printf("+");
-wait(0.001);
-dir=0;
-aux1State = 1;
-//wait(.001);
-}
-}
+ display.printf("M");
+ wait(0.05);
+ display.printf("+");
+ wait(0.001);
+ dir=0;
+ aux1State = 1;
+//wait(.1);
+ }
+ }
+
+ if (aux1 == 1 && aux1State == 1) {
+ aux1State = 0;
+//wait(0.1);
+ }
+
+//********************** Tool Pulse **********************************
+
+ /*
+ if (pulse == 0)
+ {
+ pulseCount = 103;
+ dir=1;
+ display.printf("T");
+ wait(0.05);
+ display.printf("%d", pulseCount);
+ wait(0.001);
+ dir=0;
+ wait(0.2);
+ }
+ */
+
+ /*
+ if (pulse == 0 && pulseActive == 0)
+ {
+ pulseStart = t.read_ms();
+ pulseActive = 1;
+ pulseCount = 1;
+ wait(0.01);
+ }
+
+ if (pulse == 0 && pulseActive == 1 && (t.read_ms() < pulseStart + 1000))
+ {
+ pulseCount = pulseCount + 1;
+ wait(0.01);
+ }
+
+ if (pulseActive == 1 && (t.read_ms() > pulseStart + 1000))
+ {
+ pulseCount = pulseCount + 100;
-if (aux1 == 1 && aux1State == 1)
-{
-aux1State = 0;
-//wait(0.1);
-}
-
+ dir=1;
+ display.printf("T");
+ wait(0.05);
+ display.printf("%d", pulseCount);
+ wait(0.001);
+ dir=0;
+
+ pulseCount = 0;
+ pulseActive = 0;
+
+ wait(0.01);
+
+ }
+ */
+
+
+ if (pulse == 0 && pulseActive == 0 && pulseFlag == 1 && (t.read_ms() > (lastPulse + pulseDebounce))) {
+ pulseStart = t.read_ms();
+ lastPulse = t.read_ms();
+ pulseActive = 1;
+ pulseCount = 1;
+ pulseFlag = 0; // pin is now low
+//wait(0.01);
+ }
+
+ if (pulse == 1 && pulseActive == 1 && pulseFlag == 0 && (t.read_ms() > lastPulse + pulseDebounce)) {
+ pulseFlag = 1;
+ lastPulse = t.read_ms();
+ }
+
+ if (pulse == 0 && pulseActive == 1 && pulseFlag == 1 && (t.read_ms() > lastPulse + pulseDebounce)) {
+ pulseCount = pulseCount + 1;
+ pulseFlag =0;
+ lastPulse = t.read_ms();
+//wait(0.01);
+ }
+
+ if (pulseActive == 1 && (t.read_ms() > pulseStart + 1000)) {
+ pulseCount = pulseCount + 100;
+
+ dir=1;
+ display.printf("T");
+ wait(0.05);
+ display.printf("%d", pulseCount);
+ wait(0.001);
+ dir=0;
+
+ pulseCount = 0;
+ pulseActive = 0;
+ pulseFlag=1;
+ lastPulse = t.read_ms();
+ //wait(0.01);
+ }
+
+
+
+
//********************** Display code NEW with W **********************************
@@ -154,11 +275,34 @@
index = 1;
+
}
if (c == 'W') { // wiggle setting
index = 5;
}
+
+ if (c == 'A') { // auto mode
+ index = 8;
+ }
+
+ if (c == 'I') { // Input mode
+ index = 9;
+ }
+
+ if (c == 'D') { // nozzle direction
+ c = display.getc();
+ if (c == '1') { // N1
+ index = 6;
+ }
+ }
+ /*
+ if (c == '2'){ // N2
+ index = 7;
+ }
+ }
+ */
+
if (index == 5) {
c = display.getc();
if (c == '0') {
@@ -179,6 +323,44 @@
}
}
+ if (index == 6) {
+ c = display.getc();
+ if (c == '0') {
+ n1Dir = 0;
+ index = 0;
+ }
+ if (c == '1') {
+ n1Dir = 1;
+ index = 0;
+ }
+ }
+
+ if (index == 8) { // auto mode
+ c = display.getc();
+ if (c == '1') {
+ autoMode = 1; // X7a (x7 atc)
+ index = 0;
+ }
+ if (c == '2') {
+ autoMode = 2; // Pulse
+ index = 0;
+ }
+
+ }
+
+
+ if (index == 9) { // aux2 mode
+ c = display.getc();
+ if (c == '0') {
+ aux2Mode = 0; // 0= off, 1 = twitch pause wait for coolant signal
+ index = 0;
+ }
+ if (c == '1') {
+ aux2Mode = 1; // twitch pause
+ index = 0;
+ }
+
+ }
@@ -189,9 +371,10 @@
Hundreds = 0;
index = 3;
-}
- else if (c == '2') { //N2
+ }
+
+ else if (c == '2') { //N2
currentNozzle = 1;
Hundreds = 1;
index = 3;
@@ -260,8 +443,8 @@
else if (c=='7') {
Tens = 7;
index = 4;
- }
-
+ }
+
else if (c=='8') {
Tens = 8;
index = 4;
@@ -275,6 +458,8 @@
}
+
+
if (index == 4) {
c = display.getc();
@@ -319,235 +504,414 @@
Ones = 9;
}
-
-
-if (currentNozzle == 1){
-n1Pos = (((Hundreds *100) + (Tens *10) + Ones) - 90);
-twitchStart = 0; // trigger sweep from new angle
-servo1Pos = servo1Scale.from(n1Pos);
-//servo1.pulsewidth_us(servo1Pos);
-index=0;
-}
-
-
-
-
+
+
+ if (currentNozzle == 1) {
+ n1Pos = (((Hundreds *100) + (Tens *10) + Ones) - 90);
+ twitchStart = 0; // trigger sweep from new angle
+ servo1Pos = servo1Scale.from(n1Pos);
+ lastN1Called = servo1Pos;
+//servo1.pulsewidth_us(servo1Pos);
+ index=0;
+ }
+
+
+
+
}
}
-
+
+ /*
+
+ if (twitch == 0 || (twitch > 0 && aux2Mode == 1 && aux2 == 0)) {
+ if (servo1Pos != lastServo1Pos) {
+ twitchStart = 0;
+ twitchDirection = 0;
+ servo1Pos = servo1Scale.from(n1Pos);
+ servo1.pulsewidth_us(servo1Pos);
+ //servo2Pos = servo2Scale.from(n2Pos);
+ //servo2.pulsewidth_us(servo2Pos);
+ lastServo1Pos = servo1Pos;
+ if (twitch > 0 && aux2Mode == 1 && aux2 == 0 && last
+ }
+ }
- if (twitch == 0) {
- if (servo1Pos != lastServo1Pos) {
+ if (twitch > 0) {
+ if (twitchStart == 0) {
+ //tw.start(); // start timer for nozzle sweep
+ //servo1Pos = servo1Scale.from(n1Pos);
+ servo1.pulsewidth_us(servo1Pos);
+ lastTwitchMove = t.read_ms(); // store time of last nozzle movement
+ minTwitch = servo1Pos; // store original servo postion for bottom of sweep
+ if (twitch == 1) {
+ maxTwitch = servo1Pos - 100; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
+ }
+ if (twitch == 2) {
+ maxTwitch = servo1Pos - 150;
+ }
+ if (twitch == 3) {
+ maxTwitch = servo1Pos - 200;
+ }
+ twitchStart = 1;
+
+ }
+ if ((twitchStart == 1) && (t.read_ms() > (lastTwitchMove + tReadMs))) {
+ if (twitchDirection == 0) { //going up
+ servo1Pos = servo1Pos - 10; // add variable amount of uS to the servo signal
+
+ if (servo1Pos < minServo) {
+ servo1Pos = minServo;
+ twitchDirection = 1; //reverse direction
+ }
+ if (servo1Pos < maxTwitch) {
+ servo1Pos = maxTwitch;
+ twitchDirection = 1; //reverse direction
+ }
+ lastTwitchMove = t.read_ms();
+ }
+
+ if (twitchDirection == 1) { // going down
+ servo1Pos = servo1Pos + 10; // add variable amount of Ms to the servo signal
+ if (servo1Pos > maxServo) {
+ servo1Pos = maxServo;
+ twitchDirection = 0; //reverse direction
+ }
+ if (servo1Pos > minTwitch) {
+ servo1Pos = minTwitch;
+ twitchDirection = 0; //reverse direction
+ }
+ lastTwitchMove = t.read_ms();
+ }
+ if (servo1Pos != lastServo1Pos) {
+ servo1.pulsewidth_us(servo1Pos);
+ lastServo1Pos = servo1Pos;
+ }
+ }
+
+
+
+
+ }
+ */
+
+
+
+ if ((twitch == 0) || (twitch > 0 && aux2Mode == 1 && aux2 == 1)) {
+ if (servo1Pos != lastServo1Pos) {
twitchStart = 0;
twitchDirection = 0;
servo1Pos = servo1Scale.from(n1Pos);
servo1.pulsewidth_us(servo1Pos);
-//servo2Pos = servo2Scale.from(n2Pos);
-//servo2.pulsewidth_us(servo2Pos);
-lastServo1Pos = servo1Pos;
- }
+ lastServo1Pos = servo1Pos;
}
-
- if (twitch > 0) {
- if (twitchStart == 0) {
- //tw.start(); // start timer for nozzle sweep
- //servo1Pos = servo1Scale.from(n1Pos);
- servo1.pulsewidth_us(servo1Pos);
- lastTwitchMove = t.read_ms(); // store time of last nozzle movement
- minTwitch = servo1Pos; // store original servo postion for bottom of sweep
- if (twitch == 1) {
- maxTwitch = servo1Pos - 100; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
- }
- if (twitch == 2) {
- maxTwitch = servo1Pos - 150;
- }
- if (twitch == 3) {
- maxTwitch = servo1Pos - 200;
- }
- twitchStart = 1;
-
- }
- if ((twitchStart == 1) && (t.read_ms() > (lastTwitchMove + tReadMs))) {
- if (twitchDirection == 0) { //going up
- servo1Pos = servo1Pos - 10; // add variable amount of uS to the servo signal
+ }
- if (servo1Pos < minServo) {
- servo1Pos = minServo;
- twitchDirection = 1; //reverse direction
- }
- if (servo1Pos < maxTwitch) {
- servo1Pos = maxTwitch;
- twitchDirection = 1; //reverse direction
- }
- lastTwitchMove = t.read_ms();
- }
+ /*
+ dir=1;
+ display.printf("X");
+ // wait(0.05);
+ // display.printf("1");
+ wait(0.05);
+ dir=0;
+ waitFlag = 1;
+ wait(0.5);
+ */
- if (twitchDirection == 1) { // going down
- servo1Pos = servo1Pos + 10; // add variable amount of Ms to the servo signal
- if (servo1Pos > maxServo) {
- servo1Pos = maxServo;
- twitchDirection = 0; //reverse direction
- }
- if (servo1Pos > minTwitch) {
- servo1Pos = minTwitch;
- twitchDirection = 0; //reverse direction
- }
- lastTwitchMove = t.read_ms();
- }
- if (servo1Pos != lastServo1Pos) {
- servo1.pulsewidth_us(servo1Pos);
- lastServo1Pos = servo1Pos;
- }
- }
-
+
+ if (twitch > 0 && aux2Mode != 1 || (twitch > 0 && aux2Mode == 1 && aux2 == 0)) {
+ if (twitchStart == 0) {
+ //tw.start(); // start timer for nozzle sweep
+ //servo1Pos = servo1Scale.from(n1Pos);
+ servo1.pulsewidth_us(servo1Pos);
+ lastTwitchMove = t.read_ms(); // store time of last nozzle movement
+ minTwitch1 = lastN1Called; // store original servo postion for bottom of sweep
+
-}
+ if(n1Dir == 0) {
+ if (twitch == 1) {
+ maxTwitch1 = lastN1Called - 100; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
+ }
+ if (twitch == 2) {
+ maxTwitch1 = lastN1Called - 150;
+ }
+ if (twitch == 3) {
+ maxTwitch1 = lastN1Called - 200;
+ }
+ }
+
+ if(n1Dir == 1) { // reverse
+ if (twitch == 1) {
+ maxTwitch1 = lastN1Called + 100; // 11.11mS per degree of sweep, 55 = 5 degrees of sweep. This should be a viariable set on the display.
+ }
+ if (twitch == 2) {
+ maxTwitch1 = lastN1Called + 150;
+ }
+ if (twitch == 3) {
+ maxTwitch1 = lastN1Called + 200;
+ }
+ }
+
+ twitchStart = 1;
+
+ }
+
+
+ if ((twitchStart == 1) && (t.read_ms() > (lastTwitchMove + tReadMs))) {
+ if (twitchDirection == 0) { //going up
+ if (n1Dir ==0) {
+ servo1Pos = servo1Pos - twitchIncrement; // add variable amount of uS to the servo signal
+ }
+
+
+ if (n1Dir ==1) {
+ servo1Pos = servo1Pos + twitchIncrement; // add variable amount of uS to the servo signal
+ }
+
+
+ if (n1Dir ==0 && servo1Pos < maxTwitch1 ) {
+ servo1Pos = maxTwitch1;
+ twitchDirection = 1; //reverse direction
+ }
+
+ // if (n2Dir == 0 && servo2Pos < maxTwitch2) {
+ // servo2Pos = maxTwitch2;
+ // twitchDirection = 1; //reverse direction
+ // }
+ if (n1Dir ==1 && servo1Pos > maxTwitch1) {
+ servo1Pos = maxTwitch1;
+ twitchDirection = 1; //reverse direction
+ }
+
+ // if (n2Dir == 1 && servo2Pos > maxTwitch2) {
+ // servo2Pos = maxTwitch2;
+ // twitchDirection = 1; //reverse direction
+ // }
+
+
+ lastTwitchMove = t.read_ms();
+ }
+
+ if (twitchDirection == 1) { // going down
+
+ if (n1Dir ==0) {
+ servo1Pos = servo1Pos + twitchIncrement; // add variable amount of uS to the servo signal
+ }
+
+ if (n1Dir ==1) {
+ servo1Pos = servo1Pos - twitchIncrement; // add variable amount of uS to the servo signal
+ }
+
+ /*
+ if (n1Dir == 0 && servo1Pos < minServo) {
+ servo1Pos = minServo;
+ twitchDirection = 0; //reverse direction
+ }
+ */
+ if (n1Dir == 0 && servo1Pos > (minTwitch1+50)) {
+ servo1Pos = minTwitch1;
+ twitchDirection = 0; //reverse direction
+ }
+ if (n1Dir == 1 && servo1Pos < (minTwitch1 - 50)) {
+ servo1Pos = minTwitch1;
+ twitchDirection = 0; //reverse direction
+ }
+ // if (n2Dir == 0 && servo2Pos > (minTwitch2+0)) {
+ // servo2Pos = minTwitch2;
+ // twitchDirection = 0; //reverse direction
+ // }
+ // if (n2Dir == 1 && servo2Pos < minTwitch2) {
+ // servo2Pos = minTwitch2;
+ // twitchDirection = 0; //reverse direction
+ // }
+
+ lastTwitchMove = t.read_ms();
+ }
+
+ if (servo1Pos != lastServo1Pos) {
+ servo1.pulsewidth_us(servo1Pos);
+ lastServo1Pos = servo1Pos;
+ }
+
+
+
+ }
+
+
+
+
+ }
+
+ if (twitch >0 && aux2Mode == 1 && aux2 == 1) {
+ if (waitFlag == 0) {
+ dir=1;
+ display.printf("X");
+ wait(0.05);
+ display.printf("X");
+ wait(0.001);
+ dir=0;
+ waitFlag =1;
+ // wait (0.1);
+ }
+ }
+ if ((twitch == 0) || (twitch >0 && aux2Mode == 1 && aux2 == 0)|| (twitch >0 && aux2Mode == 0)) {
+ if (waitFlag == 1) {
+ dir=1;
+ display.printf("Y");
+ wait(0.05);
+ display.printf("Y");
+ wait(0.001);
+ dir=0;
+ waitFlag =0;
+ // wait (0.1);
+ }
+ }
+
+
//********************************* Inputs serial *******************************
-while (inputs.readable())
-{
-
+ while (inputs.readable()) {
+
+
+ c = inputs.getc();
+
+ if (c == 'T') {
+
+ index = 1;
+ //servo2=1;
+ }
+
+
+ if (index == 1) {
+ c = inputs.getc();
+
+
+ if (c=='0') {
+ Tens = 0;
+ //servo2=1;
+ }
+
+ else if (c=='1') {
+ Tens = 1;
+
+
+ }
+
+ else if (c=='2') {
+ Tens = 2;
+
+ }
+
+ else if (c=='3') {
+ Tens = 3;
+
+ }
+
+ else if (c=='4') {
+ Tens = 4;
+ }
+
+ else if (c=='5') {
+ Tens = 5;
+ }
+
+ else if (c=='6') {
+ Tens = 6;
+ }
+
+ else if (c=='7') {
+ Tens = 7;
+ }
+
+ else if (c=='8') {
+ Tens = 8;
+ }
+
+ else if (c=='9') {
+ Tens = 9;
+ }
- c = inputs.getc();
-
- if (c == 'T'){
-
- index = 1;
- servo2=1;
- }
-
-
- if (index == 1){
- c = inputs.getc();
-
-
- if (c=='0'){
- Tens = 0;
- servo2=1;
- }
-
- else if (c=='1'){
- Tens = 1;
-
-
- }
-
- else if (c=='2'){
- Tens = 2;
-
- }
-
- else if (c=='3'){
- Tens = 3;
-
- }
-
- else if (c=='4'){
- Tens = 4;
- }
-
- else if (c=='5'){
- Tens = 5;
- }
-
- else if (c=='6'){
- Tens = 6;
- }
-
- else if (c=='7'){
- Tens = 7;
- }
-
- else if (c=='8'){
- Tens = 8;
- }
-
- else if (c=='9'){
- Tens = 9;
- }
-
- else if (c=='0'){
- Tens = 0;
- }
- index = 2;
- }
-
-
- if (index == 2){
- c = inputs.getc();
- if (c=='0'){
- Ones = 0;
-
- }
-
- else if (c=='1'){
- Ones = 1;
-
-
- }
-
- else if (c=='2'){
- Ones = 2;
-
- }
-
- else if (c=='3'){
- Ones = 3;
-
- }
-
- else if (c=='4'){
- Ones = 4;
- }
-
- else if (c=='5'){
- Ones = 5;
- }
-
- else if (c=='6'){
- Ones = 6;
- }
-
- else if (c=='7'){
- Ones = 7;
- }
-
- else if (c=='8'){
- Ones = 8;
- }
-
- else if (c=='9'){
- Ones = 9;
- }
-
- else if (c=='0'){
- Ones = 0;
- }
- int tempToolNo = (Tens*10)+100+Ones;
- dir=1;
- display.printf("T");
- wait(0.05);
- display.printf("%d", tempToolNo);
- wait(0.001);
- dir=0;
- index = 0;
- tempToolNo=0;
-
- }
-
-
- }
+ else if (c=='0') {
+ Tens = 0;
+ }
+ index = 2;
+ }
+
+
+ if (index == 2) {
+ c = inputs.getc();
+ if (c=='0') {
+ Ones = 0;
+
+ }
+
+ else if (c=='1') {
+ Ones = 1;
+
+
+ }
+
+ else if (c=='2') {
+ Ones = 2;
+
+ }
+
+ else if (c=='3') {
+ Ones = 3;
+
+ }
+
+ else if (c=='4') {
+ Ones = 4;
+ }
+
+ else if (c=='5') {
+ Ones = 5;
+ }
+
+ else if (c=='6') {
+ Ones = 6;
+ }
+
+ else if (c=='7') {
+ Ones = 7;
+ }
+
+ else if (c=='8') {
+ Ones = 8;
+ }
+
+ else if (c=='9') {
+ Ones = 9;
+ }
+
+ else if (c=='0') {
+ Ones = 0;
+ }
+ int tempToolNo = (Tens*10)+100+Ones;
+ dir=1;
+ display.printf("T");
+ wait(0.05);
+ display.printf("%d", tempToolNo);
+ wait(0.001);
+ dir=0;
+ index = 0;
+ tempToolNo=0;
+
+ }
+
+
+ }
// *****************************************************************************
-}
+ }
}
\ No newline at end of file