Diff: main.cpp

Revision:

0:7cedfb720712

Child:

1:ef18c260ce02

diff -r 000000000000 -r 7cedfb720712 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jun 07 13:31:02 2017 +0000
@@ -0,0 +1,91 @@
+#include "mbed.h"
+#include "Debug.h"
+#include "Stepp.h"
+#include "EixoController.h"
+#include "EixoMonitoring.h" 
+
+#define LEFT  0
+#define RIGHT 1
+#define FRONT 1
+#define BACK  0
+
+// =============== Pinos Driver ===============
+PinName clkPinX = p20;
+PinName dirPinX = p19;
+PinName enPinX  = p18;
+
+PinName clkPinZ = p17;
+PinName dirPinZ = p16;
+PinName enPinZ = p15;
+
+PinName swOrignX = p5;
+PinName swEndX   = p6;
+
+PinName swOrignZ = p7;
+PinName swEndZ   = p8;
+// ============================================
+
+
+// =============== Pinos Swtches ===============
+DigitalIn swLeft(p5); //X0 --> origem
+DigitalIn swRight(p6); //X0 --> origem
+DigitalIn swBack(p7); //X0 --> origem
+DigitalIn swFront(p8); //X0 --> origem
+//DigitalIn swRight(p6);//Xf --> final
+// ============================================
+
+DigitalIn leituraOlimex(p21);
+Debug *debug = new Debug();
+
+Stepp* motorX = new Stepp(clkPinX, dirPinX, enPinX);
+Stepp* motorZ = new Stepp(clkPinZ, dirPinZ, enPinZ);
+
+EixoController* eixoX = new EixoController( 49000, 38.10, motorX, swOrignX, swEndX);
+//EixoController* eixoZ = new EixoController( 14000, 9.00, motorZ,swOrignZ, swEndZ);//40.55
+EixoMonitoring*                 eixoMonitoring = new EixoMonitoring( swOrignX, swEndX) ;
+
+// 0 - esquerda        1 - direita ---> Eixo X
+// 1 - frente          0 - trás    ---> Eixo Z
+// 1 - pressionado     0 - solto   ---> Switches
+
+
+int main() { 
+
+    bool teste = false;
+    bool start = true; // mudar p/false com o uso do olimex
+
+    if(start == true){
+
+            teste = eixoX->goToOrigem(swLeft , LEFT);
+            
+            EixoMonitoring::isCalibrated = false;           
+            eixoMonitoring->startThreads();
+            
+            if(teste == 1){// se está na origem    
+                    eixoX->calibragem(RIGHT);                   
+                  EixoMonitoring::isCalibrated = true;
+                  eixoMonitoring->hitSensor = 0;
+                    eixoMonitoring->stopAll = false;
+                    
+                
+                    eixoX->goToPosition(17,RIGHT);
+                    
+            }
+    }
+        
+        eixoMonitoring->stopThreads();
+        
+        
+        /*
+    wait(0.5);
+    start = true; 
+    if(start == true){
+        teste = eixoZ->goToOrigem(swBack, FRONT);
+        if(teste == true){// se está na origem
+            eixoZ->calibragem(FRONT); 
+            eixoZ->goToPosition(3,FRONT);
+        }
+        }
+        */
+}
+