Revision 2:835c883d81b0, committed 2017-12-15

Comitter:

kevencastro7

Date:

Fri Dec 15 19:40:41 2017 +0000

Parent:

1:ef18c260ce02

Commit message:

This is a remote control tester, it uses a CNC, Ethernet Communication with a JAVAFX interface and a PLC in order to control some valves.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Clp.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,39 @@
+#include "Clp.h"
+
+#define HIGH 1
+#define LOW 0
+#define DELAY 0.5
+
+
+Clp::Clp(PinName _receiverCnc,PinName _transmitterCnc,PinName _receiverElevator,PinName _transmitterElevatorEnable,PinName _transmitterElevatorSign){
+    receiverCnc = new DigitalIn(_receiverCnc);
+    transmitterCnc = new DigitalOut(_transmitterCnc);
+    receiverElevator = new DigitalIn(_receiverElevator);
+    transmitterElevatorEnable = new DigitalOut(_transmitterElevatorEnable);
+    transmitterElevatorSign = new DigitalOut(_transmitterElevatorSign);
+    
+}
+
+int Clp::ReceiveCnc(){
+	return receiverCnc->read();
+}
+
+void Clp::TransmitCnc(){
+	transmitterCnc->write(HIGH);
+	wait(DELAY);
+	transmitterCnc->write(LOW);
+}
+
+int Clp::ReceiveElevator(){
+	return receiverElevator->read();
+}
+
+void Clp::TransmitElevator(int signal){
+	transmitterElevatorSign->write(signal);
+	wait(DELAY);
+	transmitterElevatorEnable->write(HIGH);
+	wait(DELAY);
+	transmitterElevatorEnable->write(LOW);
+	transmitterElevatorSign->write(LOW);
+	
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Clp.h	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,21 @@
+#ifndef CLP_H
+#define CLP_H
+#include "mbed.h"
+
+
+class Clp{
+    public:
+            Clp(PinName,PinName,PinName,PinName,PinName);
+			int ReceiveCnc();
+			void TransmitCnc();
+			int ReceiveElevator();
+			void TransmitElevator(int);
+		private:
+         DigitalIn *receiverCnc;
+         DigitalOut *transmitterCnc;
+         DigitalIn *receiverElevator;
+         DigitalOut *transmitterElevatorEnable;
+         DigitalOut *transmitterElevatorSign;
+
+};
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Cnc.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,25 @@
+#include "Cnc.h"
+#define DELAY 0.075
+
+Cnc::Cnc(EixoController* eixoX, EixoController* eixoY, PinName pinValve, PCF8574* pcf, int sensorUp, int sensorDown) : eixoZ(pinValve) {
+    this->eixoX = eixoX;
+    this->eixoY = eixoY;
+    this->pcf = pcf;
+    this->sensorUp = sensorUp;
+    this->sensorDown = sensorDown;
+    debug = new Debug();      
+}
+
+void Cnc::goToPosition(float posX, int dirX, float posY, int dirY, bool enable){
+    eixoX->goToPosition(posX, dirX);
+    eixoY->goToPosition(posY, dirY);
+    /*if (enable){
+        while(!pcf->read(sensorDown))eixoZ = 1;
+        eixoZ = 0;
+    }*/
+        if (enable){
+        eixoZ = 1;
+        wait(DELAY);
+        eixoZ = 0;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Cnc.h	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,27 @@
+#ifndef CNC_H
+#define CNC_H
+
+#include "mbed.h"
+#include "Debug.h"
+#include "Stepp.h"
+#include "EixoController.h"
+#include "EixoMonitoring.h" 
+#include "PCF8574.h"
+
+class Cnc{
+
+    public:
+                Cnc(EixoController*, EixoController*, PinName,PCF8574*,int,int );
+                void goToPosition(float, int, float, int , bool);   
+                
+    private:    
+                PCF8574* pcf;
+                int sensorUp;
+                int sensorDown;
+                EixoController* eixoX;
+                EixoController* eixoY;
+                DigitalOut eixoZ;
+                Debug*       debug;
+};
+
+#endif

--- a/EixoController.cpp	Mon Sep 18 13:05:47 2017 +0000
+++ b/EixoController.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -1,22 +1,23 @@
 #include "EixoController.h"
 
 
-EixoController::EixoController(float totalPathPulse, float totalPathCm, Stepp *motor, PinName pinOrigin, PinName pinEnd): swOrigin(pinOrigin), swEnd(pinEnd)  {
-     
+EixoController::EixoController(float totalPathPulse, float totalPathCm, Stepp *motor,PCF8574 *pcf, int swOrigin, int swEnd){
+     this->pcf = pcf;
      this->totalPathPulse = totalPathPulse;
      this->totalPathCm = totalPathCm;
      this->motor = motor;
-         
-         debug = new Debug();       
+     this->swOrigin = swOrigin;
+     this->swEnd = swEnd;
+     debug = new Debug();       
 }
 
 
-bool EixoController:: goToOrigem(DigitalIn swOrigem, int dirOrigem){   
-    if(swOrigem == 1){ // já está na origem ?   
+bool EixoController:: goToOrigem(int dirOrigem){   
+    if(this->pcf->read(this->swOrigin) == 1){ // já está na origem ?   
         return true;
     }
     else{ // vá para a origem
-        return motor->findLimits(30000, dirOrigem, swOrigem); 
+        return motor->findLimits(30000, dirOrigem, this->pcf,this->swOrigin); 
         
     }           
 }

--- a/EixoController.h	Mon Sep 18 13:05:47 2017 +0000
+++ b/EixoController.h	Fri Dec 15 19:40:41 2017 +0000
@@ -4,13 +4,15 @@
 #include "Debug.h"
 #include "Stepp.h"
 #include "mbed.h"
+#include "PCF8574.h"
+
 
 
 class EixoController{
 
     public:
-        EixoController(float, float, Stepp*, PinName, PinName );
-                bool goToOrigem(DigitalIn, int);
+        EixoController(float, float, Stepp*,PCF8574*, int, int );
+                bool goToOrigem(int);
                 void calibragem(int);
                 int conversao(int);
                 void goToPosition(int, int );   
@@ -19,8 +21,9 @@
                 int totalPathPulse;
                 int totalPathCm;    
                 
-                DigitalIn swOrigin;
-                DigitalIn swEnd;
+                PCF8574* pcf;
+                int swOrigin;
+                int swEnd;
                 Stepp*       motor ;
                 Debug*       debug;
 };

--- a/EixoMonitoring.cpp	Mon Sep 18 13:05:47 2017 +0000
+++ b/EixoMonitoring.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -4,17 +4,15 @@
 bool EixoMonitoring::isCalibrated   = false;
 
 
-EixoMonitoring::EixoMonitoring(PinName pinOrigin, PinName pinEnd) { 
-        
+EixoMonitoring::EixoMonitoring(PCF8574* pcf,int sensor_Origin, int sensor_End ) { 
+        this->pcf = pcf;
         this->stopMoviment   = false;
         this->stopMonitoring = false;
         this->delayTimer     = 700;
-        PinName pin_End      = pinEnd;
-        PinName pin_Origin = pinOrigin;
+        this->sensor_Origin = sensor_Origin;
+        this->sensor_End = sensor_End;
         
-        sensor_End          = new DigitalIn(pin_End);
         sensorInput_End = 0;
-        sensor_Origin       = new DigitalIn(pin_Origin);
         sensorInput_Origin = 0;
         
         debug = new Debug();        
@@ -36,7 +34,7 @@
 void EixoMonitoring::readSensor_End(){  
     while(stopMonitoring == false){
         stdioMutex.lock();
-        sensorInput_End = sensor_End->read();           
+        sensorInput_End = pcf->read(sensor_End);           
         stdioMutex.unlock();        
         Thread::wait(50);
     }
@@ -46,7 +44,7 @@
 void EixoMonitoring::readSensor_Origin(){   
     while(stopMonitoring == false){
         stdioMutex.lock();
-        sensorInput_Origin = sensor_Origin->read();                    
+        sensorInput_Origin = pcf->read(sensor_Origin);                    
         stdioMutex.unlock();        
         Thread::wait(50);
     }

--- a/EixoMonitoring.h	Mon Sep 18 13:05:47 2017 +0000
+++ b/EixoMonitoring.h	Fri Dec 15 19:40:41 2017 +0000
@@ -4,6 +4,8 @@
 #include "mbed.h" 
 #include "rtos.h"
 #include "Debug.h"
+#include "PCF8574.h"
+
 
 
 //#define DELAY_TIMER 500
@@ -14,6 +16,9 @@
        int    delayTimer; 
        int    hitSensor;
        Debug* debug;  
+       PCF8574* pcf;
+       int sensor_Origin;
+       int sensor_End;
              
     
        // Variáveis e Controle do Movimento do Eixo
@@ -24,10 +29,7 @@
     
        // Switches e seu vetor de leitura
              int sensorInput_End;  
-             DigitalIn*  sensor_End;
-             int sensorInput_Origin;  
-             DigitalIn*  sensor_Origin;
-            
+             int sensorInput_Origin;              
             
              // Threads
          Mutex stdioMutex;                   // controle de Acesso Mútuo
@@ -36,7 +38,7 @@
              Thread sensorThread_Origin;             // threads de leitura dos sensores
              Thread handleSensorThread_Origin;       // threads para lidar com a leitur
         
-             EixoMonitoring(PinName, PinName);
+             EixoMonitoring(PCF8574*,int,int);
              void startThreads();
          void stopThreads();
              void readSensor_End();       

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EthernetInterface.lib	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/EthernetInterface/#183490eb1b4a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCF8574.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,28 @@
+#include "PCF8574.h"
+#include "mbed.h"
+
+PCF8574::PCF8574(PinName sda, PinName scl, int address)
+        : _i2c(sda, scl) {
+    _address = address;
+}
+
+int PCF8574::read(int port) {
+    char foo[1];
+    int num,r,i=0;
+    int bin[8];
+    _i2c.read(_address, foo, 1);
+    num = foo[0];
+     while(num!=0){
+        r = num%2;
+        bin[i++] = r;
+        num /= 2;
+    }
+    return(bin[port]);
+}
+
+void PCF8574::write(int data) {
+    char foo[1];
+    foo[0] = data;
+    _i2c.write(_address, foo, 1);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PCF8574.h	Fri Dec 15 19:40:41 2017 +0000
@@ -0,0 +1,16 @@
+#include "mbed.h"
+
+#ifndef MBED_PCF8574_H
+#define MBED_PCF8574_H
+
+class PCF8574 {
+public:
+    PCF8574(PinName sda, PinName scl, int address);
+    int read(int);
+    void write(int data);
+private:
+    I2C _i2c;
+    int _address;
+};
+
+#endif

--- a/Stepp.cpp	Mon Sep 18 13:05:47 2017 +0000
+++ b/Stepp.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -36,7 +36,7 @@
     return 1;
 }
  
-bool Stepp::findLimits(int n_steps, bool direction, DigitalIn sensor) {
+bool Stepp::findLimits(int n_steps, bool direction, PCF8574* sensor,int port) {
        
     int accelspeed = 0;
     if(this->acell) accelspeed = START_STOP_SPEED;
@@ -46,7 +46,7 @@
     _en   = 0; // habilita move   
     _dir  = direction;
     
-      while(sensor.read() == 0 && EixoMonitoring::stopAll == false){ // n chegou na origem   
+      while(sensor->read(port) == 0 && EixoMonitoring::stopAll == false){ // n chegou na origem   
         
              if(this->acell){ //linear acceleration
                if(i < START_STOP_SPEED) if (--accelspeed == this->speed) accelspeed ++; 
@@ -64,7 +64,7 @@
         _en = 1; 
         
         
-        if(sensor.read() == 0){
+        if(sensor->read(port) == 0){
            return 0;
         }
         else{

--- a/Stepp.h	Mon Sep 18 13:05:47 2017 +0000
+++ b/Stepp.h	Fri Dec 15 19:40:41 2017 +0000
@@ -3,7 +3,9 @@
 
 #include "mbed.h"
 #include "Debug.h"
-#include "EixoMonitoring.h" 
+#include "EixoMonitoring.h"
+#include "PCF8574.h"
+
 
 #define START_STOP_SPEED 300  // define the Stepper Motor save start/stop speed 
 #define VERSION 0.3                     // define Library version number
@@ -12,7 +14,7 @@
     public:
             Stepp(PinName clk, PinName dir, PinName en);
             int step(int n_steps, bool direction);  
-            bool findLimits(int n_steps, bool direction, DigitalIn sensor);  
+            bool findLimits(int n_steps, bool direction, PCF8574* sensor,int port);  
             float version(void);   
         
     private:  

--- a/main.cpp	Mon Sep 18 13:05:47 2017 +0000
+++ b/main.cpp	Fri Dec 15 19:40:41 2017 +0000
@@ -3,62 +3,235 @@
 #include "Stepp.h"
 #include "EixoController.h"
 #include "EixoMonitoring.h" 
-
-#define LEFT  1
-#define RIGHT 0
-#define FRONT 1
-#define BACK  0
+#include "Cnc.h"
+#include "EthernetInterface.h"
+#include "Clp.h"
+#include "PCF8574.h"
 
-// =============== Pinos Driver ===============
-PinName clkPinX = p20;
-PinName dirPinX = p19;
-PinName enPinX  = p18;
+ //=============ETHERNET==================
+#define MBED_DEV_IP       "169.254.127.251"
+#define MBED_DEV_MASK     "255.255.0.0"
+#define MBED_DEV_GW       "0.0.0.0"
+#define ECHO_SERVER_PORT   5000
+//========================================
+ //=============PINOS PCF=================
+#define ADRESS 0x41
+#define swOrignX  0//X0 --> origem
+#define swEndX    1//Xf --> fim
+#define swOrignY  2//X0 --> origem
+#define swEndY    3//Xf --> fim
+#define swOrignE  4//X0 --> origem
+#define swEndE    5//Xf --> fim
+#define sensorUp  6
+#define sensorDown 7
+//========================================
+ //===========DISTANCIAS CNC==============
+#define RIGHT  1
+#define LEFT 0
+#define DOWN 1
+#define UP 0
+#define dHor1 1.3591
+#define dVer1 0.906
+#define dCirc 1.0948
+#define dVer2 0.9439
+#define dNetflix 0.4908
+#define dVer3 0.9816
+#define dSmartv 0.4153
+#define dVer4 1.2836
+#define dMute 0.132
+#define dHor2 3.058
+#define dVer5 0.9816
+#define dHor3 1.0948
+#define dVer6 0.8018
+#define dVoltaX 3.0202
+#define dVoltaY 15.2145
+#define noMove 0.0
+//========================================
 
-PinName swOrignX = p11;
-PinName swEndX   = p6;
+// =============== Pinos CLP ===============
+PinName receiverCnc = p28;
+PinName transmitterCnc = p27;
+PinName receiverElevator = p8;
+//PinName transmitterElevatorEnable = p9;
+//PinName transmitterElevatorSign = p10;
+PinName transmitterElevatorEnable = LED2;
+PinName transmitterElevatorSign = LED4;
+// ============================================
+// =============== Pinos PCF ===============
+PinName sda = p9;
+PinName scl = p10;
+// ============================================
+// =============== Pinos Driver X ===============
+PinName clkPinX = p21;
+PinName dirPinX = p22;
+PinName enPinX  = p14;
+
+// ============================================
+// =============== Pinos Driver Y ===============
+PinName clkPinY = p23;
+PinName dirPinY = p24;
+PinName enPinY  = p13;
+
+// ===========================================
+// =============== Pinos Driver E ===============
+PinName clkPinE = p25;
+PinName dirPinE = p26;
+PinName enPinE  = p12;
+
+// ===========================================
+//PinName valve = p11;
+PinName valve = LED3;
+DigitalOut eixoZ(valve);
 
 
-//PinName clkPinZ = p17;
-//PinName dirPinZ = p16;
-//PinName enPinZ = p15;
-
-//PinName swOrignZ = p7;
-//PinName swEndZ   = p8;
-// ============================================
-
-// =============== Pinos Swtches ===============
-DigitalIn swLeft(p11); //X0 --> origem
-DigitalIn swRight(p6); //Xf --> fim
-//DigitalIn swBack(p7); //Z0 --> origem
-//DigitalIn swFront(p8); //Zf --> fim
-// ============================================
-
 Debug *debug  = new Debug();
+PCF8574* pcf = new PCF8574(sda,scl,ADRESS);
 
 Stepp* motorX = new Stepp(clkPinX, dirPinX, enPinX);
-EixoController* eixoX = new EixoController( 55000, 14, motorX, swOrignX, swEndX);
-EixoMonitoring* eixoMonitoring = new EixoMonitoring( swOrignX, swEndX) ;
+EixoController* eixoX = new EixoController( 44500, 17, motorX, pcf,swOrignX, swEndX);
+EixoMonitoring* eixoMonitoringX = new EixoMonitoring( pcf,swOrignX, swEndX) ;
+Stepp* motorY = new Stepp(clkPinY, dirPinY, enPinY);
+EixoController* eixoY = new EixoController( 10000, 30, motorY,pcf, swOrignY, swEndY); //9483
+EixoMonitoring* eixoMonitoringY = new EixoMonitoring( pcf,swOrignY, swEndY) ;
+Stepp* motorE = new Stepp(clkPinE, dirPinE, enPinE);
+EixoController* eixoE = new EixoController( 10000, 30, motorE, pcf,swOrignE, swEndE);
+EixoMonitoring* eixoMonitoringE = new EixoMonitoring( pcf,swOrignE, swEndE) ;
+Cnc* cnc = new Cnc(eixoX, eixoY, valve,pcf,sensorUp,sensorDown);
+Clp* clp = new Clp(receiverCnc,transmitterCnc,receiverElevator,transmitterElevatorEnable,transmitterElevatorSign);
 
-// 0 - esquerda        1 - direita ---> Eixo X
-// 1 - frente          0 - trás    ---> Eixo Z
-// 1 - pressionado     0 - solto   ---> Switches
+Thread thread;
+Thread thread_2;
+Thread thread_3;
+bool control[6];
+Serial pc(USBTX,USBRX);
 
-int main() { 
+void convert(int num,bool* bin){
+    int i=0,r;
+    while(num!=0){
+        r = num%2;
+        bin[i++] = r;
+        num /= 2;
+    }
+}
 
-    
-    bool teste = false;
-    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(5,RIGHT);   
+void cnc_thread() {
+    while(1){
+    debug->debugPin(1,0);
+    cnc->goToPosition(noMove,RIGHT,noMove,DOWN,1);//aoc1
+    cnc->goToPosition(2*dHor1,RIGHT,noMove,DOWN,1);//aoc2
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc3
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc4
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc5
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc6
+    cnc->goToPosition(dHor1,RIGHT,noMove,DOWN,1);//aoc7
+    cnc->goToPosition(dHor1,RIGHT,noMove,DOWN,1);//aoc8
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc9
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc10
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc11
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc12
+    cnc->goToPosition(dHor1,RIGHT,noMove,DOWN,1);//aoc13
+    cnc->goToPosition(dHor1,RIGHT,noMove,DOWN,1);//aoc14
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc15
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc16
+    cnc->goToPosition(dHor1,LEFT,noMove,DOWN,1);//aoc17
+    cnc->goToPosition(noMove,LEFT,dVer1,DOWN,1);//aoc18
+    cnc->goToPosition(2*dHor1,RIGHT,noMove,DOWN,1);//aoc19
+    cnc->goToPosition(dHor1,LEFT,dVer1,DOWN,1); //aoc20 
+    cnc->goToPosition(dCirc,LEFT,dCirc,DOWN,1); //aoc21
+    cnc->goToPosition(dCirc,RIGHT,noMove,DOWN,1); //aoc22
+    cnc->goToPosition(dCirc,RIGHT,noMove,DOWN,1); //aoc23
+    cnc->goToPosition(dCirc,LEFT,dCirc,DOWN,1); //aoc24
+    cnc->goToPosition(dHor1,LEFT,dVer2,DOWN,1); //aoc25
+    cnc->goToPosition(dHor1,RIGHT,dNetflix,DOWN,1); //aoc26
+    cnc->goToPosition(dHor1,RIGHT,dNetflix,UP,1); //aoc27
+    cnc->goToPosition(noMove,LEFT,dVer3,DOWN,1); //aoc28
+    cnc->goToPosition(dHor1,LEFT,dSmartv,DOWN,1); //aoc29
+    cnc->goToPosition(dHor1,LEFT,dSmartv,UP,1); //aoc30
+    cnc->goToPosition(noMove,LEFT,dVer4,DOWN,1); //aoc31
+    cnc->goToPosition(dHor1,RIGHT,dMute,DOWN,1); //aoc32
+    cnc->goToPosition(dHor1,RIGHT,dMute,UP,1); //aoc33
+    cnc->goToPosition(dHor2-2*dHor1,RIGHT,dVer5,DOWN,1); //aoc34
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc35
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc36
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc37
+    cnc->goToPosition(noMove,LEFT,dVer6,DOWN,1);//aoc38
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc39
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc40
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc41
+    cnc->goToPosition(noMove,LEFT,dVer6,DOWN,1);//aoc42
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc43
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc44
+    cnc->goToPosition(dHor3,LEFT,noMove,DOWN,1);//aoc45
+    cnc->goToPosition(noMove,LEFT,dVer6,DOWN,1);//aoc46
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc47
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc48
+    cnc->goToPosition(dHor3,RIGHT,noMove,DOWN,1);//aoc49
+
+    cnc->goToPosition(dVoltaX,LEFT,dVoltaY,UP,1);//RETORNAR
+    debug->debugPin(1,1);
+    wait(2);
     }
-                
-     eixoMonitoring->stopThreads();                */
+}
+
+void ethernet_thread(){
+    EthernetInterface eth;
+    eth.init(MBED_DEV_IP, MBED_DEV_MASK, MBED_DEV_GW); //Assign a device ip, mask and gateway
+    eth.connect();
+    pc.printf("IP Address is %s\n", eth.getIPAddress());
+    TCPSocketServer server;
+    server.bind(ECHO_SERVER_PORT);
+    server.listen();
+    TCPSocketConnection client;
+
+    while (true) {
+        pc.printf("\nWait for new connection...\n");
+        server.accept(client);
+        client.set_blocking(false, 1500); // Timeout after (1.5)s
+        pc.printf("Connection from: %s\n", client.get_address());
+        int num;
+        char buffer[2];
+        while (client.is_connected()) {
+            int n = client.receive_all(buffer, sizeof(buffer));
+            num = buffer[0]*10+buffer[1]-528;
+            convert(num,control);
+            control[5] = num>31&&num<64;
+            num = 0;
+            buffer[0] = 0;
+            buffer[1] = 0;
+            //client.send("keven\n",5);
+        }
+        client.close();
+    }
+}
+
+void elevator_thread(){
+    while(1){
+        if(control[5]){
+             //eixoE->goToOrigem(swOrignE,LEFT);
+             clp->TransmitElevator(1);
+             pc.printf("primeiro controle: %d\n",control[4]);
+             eixoE->goToPosition(20,RIGHT);
+             clp->TransmitElevator(control[4]);
+             pc.printf("segundo controle: %d\n",control[3]);
+             eixoE->goToPosition(20,RIGHT);
+             clp->TransmitElevator(control[3]);
+             pc.printf("terceiro controle: %d\n",control[2]);
+             eixoE->goToPosition(20,RIGHT);
+             clp->TransmitElevator(control[2]);
+             pc.printf("quarto controle: %d\n",control[1]);
+             eixoE->goToPosition(20,RIGHT);
+             clp->TransmitElevator(control[1]);
+             pc.printf("quinto controle: %d\n",control[0]);
+             eixoE->goToPosition(20,RIGHT);
+             clp->TransmitElevator(control[0]);
+             control[5] = 0;
+        }
+    }
+}
+
+
+int main() {
+    thread.start(cnc_thread);
+    thread_2.start(ethernet_thread);
+    thread_3.start(elevator_thread);
 }
\ No newline at end of file