Lahis Almeida / Mbed 2 deprecated CNC_CONTROLLER

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Dependencies:   mbed-rtos mbed

main.cpp@0:7cedfb720712, 2017-06-07 (annotated)

Committer:
waspSalander
Date:
Wed Jun 07 13:31:02 2017 +0000
Revision:
0:7cedfb720712
Child:
1:ef18c260ce02
CNC_Controller (2 mechanical axis)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
waspSalander 0:7cedfb720712 1 #include "mbed.h"
waspSalander 0:7cedfb720712 2 #include "Debug.h"
waspSalander 0:7cedfb720712 3 #include "Stepp.h"
waspSalander 0:7cedfb720712 4 #include "EixoController.h"
waspSalander 0:7cedfb720712 5 #include "EixoMonitoring.h"
waspSalander 0:7cedfb720712 6
waspSalander 0:7cedfb720712 7 #define LEFT 0
waspSalander 0:7cedfb720712 8 #define RIGHT 1
waspSalander 0:7cedfb720712 9 #define FRONT 1
waspSalander 0:7cedfb720712 10 #define BACK 0
waspSalander 0:7cedfb720712 11
waspSalander 0:7cedfb720712 12 // =============== Pinos Driver ===============
waspSalander 0:7cedfb720712 13 PinName clkPinX = p20;
waspSalander 0:7cedfb720712 14 PinName dirPinX = p19;
waspSalander 0:7cedfb720712 15 PinName enPinX = p18;
waspSalander 0:7cedfb720712 16
waspSalander 0:7cedfb720712 17 PinName clkPinZ = p17;
waspSalander 0:7cedfb720712 18 PinName dirPinZ = p16;
waspSalander 0:7cedfb720712 19 PinName enPinZ = p15;
waspSalander 0:7cedfb720712 20
waspSalander 0:7cedfb720712 21 PinName swOrignX = p5;
waspSalander 0:7cedfb720712 22 PinName swEndX = p6;
waspSalander 0:7cedfb720712 23
waspSalander 0:7cedfb720712 24 PinName swOrignZ = p7;
waspSalander 0:7cedfb720712 25 PinName swEndZ = p8;
waspSalander 0:7cedfb720712 26 // ============================================
waspSalander 0:7cedfb720712 27
waspSalander 0:7cedfb720712 28
waspSalander 0:7cedfb720712 29 // =============== Pinos Swtches ===============
waspSalander 0:7cedfb720712 30 DigitalIn swLeft(p5); //X0 --> origem
waspSalander 0:7cedfb720712 31 DigitalIn swRight(p6); //X0 --> origem
waspSalander 0:7cedfb720712 32 DigitalIn swBack(p7); //X0 --> origem
waspSalander 0:7cedfb720712 33 DigitalIn swFront(p8); //X0 --> origem
waspSalander 0:7cedfb720712 34 //DigitalIn swRight(p6);//Xf --> final
waspSalander 0:7cedfb720712 35 // ============================================
waspSalander 0:7cedfb720712 36
waspSalander 0:7cedfb720712 37 DigitalIn leituraOlimex(p21);
waspSalander 0:7cedfb720712 38 Debug *debug = new Debug();
waspSalander 0:7cedfb720712 39
waspSalander 0:7cedfb720712 40 Stepp* motorX = new Stepp(clkPinX, dirPinX, enPinX);
waspSalander 0:7cedfb720712 41 Stepp* motorZ = new Stepp(clkPinZ, dirPinZ, enPinZ);
waspSalander 0:7cedfb720712 42
waspSalander 0:7cedfb720712 43 EixoController* eixoX = new EixoController( 49000, 38.10, motorX, swOrignX, swEndX);
waspSalander 0:7cedfb720712 44 //EixoController* eixoZ = new EixoController( 14000, 9.00, motorZ,swOrignZ, swEndZ);//40.55
waspSalander 0:7cedfb720712 45 EixoMonitoring* eixoMonitoring = new EixoMonitoring( swOrignX, swEndX) ;
waspSalander 0:7cedfb720712 46
waspSalander 0:7cedfb720712 47 // 0 - esquerda 1 - direita ---> Eixo X
waspSalander 0:7cedfb720712 48 // 1 - frente 0 - trás ---> Eixo Z
waspSalander 0:7cedfb720712 49 // 1 - pressionado 0 - solto ---> Switches
waspSalander 0:7cedfb720712 50
waspSalander 0:7cedfb720712 51
waspSalander 0:7cedfb720712 52 int main() {
waspSalander 0:7cedfb720712 53
waspSalander 0:7cedfb720712 54 bool teste = false;
waspSalander 0:7cedfb720712 55 bool start = true; // mudar p/false com o uso do olimex
waspSalander 0:7cedfb720712 56
waspSalander 0:7cedfb720712 57 if(start == true){
waspSalander 0:7cedfb720712 58
waspSalander 0:7cedfb720712 59 teste = eixoX->goToOrigem(swLeft , LEFT);
waspSalander 0:7cedfb720712 60
waspSalander 0:7cedfb720712 61 EixoMonitoring::isCalibrated = false;
waspSalander 0:7cedfb720712 62 eixoMonitoring->startThreads();
waspSalander 0:7cedfb720712 63
waspSalander 0:7cedfb720712 64 if(teste == 1){// se está na origem
waspSalander 0:7cedfb720712 65 eixoX->calibragem(RIGHT);
waspSalander 0:7cedfb720712 66 EixoMonitoring::isCalibrated = true;
waspSalander 0:7cedfb720712 67 eixoMonitoring->hitSensor = 0;
waspSalander 0:7cedfb720712 68 eixoMonitoring->stopAll = false;
waspSalander 0:7cedfb720712 69
waspSalander 0:7cedfb720712 70
waspSalander 0:7cedfb720712 71 eixoX->goToPosition(17,RIGHT);
waspSalander 0:7cedfb720712 72
waspSalander 0:7cedfb720712 73 }
waspSalander 0:7cedfb720712 74 }
waspSalander 0:7cedfb720712 75
waspSalander 0:7cedfb720712 76 eixoMonitoring->stopThreads();
waspSalander 0:7cedfb720712 77
waspSalander 0:7cedfb720712 78
waspSalander 0:7cedfb720712 79 /*
waspSalander 0:7cedfb720712 80 wait(0.5);
waspSalander 0:7cedfb720712 81 start = true;
waspSalander 0:7cedfb720712 82 if(start == true){
waspSalander 0:7cedfb720712 83 teste = eixoZ->goToOrigem(swBack, FRONT);
waspSalander 0:7cedfb720712 84 if(teste == true){// se está na origem
waspSalander 0:7cedfb720712 85 eixoZ->calibragem(FRONT);
waspSalander 0:7cedfb720712 86 eixoZ->goToPosition(3,FRONT);
waspSalander 0:7cedfb720712 87 }
waspSalander 0:7cedfb720712 88 }
waspSalander 0:7cedfb720712 89 */
waspSalander 0:7cedfb720712 90 }
waspSalander 0:7cedfb720712 91