Grupo T
/
GRUPOT
GRUPO
Revision 36:4d0e131146e6, committed 2019-02-26
- Comitter:
- lucasfontenla
- Date:
- Tue Feb 26 00:55:02 2019 +0000
- Parent:
- 35:4a527ba7281a
- Commit message:
- Uploading for Projeto Mecatronico 2019
Changed in this revision
classes.h | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/classes.h Mon Jun 11 20:05:47 2018 +0000 +++ b/classes.h Tue Feb 26 00:55:02 2019 +0000 @@ -44,6 +44,7 @@ } void action_complete(void){ + printf("Action complete\n\r"); send("a"); } @@ -69,6 +70,7 @@ buffer.push_back(c); } } + saved++; } void translate_gcode(string line, int line_number){
--- a/main.cpp Mon Jun 11 20:05:47 2018 +0000 +++ b/main.cpp Tue Feb 26 00:55:02 2019 +0000 @@ -22,7 +22,7 @@ DigitalOut ledXY(D10); DigitalOut ledZ(D11); -DigitalOut glueValve(D12); +DigitalOut glueValve(D9); // hardware input signal // end-of-stroke sensors @@ -162,21 +162,9 @@ printf("\nStarting...\r\n"); enable = 1; + glueValve = 0; t.start(); - /* - enable = 0; - while (1){ - moving_test(); - }*/ - - /* - while(1){ - glueValve = 1; - wait(1); - glueValve = 0; - wait(1); - }*/ // interrupções de fim de curso @@ -189,7 +177,7 @@ endZ.fall(&endZ_press); endZ.rise(&endZ_release); - //joyClick.fall(&joystickClick); + joyClick.fall(&joystickClick); while(1){ if(ihm.readable()){ @@ -242,7 +230,7 @@ } } void endZ_release(void){ - printf("Z - release\n\r"); + //printf("Z - release\n\r"); z_block_min = 0; z_block_max = 0; } @@ -343,6 +331,8 @@ printf("Zero X\n\r"); float time = 1.0/pps/2.0; + int offsetX; + if(dirX != x_minus){ dirX = x_minus; } @@ -360,18 +350,24 @@ wait(time); } + offsetX = distance_to_steps(10.0, xPitch); + + move(ppsMax, x_plus, y_plus, z_plus, offsetX, 0, 0); + printf("X zero\n\r"); totalX = 0; X = steps_to_distance(totalX, xPitch); Y = steps_to_distance(totalY, yPitch); Z = steps_to_distance(totalZ, zPitch); - ihm_class.send_position(X, Y, Z); + //ihm_class.send_position(X, Y, Z); } void zeroY(int pps){ printf("Zero Y\n\r"); float time = 1.0/pps/2.0; + int offsetY; + if(dirY != y_minus){ dirY = y_minus; } @@ -389,6 +385,10 @@ wait(time); } + offsetY = distance_to_steps(10.0, yPitch); + + move(ppsMax, x_plus, y_plus, z_plus, 0, offsetY, 0); + printf("Y zero\n\r"); totalY = 0; @@ -402,6 +402,8 @@ printf("Zero Z\n\r"); float time = 1.0/pps/2.0; + int offsetZ; + if(dirZ != z_minus){ dirZ = z_minus; } @@ -419,6 +421,10 @@ wait(time); } + offsetZ = distance_to_steps(5.0, yPitch); + + move(ppsMax, x_plus, y_plus, z_plus, 0, 0, offsetZ); + printf("Z zero\n\r"); totalZ = 0; @@ -478,7 +484,7 @@ resting_points = maxPoints-saved; printf("Pontos restantes: %d\n\r", resting_points); - ihm_class.send_position(X, Y, Z); + //ihm_class.send_position(X, Y, Z); } void jog(void){ @@ -661,7 +667,7 @@ printf("Total points: %d\n\r", total_points); - for(int i = 0; i <= total_points; i++){ + for(int i = 0; i < total_points; i++){ if(ihm.readable()){ readSerial(); } @@ -814,8 +820,10 @@ if(gcode_move_upload){ automatic_run(saved, false); gcode_move_upload = 0; + ihm_class.action_complete(); } else { - automatic_run(saved, true); + automatic_run(saved, true); + ihm_class.action_complete(); } } else if(jog_mode){ if(kill_jog_mode){