Treinamentos, Projetos e Consultoria. Eletrônica Robótica e Mecatrônica
SPY-RT SOFTWARE
HARDWARE x SOFTWARE
A tecnologia digital possibilita uma visão mais ampla no desenvolvimento de sistemas.
É possível escolher entre projetar um hardware mais complexo e um software mais simples ou o contrário, isto é , um hardware mais simples e um software mais complexo. Esta segunda opção é a tendência.
Sempre que possível é melhor desenvolver um HARDWARE mais simples e compensar com um SOFTWARE mais sofisticado.
Em muitos casos é possível desenvolver um equipamento apenas usando software. Muito interessante.
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Software de controle do ROBÔ SPY-RT
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SPY-RT
DIR
"posicionamento do sensor Ultrassom"
USV0
« LULS 200
IF Š
THEN LC1 LC2
LC6 LC14 USV1 RSG
END
»
MGL5 " Programa de fototropismo"
« USHZ USV1
USV0
»
LU1 { 1.27 2.14
2.55 2.55 2.33 1.68 "Dados armazenados em matriz"
2.34 2.55 2.4 2.22
1.56 2.04 2.13 2.18
2.55 }
MGL4 "fototropismo"
« RSG LC1 LC2
LC3 LC8 ERASE 1 15
FOR Z LULS
100 / 'V' STO 0 0
RC Z .261 * COS V
* Z .261 * SIN V *
RC LINE { # 0d
# 0d } PVIEW 7
FREEZE LC8 LULS 100
/ NEXT 15 LIST
'LU1' STO LC1 LC2
»
TNR .214392544593
USHR "posicionamento sensor Ultrassom"
« RSG USV2 MVR
USV2 MVR USV2 LC6
LC14 LC8 LC1 LC2
MGL5 5 WAIT DC6 LC5
10 WAIT DC5 DC8
DC14 USHR
»
MVR
« RAND 'TNR'
STO
IF 'TNR‰.5'
THEN MVE
ELSE MVD
END
»
USVL
« LPOT 'POT'
STO
WHILE 'POTŠ97
'
REPEAT LMT
LPOT 'POT' STO
END LULS
»
USHZ
« LPOT 'POT' "LPOT lê a posição do sensor "
STO
IF 'POT‰122'
THEN
WHILE 'POT‰
122'
REPEAT LMF "Liga motor ultrassom para frente"
LPOT 'POT' STO
END
END
IF 'POTŠ126'
THEN
WHILE 'POTŠ
126'
REPEAT LMT "Liga motor ultrassom ao contrário"
LPOT 'POT' STO
END
END LULS "LULS - Leia ULTRASSOM"
»
USBX
« LPOT 'POT'
STO
WHILE 'POT‰
126'
REPEAT LMF
LPOT 'POT' STO
END LULS
»
USAC
« LPOT 'POT'
STO
IF 'POT‰107'
THEN
WHILE 'POT‰
107'
REPEAT LMF
LPOT 'POT' STO
END
END
IF 'POTŠ111'
THEN
WHILE 'POTŠ
111'
REPEAT LMT
LPOT 'POT' STO
END
END LULS
»
USHV
« RSG USV2 MVD
USV2 MVD USV2 LC5
LC14 LC1 LC2 LC8
MGL5 2 WAIT DC8 DC5
DC14 USHV
»
CST { RSG USVH
USVL USAC USHZ USBX
LULS LPOT }
USVH
« USV1 MVD USV1
MVE USV1 MVE USV1
LC5 FRTE 3 WAIT DC5
USVH
»
RSG "RSG reset todos os canais de saida "
« 1 64
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
USV2
« USBX USV1
USHZ USV1 CLEAR
»
USV1
« LULS 160
IF ‰
THEN MRE
END
»
POT 108
LMT
« LC15 DC15
»
LMF
« LC7 LC15 DC15
DC7
»
LULS
« 1 3
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
LPOT
« 1 4
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
_________________________________________________
DC16 "D16 a D1 desligam os canais de saida"
« 1 30
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC15
« 1 29
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC14
« 1 28
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC13
« 1 27
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC12
« 1 26
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC11
« 1 25
FOR U OPENIO CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC10
« 1 24
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC9
« 1 23
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC8
« 1 14
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC7
« 1 13
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC6
« 1 12
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC5
« 1 11
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC4
« 1 10
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC3
« 1 9
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC2
« 1 8
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
DC1
« 1 7
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
MUSF
« LC15 LC15
»
MUST
« LC7 LC15 LC15
»
MULS
« 1 32
FOR U OPENIO
CLOSEIO
NEXT 1 WAIT
OPENIO .03 WAIT
CLOSEIO
»
TRK
« FRTE LC5
»
____________________________________________
TOFD "Testa olho frontal direito " sensor infravermelho
« LOFD 35
IF >
THEN LC3
ELSE .01 WAIT
END
»
TOFE
« LOFE 35
IF >
THEN LC4
ELSE .01 WAIT
END »
FRTE
« LC1 LC2
»
MRE
« LC1 LC2 LC3
LC4 LC8 3 WAIT DC3
2 WAIT DC8 DC4 DC1
DC2
»
MVD
« LC1 LC2 LC4
LC8 1 WAIT DC8 DC4
DC1 DC2
»
MVE
« LC1 LC2 LC3
LC8 1 WAIT DC8 DC3
DC1 DC2
»
LA1 {
2.86666666667
3.02222222222
3.91111111111
3.93333333333
3.46666666667
3.51111111111
3.28888888889
3.17777777778
3.64444444444
3.77777777778
2.64444444444
2.71111111111
2.68888888889
2.82222222222
3.28888888889 }
TL
« LA1 SORT 14
GET LA1 SWAP POS
»
MGL3
« RSG LC1 LC2
LC3 LC8 ERASE 1 15
FOR Z OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP 45 /
'V' STO 0 0 RC Z
.261 * COS V * Z
.261 * SIN V * RC
LINE { # 0d # 0d }
PVIEW 7 FREEZE LC8
OPENIO .03 WAIT
BUFLEN CLOSEIO DROP
45 /
NEXT 15 LIST
'LA1' STO LC1 LC2
»
_________________________________________
TLZA " Testa luz ambiente" sensor LDR
« CLEAR 1 5
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO
»
MGL2
« RSG LC1 LC2
LC3 LC8 ERASE 0
6.28
FOR Z OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP 45 /
'V' STO 0 0 RC Z
COS V * Z SIN V *
RC LINE { # 0d
# 0d } PVIEW 7
FREEZE LC8 .18
STEP LC1 LC2
»
V 2.29
PPAR {
(-6.5,-3.1)
(6.5,3.2) X 0 (0,0)
FUNCTION Y }
VNI3
« RSG LC14 LC1
LC2 LC8 2 WAIT LC5
2 WAIT LC5 LC6 1
WAIT LC5 2 WAIT LC3
1 WAIT LC3 1 WAIT
LC4 1 WAIT LC8
»
VNI2
« RSG LC1 LC2
LC6 LC5 LC14 LC8 3
WAIT LC6 3 WAIT LC5
LC6 LC5
»
VNIR
« RSG LC1 LC2
LC6 LC5 LC14 LC8 3
WAIT LC6 3 WAIT LC5
LC6 LC5
»
LOLD
« 1 4
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
LOFD
« 1 3
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
LOLE
« 1 2
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
LOFE
« 1 1
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO DROP
»
___________________________________
TBAT "Testa nível da bateria"
« 1 6
FOR P OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT BUFLEN
CLOSEIO
»
VOM1
« OPENIO .03
WAIT BUFLEN CLOSEIO
»
RS
« OPENIO .03
WAIT CLOSEIO
»
______________________________________
SEQ1 "Teste sequencial dos canais de saida"
« 1 10
FOR D LC1 LC2
LC3 LC4 LC5 LC6 LC7
LC8 LC9 LC10 LC11
LC12 LC13 LC14 LC15
LC16
NEXT
»
___________________________________
LC16 "L16 a L1 liga os canais de saida"
« 1 30
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC15
« 1 29
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC14
« 1 28
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC13
« 1 27
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC12
« 1 26
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC11
« 1 25
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC10
« 1 24
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC9
« 1 23
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC8
« 1 14
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC7
« 1 13
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC6
« 1 12
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC5
« 1 11
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC4
« 1 10
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC3
« 1 9
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC2
« 1 8
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
LC1
« 1 7
FOR U OPENIO
CLOSEIO
NEXT OPENIO
.03 WAIT CLOSEIO
»
CLK
« OPENIO
CLOSEIO
»
END
