Microsoft Visual C++ 6.0

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Stepper

Darlington

Visual C++

C Builder

Assembler

Alim. Switching

La Robotica

Come primo sviluppo del software di pilotaggio del robottino ho usato il compilatore di C++ visuale fornito dalla Microsoft

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Librerie

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Libreria "NTPort Library"

Per interfacciare il programma con la porta paralla ho usato delle librerie che forniscono alcune funzioni per modificare lo stato della porta centronix, le funzioni sono:

Outport( indirizzo , valore );

Questa funzione scrive all' indirizzo x un valore (se non specificato il tipo, binario) e si conclude.

Inport( indirizzo );

Questa funzione invece legge lo stato della porta nel momento in cui viene chiamata.

  
 
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#include "stdafx.h"
#include "PortTest.h"
#include "PortTestDlg.h"

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CAboutDlg dialog used for App About
int delay;
class CAboutDlg : public CDialog
{
public:
CAboutDlg();

// Dialog Data
//{{AFX_DATA(CAboutDlg)
enum { IDD = IDD_ABOUTBOX };
//}}AFX_DATA

// ClassWizard generated virtual function overrides
//{{AFX_VIRTUAL(CAboutDlg)
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV support
//}}AFX_VIRTUAL

// Implementation
protected:
//{{AFX_MSG(CAboutDlg)
//}}AFX_MSG
DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD)
{
//{{AFX_DATA_INIT(CAboutDlg)
//}}AFX_DATA_INIT
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CAboutDlg)
//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialog)
//{{AFX_MSG_MAP(CAboutDlg)
// No message handlers
//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CPortTestDlg dialog

CPortTestDlg::CPortTestDlg(CWnd* pParent /*=NULL*/)
: CDialog(CPortTestDlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CPortTestDlg)
m_velo = 2;
m_intDurata = 2;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CPortTestDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CPortTestDlg)
DDX_Control(pDX, IDC_LIST1, m_List1);
DDX_Slider(pDX, IDC_SLIDER1, m_velo);
DDX_Text(pDX, IDC_VELOCITA, m_velovi);
DDV_MinMaxInt(pDX, m_velovi, 0, 1000);
DDX_Text(pDX, IDC_DURATA, m_intDurata);
DDV_MinMaxInt(pDX, m_intDurata, 1, 1000);
//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CPortTestDlg, CDialog)
//{{AFX_MSG_MAP(CPortTestDlg)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_READ, OnAvanti)
ON_BN_CLICKED(IDC_WRITE, OnIndietro)
ON_NOTIFY(NM_RELEASEDCAPTURE, IDC_SLIDER1, OnReleasedcaptureSlider1)
//ON_NOTIFY(TCN_SELCHANGE, IDC_TAB1, OnSelchangeTab1)
ON_BN_CLICKED(IDC_BUTTON2, Onzipp1)
ON_BN_CLICKED(IDC_BUTTON3, Onzop1)
ON_BN_CLICKED(IDC_BUTasx, OnBUTasx)
ON_BN_CLICKED(IDC_BUTa, OnBUTa)
ON_BN_CLICKED(IDC_BUTadx, OnBUTadx)
ON_BN_CLICKED(IDC_BUTsx, OnBUTsx)
ON_BN_CLICKED(IDC_BUTalt, OnBUTalt)
ON_BN_CLICKED(IDC_BUTdx, OnBUTdx)
ON_BN_CLICKED(IDC_BUTisx, OnBUTisx)
ON_BN_CLICKED(IDC_BUTi, OnBUTi)
ON_BN_CLICKED(IDC_BUTidx, OnBUTidx)
ON_BN_CLICKED(IDC_BUTstop, OnBUTstop)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CPortTestDlg message handlers

BOOL CPortTestDlg::OnInitDialog()
{
CDialog::OnInitDialog();

// Add "About..." menu item to system menu.

// IDM_ABOUTBOX must be in the system command range.
ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
ASSERT(IDM_ABOUTBOX < 0xF000);

CMenu* pSysMenu = GetSystemMenu(FALSE);
if (pSysMenu != NULL)
{
CString strAboutMenu;
strAboutMenu.LoadString(IDS_ABOUTBOX);
if (!strAboutMenu.IsEmpty())
{
pSysMenu->AppendMenu(MF_SEPARATOR);
pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
}
}

// Set the icon for this dialog. The framework does this automatically
// when the application's main window is not a dialog
SetIcon(m_hIcon, TRUE); // Set big icon
SetIcon(m_hIcon, FALSE); // Set small icon

// TODO: Add extra initialization here
Outport(0x37a,1);
// After register NTPort Library,
// place your registration information here.
LicenseInfo("ADG", 980229596);

m_intDurata = 15;
m_velo = 30;
m_velovi = 30;
UpdateData(FALSE);

GetDlgItem(IDC_RADIO1)->SendMessage(BM_SETCHECK, BST_CHECKED);

return TRUE; // return TRUE unless you set the focus to a control
}

void CPortTestDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialog::OnSysCommand(nID, lParam);
}
}

// If you add a minimize button to your dialog, you will need the code below
// to draw the icon. For MFC applications using the document/view model,
// this is automatically done for you by the framework.

void CPortTestDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting

SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

// Center icon in client rectangle
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon + 1) / 2;
int y = (rect.Height() - cyIcon + 1) / 2;

// Draw the icon
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialog::OnPaint();
}
}

// The system calls this to obtain the cursor to display while the user drags
// the minimized window.
HCURSOR CPortTestDlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}

void CPortTestDlg::OnAvanti() //*******************************************************
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

if(GetDlgItem(IDC_DRITTOBUT)->SendMessage(BM_GETCHECK))
{

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5a);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa5);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);

Outport(0x378,0);
Outport(0x37a,0);
}
else if(GetDlgItem(IDC_SXBUT)->SendMessage(BM_GETCHECK))
{
do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);

Outport(0x378,0);
}
else
{
do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

CString s;
s.Format("%x", velocita);
CString s2;
s2.Format("%x", dur);

m_List1.AddString("AVANTI " + m_intDurata);
m_List1.AddString(" Velocità " + s);

char sError[255];
GetLastState(sError);
m_List1.SetCurSel(m_List1.AddString(sError));
}

void CPortTestDlg::OnIndietro() //*******************************************************
{
// long velocita;
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
//sscanf(m_velo, "%x", &velocita);
velocita = m_velo;

if(GetDlgItem(IDC_DRITTOBUT)->SendMessage(BM_GETCHECK))
{
do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa5);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5a);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);

Outport(0x378,0);

}
else if(GetDlgItem(IDC_SXBUT)->SendMessage(BM_GETCHECK))
{
do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}
else
{
do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);

Outport(0x378,0);
Outport(0x37a,0);
}

CString s;
s.Format("%lX", velocita);

//m_List1.AddString("INDIETRO" + m_sAddress + ", 0x" + velocita);

char sError[255];
GetLastState(sError);
m_List1.SetCurSel(m_List1.AddString(sError));

}


void CPortTestDlg::OnReleasedcaptureSlider1(NMHDR* pNMHDR, LRESULT* pResult)
{
UpdateData(TRUE);

m_velovi = m_velo;

UpdateData(FALSE);

//*pResult = 0;
}

void CPortTestDlg::OnSelchangeTab1(NMHDR* pNMHDR, LRESULT* pResult)
{
*pResult = 0;
}

void CPortTestDlg::Onzipp1() // ZIG ZAG
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x9);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x6);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa);/////////////
Sleep(velocita);

ie++;

}while(ie!=5);


int cont = 0;
do{
ie = 0;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x90);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa0);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x60);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x50);/////////////
Sleep(velocita);

ie++;

}while(ia!=velocita);
}
ie++;
}while(ie!=8);

ie = 0;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x9);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x6);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa);/////////////
Sleep(velocita);

ie++;

}while(ie!=8);

cont++;

}while(cont != dur);
}

void CPortTestDlg::Onzop1()
{
Outport(0x37a,0x0);
}

void CPortTestDlg::OnBUTasx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x90);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa0);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x60);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x50);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTa()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa5);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5a);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTadx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x9);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x6);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTsx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTalt()
{
Outport(0x37a,1);
Outport(0x378,0x0);
Outport(0x37a,0);
}

void CPortTestDlg::OnBUTdx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x55);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xaa);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTisx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x9);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x6);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTi()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x99);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x5a);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x66);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa5);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTidx()
{
int velocita,dur,ie=0,ia=0;

UpdateData(TRUE);

dur = m_intDurata;
velocita = m_velo;

do{
Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x90);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x50);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0x60);/////////////
Sleep(velocita);

Outport(0x37a,0);
Outport(0x37a,1);
Outport(0x378,0xa0);/////////////
Sleep(velocita);

ie++;

}while(ie!=dur);
}

void CPortTestDlg::OnBUTstop()
{
Outport(0x37a,0);
Outport(0x378,0x0);
Outport(0x37a,1);
}

  
 
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