#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <math.h>
#define ANCHO_PANTALLA 128
#define ALTO_PANTALLA 64
#define OLED_RESET     -1
#define DIRECCION_PANTALLA 0x3C//Dirección de comunicacion: 0x3C para 128x64, 0x3D para 128x32

Adafruit_SSD1306 display(ANCHO_PANTALLA, ALTO_PANTALLA, &Wire, OLED_RESET);

//Salidas de control del puente
#define pol1 19 //Salida principal
#define pol2 18 //Salida secundaria

//Constantes para el control del puente
int tonPWM = 0; //Tiempo encendido
int toffPWM = 0; //Tiempo apagado
int tpol = 0; //Tiempo entre cambios de polaridad
int tsec = 100; //Tiempo de seguridad para el cambio de polaridad
int CasoE = 0; //Caso de operación
float N = 0; //Parametro de ajuste

//Botones
#define BUTTON_UP_PIN  12 //Boton arriba
#define BUTTON_DOWN_PIN  13 //Boton Abajo
#define BUTTON_RIGHT_PIN  27 //Boton para mas
#define BUTTON_LEFT_PIN  26 //Boton para menos
#define BUTTON_SELECT_PIN  14 //Boton para seleccionar

//Variables para el control de los menús
int menpal = 0; //Parametro de control del menú principal
int menconfig = 0; //Parametro de control del menú de configuración
int menumod = 0; //Parametro de control del menú Modo de operación
int menugrafic = 0; //Parametro de control del menú de gráficos
int PWMcon = 0; //Parametro de control del menú configuracion de ancho de pulzo
int Polcon = 0; //Parametro de control del menú configuracion de cambio de polaridad

//Parametros para la configuracion del tiempo en horas, min S y mS
int PWMonH = 0;
int PWMonMin = 0;
int PWMonS = 0;
int PWMonmS = 0;
int PWMoffH = 0;
int PWMoffMin = 0;
int PWMoffS = 0;
int PWMoffmS = 0;
int PolH = 0;
int PolMin = 0;
int PolS = 0;
int PolmS = 0;

//Parametros de lectura para órdenes en los sub menús
int selecconfig1;//Lectura de accion en el caso 1
int selecconfig2;//Lectura de accion en el caso 2
int selecconfig3;//Lectura de accion en el caso 3
int selecconfig4;//Lectura de accion en el caso 4
int selecconfig5;//Lectura de accion en el caso 5
int botonmas;//Lectura de accion suma
int botonmenos;//Lectura de accion resta


TaskHandle_t Tarea0;    // Tarea0 parpadeo LED 0,3 segundos
TaskHandle_t Tarea1;    // Tarea1 parpadeo LED 1 Segundo
TaskHandle_t Tarea2;    // Tarea2 Giro Motor Lento
TaskHandle_t Tarea3;    // Tarea3 Giro Motor Rapido
TaskHandle_t Tarea4;

const unsigned char PROGMEM logo1[] = {
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf0, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xfe, 0x1f, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0x84, 0x18, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0x04, 0x18, 0x3f, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0x04, 0x18, 0x0f, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xf3, 0x04, 0x18, 0x07, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xe3, 0x04, 0x18, 0x03, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xc3, 0x04, 0x18, 0x01, 0xff, 0xfc, 
	0x00, 0x22, 0x00, 0x00, 0x00, 0x04, 0x02, 0x00, 0x0f, 0xff, 0xc3, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0x22, 0x21, 0x04, 0x6c, 0x1d, 0x8e, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0x22, 0xd5, 0x2a, 0x49, 0xac, 0x5a, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x22, 0x94, 0xba, 0x49, 0xe4, 0x52, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x22, 0x94, 0xc8, 0x45, 0xef, 0x52, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x1c, 0x94, 0xce, 0x4d, 0xbd, 0xde, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x30, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x3f, 0xff, 0xfc, 
	0x00, 0x80, 0x20, 0x00, 0x00, 0x20, 0x40, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0xb8, 0xe9, 0x3e, 0xf3, 0x21, 0xce, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0xa5, 0x29, 0x44, 0xd0, 0xa3, 0x5a, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0xa5, 0x29, 0x24, 0x93, 0xa2, 0x5e, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0xa5, 0x29, 0x14, 0x96, 0xa2, 0x58, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0xa4, 0xe7, 0x76, 0x93, 0xa1, 0xce, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x1f, 0xe0, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x1f, 0xe0, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x60, 0x00, 0x00, 0x02, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x40, 0x01, 0x00, 0x02, 0x00, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0xc7, 0x3b, 0xbb, 0xde, 0x67, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x61, 0x29, 0x0a, 0x52, 0x94, 0x00, 0x0f, 0xff, 0x83, 0x04, 0x18, 0x20, 0xff, 0xfc, 
	0x00, 0x00, 0x15, 0x2d, 0x2a, 0x52, 0xd4, 0x00, 0x0f, 0xff, 0x80, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0x00, 0x95, 0x2d, 0x4a, 0x52, 0x84, 0x00, 0x0f, 0xff, 0x80, 0x04, 0x18, 0x00, 0xff, 0xfc, 
	0x00, 0x00, 0x67, 0x01, 0xba, 0x0c, 0x60, 0x00, 0x0f, 0xff, 0xc0, 0x04, 0x18, 0x01, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xe0, 0x04, 0x18, 0x03, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xf0, 0x04, 0x18, 0x07, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xfc, 0x04, 0x18, 0x0f, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xfe, 0x04, 0x18, 0x3f, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0x84, 0x18, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xfc, 0x1f, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf8, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
  // Representación en bytes del primer logotipo
};

const unsigned char PROGMEM logo2[] = {
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc7, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 0x7f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xe1, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x87, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf0, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc3, 0xff, 0xfe, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f, 0xff, 0xe0, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 0x3f, 0xff, 0x83, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf0, 0x3f, 0xfc, 0x3f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x3f, 0xc1, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x3f, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf8, 0x00, 0x38, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc0, 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x0f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf0, 0x00, 0x03, 0xff, 0xff, 0xf8, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc0, 0x00, 0x1f, 0xff, 0xff, 0x81, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x00, 0x7f, 0xff, 0xf0, 0x1f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xf8, 0x00, 0x00, 0x7f, 0xff, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xe0, 0x00, 0x00, 0x7f, 0xe0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0x0c, 0x03, 0x00, 0x7c, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xfc, 0x3c, 0x0f, 0x80, 0x40, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xf0, 0xe0, 0xff, 0x80, 0x1f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xc3, 0x07, 0xff, 0x80, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x1c, 0x7f, 0xfb, 0x80, 0x7f, 0xff, 0xff, 0xf8, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x61, 0xfc, 0x01, 0xc0, 0x7f, 0xff, 0x80, 0x03, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x05, 0xe0, 0x01, 0xc0, 0x7f, 0x80, 0x83, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x78, 0x00, 0x01, 0xc0, 0x00, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x01, 0xc0, 0x1f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x03, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x80, 0x07, 0xff, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0xff, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xc0, 0xff, 0xff, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x03, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x03, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x03, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x03, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xc0, 0x00, 0x03, 0x80, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x01, 0xff, 0xc7, 0x80, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x80, 0xff, 0xff, 0x80, 0x03, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x60, 0x0f, 0xff, 0xbf, 0xc0, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0x00, 0x00, 0x3f, 0x3f, 0xff, 0xe0, 0x00, 0x7f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xe0, 0x00, 0x03, 0x3f, 0xff, 0xff, 0xc0, 0x00, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xfc, 0x00, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xfc, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x01, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xe0, 0x01, 0xf8, 0x1f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x01, 0xff, 0xc0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x81, 0xff, 0xfc, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf8, 0x7f, 0xff, 0xe0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x07, 0xff, 0xfe, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xe0, 0xff, 0xff, 0xe0, 0x3f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc, 0x3f, 0xff, 0xff, 0x83, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x83, 0xff, 0xff, 0xf8, 0x7f, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xe0, 0x7f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x07, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc1, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf8, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x03, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xe0, 0xff, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfe, 0x3f, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x81, 0xff, 0xff, 0xff, 0xff, 
	0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf0, 0xff, 0xff, 0xff, 0xff
  // Representación en bytes del segundo logotipo
};

const unsigned char PROGMEM logo3[] = {
  	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe0, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x80, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x1f, 0xfe, 0x00, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x10, 0x10, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x70, 0x18, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x08, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x18, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x18, 0x18, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x10, 0x18, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0xf8, 0x18, 0x30, 0x18, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x1c, 0x0c, 0x00, 0x00, 0x38, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x06, 0x00, 0x00, 0x70, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0xe0, 0x03, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x03, 0x80, 0x02, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x60, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x40, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0xc0, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xf0, 0x00, 0x00, 0x1f, 0x80, 0x80, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x30, 0x00, 0x00, 0x0e, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x20, 0x00, 0x01, 0x80, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x01, 0x80, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x01, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x01, 0x80, 0x70, 0x00, 0x00, 0x1c, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0xf8, 0x00, 0x00, 0x0f, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x03, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x04, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x40, 0x01, 0xc0, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0xc0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x0e, 0x00, 0x00, 0x60, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x0c, 0x00, 0x00, 0x71, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x0c, 0x18, 0x1f, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x1c, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x18, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x18, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x08, 0x18, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x18, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x1c, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x0c, 0x0e, 0x00, 0x7f, 0xf8, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x0c, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x03, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x01, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x80, 0x38, 0x00, 0x00, 0xe0, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0xe0, 0x00, 0x01, 0x80, 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x01, 0xc0, 0x0f, 0x80, 0x38, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe0, 0x03, 0x80, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00, 
	0x00, 0x00, 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x80, 0x00, 0x00, 0x00
  // Representación en bytes del tercer logotipo
};

void showLogo(const uint8_t* logo, int duration) {
  display.clearDisplay();
  display.drawBitmap(0, 0, logo, ANCHO_PANTALLA, ALTO_PANTALLA, WHITE);
  display.display();
  delay(duration);
}


void setup() {
 Serial.begin(115200);
 //Asignacion de salidas
 pinMode(23,OUTPUT);//Salida de funcionamiento       
 pinMode(4,OUTPUT);//Salida de Parada de emergencia
 pinMode(2,OUTPUT);//Salida de led de funcionamiento
 pinMode(18,OUTPUT);//Salida de polaridad secundaria
 pinMode(19,OUTPUT);//Salida de polaridad primaria
 if(!display.begin(SSD1306_SWITCHCAPVCC, DIRECCION_PANTALLA)) {
    Serial.println(F("Fallo en la asignacion de SSD1306"));
  }

  display.clearDisplay(); 
  display.setTextSize(1);
  display.setTextColor(WHITE);
  display.setCursor(0,20);
  display.println("INTERCAMBIADOR DE POLARIDAD");
  display.display();
  delay(2000); // Esperar 2 segundos al inicio

  // Mostrar el primer logotipo durante 3 segundos
  showLogo(logo1, 3000);
  // Mostrar el segundo logotipo durante 3 segundos
  showLogo(logo2, 3000);
  // Mostrar el tercer logotipo durante 3 segundos
  showLogo(logo3, 3000);

  pinMode(BUTTON_UP_PIN, INPUT_PULLUP);
  pinMode(BUTTON_DOWN_PIN, INPUT_PULLUP);
  pinMode(BUTTON_RIGHT_PIN, INPUT_PULLUP);
  pinMode(BUTTON_LEFT_PIN, INPUT_PULLUP);
  pinMode(BUTTON_SELECT_PIN, INPUT_PULLUP);

 xTaskCreatePinnedToCore(loop0,"Tarea_0",1000,NULL,1,&Tarea0,0); // Core 0
 xTaskCreatePinnedToCore(loop1,"Tarea_1",1000,NULL,2,&Tarea1,1); // Core 1
 xTaskCreatePinnedToCore(loop2,"Tarea_2",1000,NULL,2,&Tarea2,1); // Core 1
 xTaskCreatePinnedToCore(loop3,"Tarea_3",1000,NULL,2,&Tarea3,1); // Core 1
 xTaskCreatePinnedToCore(loop4,"Tarea_4",1000,NULL,1,&Tarea4,1); // Core 1
}
void loop() { //Tarea principal en el nucleo
  //
  selecconfig3 = digitalRead(BUTTON_SELECT_PIN);
  selecconfig1 = digitalRead(BUTTON_SELECT_PIN);
  selecconfig2 = digitalRead(BUTTON_SELECT_PIN);
  selecconfig4 = digitalRead(BUTTON_SELECT_PIN);
  selecconfig5 = digitalRead(BUTTON_SELECT_PIN);
  botonmas = digitalRead(BUTTON_RIGHT_PIN);
  botonmenos = digitalRead(BUTTON_LEFT_PIN);

  //Formulación en pantalla de los menú
  if(menconfig == 0 && menumod == 0 && menugrafic == 0 && PWMcon == 0 && Polcon == 0){
    updateMenu();
  }
  if(menconfig != 0 && menumod == 0 && menugrafic == 0){
    executeMenuconfig();
  }
  if(menconfig == 0 && menumod != 0 && menugrafic == 0){
    executeMenumod();
  }
  if(menconfig == 0 && menumod == 0 && menugrafic != 0){
    executeMenugrafic();
  }
  if(PWMcon != 0){
    executePWMcon();
  }
  if(Polcon != 0){
    executePOLcon();
  }
    int buttonState;

    // Leer el estado de los botones
    buttonState = digitalRead(BUTTON_UP_PIN);
    if (buttonState == LOW) {//Movimiento de los menú hacia arriba
      if(menconfig == 0 && menumod == 0 && menugrafic == 0 && PWMcon == 0 && Polcon == 0){
        menpal = (menpal - 1 + 4) % 4;
      }
      else if(menconfig != 0 && menumod == 0 && menugrafic == 0){
        menconfig = (menconfig - 1 + 6) % 6;
        //Acotamos el menú configuración
        if(menconfig == 5){
          menconfig = 2;
          }
        if (menconfig ==1){
          menconfig=4;
        }
      }
      else if (menconfig == 0 && menumod != 0 && menugrafic == 0){
        menumod = (menumod - 1 + 6) % 6;
        if(menumod == 5){
          menumod = 2;
          }
        if (menumod ==1){
          menumod=4;
        }
      }
      else if (menconfig == 0 && menumod == 0 && menugrafic != 0){

        menugrafic = (menugrafic - 1 + 8) % 8;
        if(menugrafic == 7){
          menugrafic = 2;
          }
        if (menugrafic ==1){
          menugrafic=6;
        }
      }
      else if (PWMcon != 0){
       PWMcon = (PWMcon - 1 + 12) % 12;
       if(PWMcon == 11){
         PWMcon = 2;
         }
       if (PWMcon ==1){
         PWMcon=10;
       }
      }
      else if (Polcon != 0){
       Polcon = (Polcon - 1 + 8) % 8;
       if(Polcon == 7){
         Polcon = 2;
         }
       if (Polcon ==1){
         Polcon=6;
       }
      }
      
      delay(200);
    }

    buttonState = digitalRead(BUTTON_DOWN_PIN);
    if (buttonState == LOW) {//Movimiento de los menú hacia abajo
      if(menconfig == 0 && menumod == 0 && menugrafic == 0 && PWMcon == 0 && Polcon == 0){
        menpal = (menpal + 1) % 4;
      }
      if(menconfig != 0 && menumod == 0 && menugrafic == 0 ){
        menconfig = (menconfig + 1) % 6;
        if(menconfig == 1 || menconfig == 5){
          menconfig = 2;
          }
      }
      if (menconfig == 0 && menumod != 0 && menugrafic == 0){
        menumod = (menumod + 1) % 6;
        if(menumod == 1 || menumod == 5){
          menumod = 2;
        }
      }
      if (menconfig == 0 && menumod == 0 && menugrafic != 0){
        menugrafic = (menugrafic + 1) % 8;
        if(menugrafic == 1 || menugrafic == 7){
          menugrafic = 2;
        }
      }
      if (PWMcon != 0){
        PWMcon = (PWMcon + 1) % 12;
        if(PWMcon == 1 || PWMcon == 11){
          PWMcon = 2;
        }
      }
      if (Polcon != 0){
        Polcon = (Polcon + 1) % 8;
        if(Polcon == 1 || Polcon == 7){
          Polcon = 2;
        }
      }

      delay(200);
    }

    buttonState = digitalRead(BUTTON_SELECT_PIN);
    if (buttonState == LOW) {
      if(menpal == 0 && menconfig == 0 && PWMcon == 0 && Polcon == 0){
        menconfig = 2;
        
      }
      if(menpal == 1 && menumod == 0){
        menumod = 2;

      }
      if (menpal == 2 && menugrafic == 0){
        menugrafic = 2;
      
      }
      if (menpal == 3){
        executeInfo();
      }
      delay(200);
    }
} 
void loop0(void *parameter){  // Tarea0 Lectura de Datos eléctricos
 while(1==1){
  Serial.print("PWMcon = "); Serial.println(PWMcon);
  delay(5000);
 } 
}
void loop1(void *parameter){  // Tarea1 Entrega de datos al puerto serial (Mantenimiento)
 while(1==1){
  Serial.print("Polcon = "); Serial.println(Polcon);
  Serial.print("Mpal = ");Serial.print(menpal); Serial.print(" menconfig = ");Serial.print(menconfig); Serial.print(" modo = ");Serial.print(menumod); Serial.print(" grafic = ");Serial.println(menugrafic);
  Serial.print("TonPWM = ");Serial.print(tonPWM); Serial.print(" ToffPWM = ");Serial.print(toffPWM); Serial.print(" Tpol = ");Serial.print(tpol); Serial.print(" N = ");Serial.println(N);
  delay(5000);
 } 
}
void loop2(void *parameter){  // Tarea2 Luz de Operacion y funcion parada de emergencia
 while(1==1){
  
  //Modo de prueba
  if (PWMonH == 0 && PWMonMin == 0 && PWMonS == 0 && PWMonmS == 0 && PWMoffH == 0 && PWMoffMin == 0 && PWMoffS == 0 && PWMoffmS == 0 && PolH == 0 && PolMin == 0 && PolS == 0 && PolmS == 0){
    tonPWM = 300;
    toffPWM = 200;
    tpol = 6000; 
  }else {//Modo de operacion real
  tonPWM = (PWMonH * 3600000) + (PWMonMin * 60000) + (PWMonS * 1000 ) + (PWMonmS);
  toffPWM = (PWMoffH * 3600000) + (PWMoffMin * 60000) + (PWMoffS * 1000 ) + (PWMoffmS);
  tpol = (PolH * 3600000) + (PolMin * 60000) + (PolS * 1000) + (PolmS);
  }
  N = tpol/(tonPWM + toffPWM);
  //Luz de Parada de emergencia
  if (CasoE == 0){
   digitalWrite(4, HIGH);
   delay(700);
   digitalWrite(4, LOW);
   delay(700);
  }
  //Luz de operacion
  if (CasoE > 0){
   digitalWrite(23, HIGH);
   delay(700);
   digitalWrite(23, LOW);
   delay(700);
  }
 } 
}
void loop3(void *parameter){   // Tarea3 loop de luz funcionamiento
 while(1==1){ 
  digitalWrite(2, HIGH);
  delay(500);
  digitalWrite(2, LOW);
  delay(500);
 } 
}

void loop4(void *parameter){   // Tarea4 Operacion en casos de estudio
 while(1==1){ 
 
  if(CasoE == 1) {
    digitalWrite(pol2, LOW);
    digitalWrite(pol1, HIGH);
    delay(tonPWM);
    digitalWrite(pol1, LOW);
    delay(toffPWM);
  }
  if (CasoE == 2) {
    digitalWrite(pol2, LOW);
    delay(tsec);
    digitalWrite(pol1, HIGH);
    delay(tpol);
    digitalWrite(pol1, LOW);
    delay(tsec);
    digitalWrite(pol2, HIGH);
    delay(tpol);
  }
  if (CasoE == 3) {
    if(tpol >= tonPWM+toffPWM) {
      digitalWrite(4, LOW);
      for (int i = 1; i <= N*2;  i++) {
      digitalWrite(pol2, LOW);
      digitalWrite(pol1, HIGH);
      delay(tonPWM);
      digitalWrite(pol1, LOW);
      delay(toffPWM);
      i=i+1;
      }
      for (int j = 1; j <= N*2; j++) {
      digitalWrite(pol1, LOW);
      digitalWrite(pol2, HIGH);
      delay(tonPWM);
      digitalWrite(pol2, LOW);
      delay(toffPWM);
      j=j+1;
      }
    }else {
    digitalWrite(4, HIGH);
    }
  }
 } 
}

void updateMenu() {
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println("    MENU PRINCIPAL");
  display.println(":::::::::::::::::::::");
  display.setTextSize(1);

  switch (menpal) {
    case 0:
      display.println("> Configuracion");
      display.println("  Modo de trabajo");
      display.println("  Graficos");
      display.println("  Acerca de...");
      break;
    case 1:
      display.println("  Configuracion");
      display.println("> Modo de trabajo");
      display.println("  Graficos");
      display.println("  Acerca de...");
      break;
    case 2:
      display.println("  Configuracion");
      display.println("  Modo de trabajo");
      display.println("> Graficos");
      display.println("  Acerca de...");
      break;
    case 3:
      display.println("  Configuracion");
      display.println("  Modo de trabajo");
      display.println("  Graficos");
      display.println("> Acerca de...");
      break;
  }
  

  display.display();
}

void executeMenuconfig(){
  display.clearDisplay();
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println("    CONFIGURACION");
  display.println(":::::::::::::::::::::");
  display.setTextSize(1);

  switch (menconfig) {
    case 2:
      display.println("> Parametros PMW");
      display.println("  Parametro Polaridad");
      display.println("  Regresar");

      if (selecconfig1 == LOW){
        
        menpal = 0;
        menconfig = 0;
        PWMcon= 2;
        delay(200);
      }
    break;
    case 3:
      display.println("  Parametros PMW");
      display.println("> Parametro Polaridad");
      display.println("  Regresar");
      
      if (selecconfig2 == LOW){
        menpal = 0;
        menconfig = 0;
        Polcon= 2;
      }
      break;
    case 4:
      display.println("  Parametros PMW");
      display.println("  Parametro Polaridad");
      display.println("> Regresar");
      
      if (selecconfig3 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(" >>>  Saliendo...");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menconfig = 0;
        display.display();
        delay(2000);
        
      }
      break;
    }
    display.display();
}
void executeMenumod(){
  display.clearDisplay();
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println("  MODO DE OPERACION");
  display.println(":::::::::::::::::::::");
  display.setTextSize(1);

  switch (menumod) {
    case 2:
      display.println("> Modo PMW");
      display.println("  Modo Polaridad");
      display.println("  Modo combinado");

      if (selecconfig1 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(" >>> Cambiando a PWM");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menumod = 0;
        CasoE = 1;
        display.display();
        delay(2000);
      }
    break;
    case 3:
      display.println("  Modo PMW");
      display.println("> Modo Polaridad");
      display.println("  Modo combinado");
      
      if (selecconfig2 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Polaridad");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menumod = 0;
        CasoE = 2;
        display.display();
        delay(2000);
      }
      break;
    case 4:
      display.println("  Modo PMW");
      display.println("  Modo Polaridad");
      display.println("> Modo combinado");
      
      if (selecconfig3 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Combinado");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menumod = 0;
        CasoE = 3;
        display.display();
        delay(2000);
        
      }
      break;
    }
    display.display();
}
void executeMenugrafic(){
  display.clearDisplay();
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println("       GRAFICOS");
  display.println(":::::::::::::::::::::");
  display.setTextSize(1);

  switch (menugrafic) {
    case 2:
      display.println("> Tension");
      display.println("  Corriente");
      display.println("  Grafico Lissajous");
      display.println("  Potencia");
      display.println("  Regresar");

      if (selecconfig1 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(" >>> Cambiando a PWM");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menugrafic = 0;
        CasoE = 1;
        display.display();
        delay(2000);
      }
    break;
    case 3:
      display.println("  Tension");
      display.println("> Corriente");
      display.println("  Grafico Lissajous");
      display.println("  Potencia");
      display.println("  Regresar");
      
      if (selecconfig2 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Polaridad");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menugrafic = 0;
        CasoE = 2;
        display.display();
        delay(2000);
      }
      break;
    case 4:
      display.println("  Tension");
      display.println("  Corriente");
      display.println("> Grafico Lissajous");
      display.println("  Potencia");
      display.println("  Regresar");
      
      if (selecconfig3 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Combinado");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menugrafic = 0;
        CasoE = 3;
        display.display();
        delay(2000);
        
      }
      break;
    case 5:
      display.println("  Tension");
      display.println("  Corriente");
      display.println("  Grafico Lissajous");
      display.println("> Potencia");
      display.println("  Regresar");
      
      if (selecconfig4 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Polaridad");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menugrafic = 0;
        CasoE = 2;
        display.display();
        delay(2000);
      }
      break;
    case 6:
      display.println("  Tension");
      display.println("  Corriente");
      display.println("  Grafico Lissajous");
      display.println("  Potencia");
      display.println("> Regresar");
      
      if (selecconfig5 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(">>>Cambio a Polaridad");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menugrafic = 0;
        CasoE = 2;
        display.display();
        delay(2000);
      }
      break;
    }
    display.display();
}
void executeInfo(){
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println("    info");
  display.println(":::::::::::::::::::::");
  
  display.display();
  delay(20);
}

void executePWMcon(){
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.println("   MODULACION PWM");
  display.println(":::::::::::::::::::::");
  display.println("          ON   OFF");
  switch (PWMcon) {
    case 2:
      display.print("Horas     >");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");

      if (botonmas == LOW){
        PWMonH = PWMonH + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMonH = PWMonH - 1;
        delay(200);
      }
      if (PWMonH > 24 || PWMonH < 0){
        PWMonH = 0;
      }
    break;
    case 3:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos   >");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMonMin = PWMonMin + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMonMin = PWMonMin - 1;
        delay(200);
      }
      if (PWMonMin > 60){ 
        PWMonMin = 0;
        PWMonH = PWMonH + 1;
      }
      if(PWMonMin < 0){
        PWMonMin = 0;
      }
      break;
    case 4:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos  >");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMonS = PWMonS + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMonS = PWMonS - 1;
        delay(200);
      }
      if (PWMonS > 60){ 
        PWMonS = 0;
        PWMonMin = PWMonMin + 1;
      }
      if(PWMonS < 0){
        PWMonS = 0;
      }
      break;
      case 5:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S    >");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMonmS = PWMonmS + 10;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMonmS = PWMonmS - 10;
        delay(200);
      }
      if (PWMonmS >= 1000){ 
        PWMonmS = 0;
        PWMonS = PWMonS + 1;
      }
      if(PWMonmS < 0){
        PWMonmS = 0;
      }
      break;
      case 6:
      display.print("Horas      ");display.print(PWMonH);display.print("   >");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMoffH = PWMoffH + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMoffH = PWMoffH - 1;
        delay(200);
      }
      if (PWMoffH > 24 || PWMoffH < 0){
        PWMoffH = 0;
      }
      break;
      case 7:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("   >");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMoffMin = PWMoffMin + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMoffMin = PWMoffMin - 1;
        delay(200);
      }
      if (PWMoffMin > 60){ 
        PWMoffMin = 0;
        PWMoffH = PWMoffH + 1;
      }
      if(PWMoffMin < 0){
        PWMoffMin = 0;
      }
      break;
      case 8:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("   >");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMoffS = PWMoffS + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMoffS = PWMoffS - 1;
        delay(200);
      }
      if (PWMoffS > 60){ 
        PWMoffS = 0;
        PWMoffMin = PWMoffMin + 1;
      }
      if(PWMoffS < 0){
        PWMoffS = 0;
      }
      break;
      case 9:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("   >");display.println(PWMoffmS);
      display.println("       Regresar");
      
      if (botonmas == LOW){
        PWMoffmS = PWMoffmS + 10;
        delay(200);
      }
      if (botonmenos == LOW){
        PWMoffmS = PWMoffmS - 10;
        delay(200);
      }
      if (PWMoffmS >= 1000){ 
        PWMoffmS = 0;
        PWMoffS = PWMoffS + 1;
      }
      if(PWMoffmS < 0){
        PWMoffmS = 0;
      }
      break;
      case 10:
      display.print("Horas      ");display.print(PWMonH);display.print("    ");display.println(PWMoffH);
      display.print("Minutos    ");display.print(PWMonMin);display.print("    ");display.println(PWMoffMin);
      display.print("Segundos   ");display.print(PWMonS);display.print("    ");display.println(PWMoffS);
      display.print("Mili S     ");display.print(PWMonmS);display.print("    ");display.println(PWMoffmS);
      display.println("     > Regresar");
      
      if (selecconfig3 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(" >>>  Saliendo...");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menconfig = 2;
        PWMcon = 0;
        display.display();
        delay(2000);
        
      }
      break;
    }

 
  
  display.display();
  delay(20);
}
void executePOLcon(){
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.println(":::::::::::::::::::::");
  display.println(" MODULACION POLARIDAD");
  display.println(":::::::::::::::::::::");
  
  switch (Polcon) {
    case 2:
      display.print("Horas         >");display.println(PolH);
      display.print("Minutos        ");display.println(PolMin);
      display.print("Segundos       ");display.println(PolS);
      display.print("Mili S         ");display.println(PolmS);
      display.println("   Regresar");

      if (botonmas == LOW){
        PolH = PolH + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PolH = PolH - 1;
        delay(200);
      }
      if (PolH > 24 || PolH < 0){
        PolH = 0;
      }
    break;
    case 3:
      display.print("Horas          ");display.println(PolH);
      display.print("Minutos       >");display.println(PolMin);
      display.print("Segundos       ");display.println(PolS);
      display.print("Mili S         ");display.println(PolmS);
      display.println("   Regresar");
      
      if (botonmas == LOW){
        PolMin = PolMin + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PolMin = PolMin - 1;
        delay(200);
      }
      if (PolMin > 60){ 
        PolMin = 0;
        PolH = PolH + 1;
      }
      if(PolMin < 0){
        PolMin = 0;
      }
      break;
    case 4:
      display.print("Horas          ");display.println(PolH);
      display.print("Minutos        ");display.println(PolMin);
      display.print("Segundos      >");display.println(PolS);
      display.print("Mili S         ");display.println(PolmS);
      display.println("   Regresar");
      
      if (botonmas == LOW){
        PolS = PolS + 1;
        delay(200);
      }
      if (botonmenos == LOW){
        PolS = PolS - 1;
        delay(200);
      }
      if (PolS > 60){ 
        PolS = 0;
        PolMin = PolMin + 1;
      }
      if(PolS < 0){
        PolS = 0;
      }
      break;
      case 5:
      display.print("Horas          ");display.println(PolH);
      display.print("Minutos        ");display.println(PolMin);
      display.print("Segundos       ");display.println(PolS);
      display.print("Mili S        >");display.println(PolmS);
      display.println("   Regresar");
      
      if (botonmas == LOW){
        PolmS = PolmS + 10;
        delay(200);
      }
      if (botonmenos == LOW){
        PolmS = PolmS - 10;
        delay(200);
      }
      if (PolmS >= 1000){ 
        PolmS = 0;
        PolS = PolS + 1;
      }
      if(PolmS < 0){
        PolmS = 0;
      }
      break;
      case 6:
      display.print("Horas          ");display.println(PolH);
      display.print("Minutos        ");display.println(PolMin);
      display.print("Segundos       ");display.println(PolS);
      display.print("Mili S         ");display.println(PolmS);
      display.println(" > Regresar");
      
      if (selecconfig3 == LOW){
        display.clearDisplay();
        display.setCursor(0, 20);
        display.println(":::::::::::::::::::::");
        display.println(" >>>  Saliendo...");
        display.println(":::::::::::::::::::::");
        menpal = 0;
        menconfig = 2;
        Polcon = 0;
        display.display();
        delay(2000);
        
      }
      break;
  }
  display.display();
  delay(20);
}