Question

我正在制作的程序应该控制一个连接到梯子的步进电机。我想要计算的变量告诉我梯子的百分比。当步进电机步进23400步时，梯子处于100％。

步进变量在我的ISR程序中递增，其中正在发送电机的步进信号。

这里可以看到ISR例程。

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由于变量@echo off :Main cls echo Press 1 or 2! choice /c 12 /N >nul if errorlevel 2 goto :Option2 if errorlevel 1 goto :Option1 ::::::::::::::::::::::::::: :Option2 cls echo You pressed the number 2! pause >nul goto :Main :::::::::::::::::::::::::::::::::::::: :Option1 cls echo You pressed the number 1! pause >nul goto :Main是静态变量，因此只能在ISR的范围内查看，这就是我将值存储在ISR(TIMER1_COMPA_vect) { // Holds next delay period. unsigned int new_first_step_delay; // Remember the last step delay used when accelrating. static int last_accel_delay; // Counting steps when moving. static unsigned int step_count = 0; // Keep track of remainder from new_step-delay calculation to incrase accurancy static unsigned int rest = 0; OCR1A = profile.first_step_delay; switch (profile.run_state) { case STOP: profile.moved_steps = step_count; // Stop the timer, No clock source break; case ACCEL: digitalWrite(step_pin,!digitalRead(step_pin)); step_count++; profile.accel_count++; // Do something // Chech if we should start decelration. if (step_count >= profile.decel_start) { profile.accel_count = profile.decel_length; profile.run_state = DECEL; } // Chech if we hitted max speed. else if (new_first_step_delay <= profile.min_time_delay) { last_accel_delay = new_first_step_delay; new_first_step_delay = profile.min_time_delay; rest = 0; profile.run_state = RUN; } break; case RUN: digitalWrite(step_pin,!digitalRead(step_pin)); step_count++; new_first_step_delay = profile.min_time_delay; // Do something if (step_count >= profile.decel_start) { profile.run_state = DECEL; } break; case DECEL: digitalWrite(step_pin,!digitalRead(step_pin)); step_count++; profile.accel_count++; // Do something if(profile.accel_count >= 0) { digitalWrite(en_pin,!digitalRead(en_pin)); profile.moved_steps = step_count; moved_to_position=true; profile.run_state = STOP; } break; } profile.first_step_delay = new_first_step_delay; if(moved_to_position==true) { moved_to_position = false; } }中的原因，这样我就可以在范围之外使用它;

step_count是struct profile.moved_steps = step_count的实例化，它被实例化为全局变量，可以在任何地方读取。

结构定义如下：

profile

speed_profile用于计算百分比，它会在此函数中的ros主题上不断发布。

typedef struct 
{
 volatile unsigned char run_state : 3; // Determining the state of the speed profile
 volatile unsigned char dir: 1; // Determining the direction the motor has to move - Start being CCW 
 volatile unsigned int first_step_delay; // Period time for the next timer_delay, determines the acceleration rate. 
 volatile unsigned int decel_start; //  Determines at which step the deceleration should begin. 
 volatile signed int decel_length; // Set the deceleration length
 volatile signed int min_time_delay; //minium time required time_delay for achieving the wanted speed.
 volatile signed int accel_count; // counter used when computing step_delay for acceleration/decelleration. 
 volatile unsigned int moved_steps; // Used by ros to publish current tipper position
 volatile unsigned int current_step_position; // contains the current step_position
 volatile unsigned int step_counter; //used for debug purpose

}speed_profile;

两个线程之间切换（一个global_state = state或false）。当一个ros节点向它所订阅的主题发送消息时，global_state的状态变为true，并且在电机移动之后，global_state将返回false状态并等待外部消息。

所以问题是我想要计算百分比

profile.moved_steps

似乎计算没有任何影响。它不断返回电机步进的步数而不是百分比？ - 我很不确定为什么会这样。

Answer 1

从我可以收集的调试信息中我怀疑第二次从未到达。

您可以通过在第一个和第二个while循环中从第一个和第二个发布调用/消息中发布两个不同（但常量）的值来确认/拒绝这一点。例如，整数1和2。

也许更好地发布global_state变量的值，看看你是否得到true。

status_step_count.data = global_state;
chatter.publish( &status_step_count);

为什么我不能计算百分比？

1 个答案: