编写到arduino后，Unity程序冻结

Question

我对arduino和团结编程很新。然而，当我通过多路复用器在统一内构建这个控制多个触觉振动器的项目时，每次我调用写入Arduino函数时遇到这个统一问题（我设置writeTimeOut后超时）。有时，它适用于前两次调用writeToArduino但后来停止工作。我完全迷失了导致这个问题的原因，非常感谢帮助

Arduino的

#include <Wire.h>
#include <SoftwareSerial.h>
#include <SerialCommand.h>
#include <string.h>
#include "Adafruit_DRV2605.h"
#define TCAADDR 0x70

Adafruit_DRV2605 drv[7];
bool hapticOn = true;
uint32_t wait = 1.;
SerialCommand sCmd;
int input[] = {0, 0, 0, 0, 0, 0,0};
void tcaselect(uint8_t i) {
  if (i > 7) return;
 // Serial.println("tcaselect");
  Wire.beginTransmission(TCAADDR);
  Wire.write(1 << i);
  byte error = Wire.endTransmission();
  //S//erial.println(error);

}
void setup() {
  Serial.begin(9600);
  //while (!Serial);
  //Serial.println("DRV test");
 // Wire.begin();


  sCmd.addCommand("index", indexHandler);
  sCmd.addCommand("thumb", thumbHandler);
  sCmd.addCommand("middle", middleHandler);
  sCmd.addCommand("pinky", pinkyHandler);
  sCmd.addCommand("ring", ringHandler);
  sCmd.addCommand("palm", palmHandler);
  sCmd.addCommand("indexOff", indexOffHandler);
  sCmd.addCommand("thumbOff", thumbOffHandler);
  sCmd.addCommand("middleOff", middleOffHandler);
  sCmd.addCommand("pinkyOff", pinkyOffHandler);
  sCmd.addCommand("ringOff", ringOffHandler);
  sCmd.addCommand("palmOff", palmOffHandler);
  sCmd.addCommand("off", offHandler);
  sCmd.addCommand("ON", onHandler);



}
void indexHandler(const char *command) {
  hapticOn = true;
  //Serial.println("index activated");
  input[2] = 1;
}

void indexOffHandler(const char *command) {
    hapticOn = true;
  //Serial.println("index Deactivated");
  input[2] = 0;
}
void thumbHandler(const char *command) {
    hapticOn = true;
  //Serial.println("thumb activated");
  input[6] = 1;
}

void thumbOffHandler(const char *command) {
    hapticOn = true;
  //Serial.println("thumb Deactivated");
  input[6] = 0;
}
void palmHandler(const char *command) {
    hapticOn = true;
   //Serial.println("palm activated");
  input[0] = 1;
  input[5] = 1;
}

void palmOffHandler(const char *command) {
  input[0] = 0;
  input[5] = 0;
}

void middleHandler(const char *command) {
    hapticOn = true;
  input[3] = 1;
}

void middleOffHandler(const char *command) {
  input[3] = 0;
}
void pinkyHandler(const char *command) {
    hapticOn = true;
  input[1] = 1;
}

void pinkyOffHandler(const char *command) {
  input[1] = 0;
}
void ringHandler(const char *command) { 
  input[4] = 1;
}

void ringOffHandler(const char *command) { 
  input[4] = 0;
}
void offHandler(const char *command) {
    input[0] = 0;
    input[5] = 0;
}

void onHandler(const char *command) {
   input[0] = 0;
   input[5] = 0;
}

void loop() {
 //Serial.println("looping");
  if (Serial.available() > 0) {
    sCmd.readSerial();
      //Serial.read();
  }

    for (uint8_t j = 0; j <= 7; j++) { //For all the 8 ports
      if (input[j] == 1) {
        tcaselect(j);   // Selects only the ports which are available

        drv[j].setMode(DRV2605_MODE_INTTRIG); // default, internal trigger when sending GO command

        drv[j].selectLibrary(1);
        drv[j].setWaveform(0, 84);  // ramp up medium 1, see datasheet part 11.2
        drv[j].setWaveform(1, 1);  // strong click 100%, see datasheet part 11.2
        drv[j].setWaveform(2, 0);  // end of waveforms
        drv[j].go();
        //Serial.flush();
      }
    }

 }

Unity代码

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using System.IO.Ports;
using System.IO;
using System;

/** A class to facilitate the communication between Unity
 *  and the Arduino.
*/
public class ArduinoInterface : MonoBehaviour {

    public string port = "COM3";
    public int baudRate = 9600;

    private SerialPort stream;

    // Use this for initialization
    void Start () {
        stream = new SerialPort (port, baudRate);
        stream.ReadTimeout = 50;
        stream.WriteTimeout = 1000;

        stream.Open ();
    }

    // Writes a string to the Arduino. 
    public void WriteToArduino(string msg) {

        //
        //stream.DiscardOutBuffer();
        print ("Writing to Arduino: " + msg);
        try {
            if (stream.IsOpen) {
                //stream.Dispose ();
                //if (!stream.BaseStream.CanRead) print("can't read");
                stream.WriteLine (msg);

                //print ("this is the code");
                stream.BaseStream.Flush ();
            } else {
                //stream.Open();
                print("serial is not open");
            }
        } catch (Exception e) {
            stream.Close ();
            stream.Open ();
        }

    }
}