Question

我正在与arduino合作开展一个项目。基本上我想要的是通过识别人的敲击模式来打开门，即只有当人的敲门声与存储在arduino中的敲门声相匹配时，门才会解锁。现在解锁门我正在使用伺服电机。我想只在人进入正确的爆震时运行电机，否则不运行。但是当我运行代码时，伺服电机在代码执行时开始运行而不等待正确的爆震。任何人都可以帮我解决我在代码中犯的错误。以下是代码：

const int knockSensor = 0;         // Piezo sensor on pin 0.
const int programSwitch = 2;       // If this is high we program a new code.        
const int lockMotor = 3;           // Gear motor used to turn the lock.
const int redLED = 4;              // Status LED
const int greenLED = 5;            // Status LED

// Tuning constants.  Could be made vars and hoooked to potentiometers for soft      configuration, etc.
const int threshold = 10;           // Minimum signal from the piezo to register as a      knock
const int rejectValue = 25;        // If an individual knock is off by this percentage  of a knock we don't unlock..
const int averageRejectValue = 15; // If the average timing of the knocks is off by this percent we don't unlock.
const int knockFadeTime = 150;     // milliseconds we allow a knock to fade before we  listen for another one. (Debounce timer.)
const int lockTurnTime = 500;      // milliseconds that we run the motor to get it to go a half turn.

const int maximumKnocks = 50;       // Maximum number of knocks to listen for.
const int knockComplete = 1200;     // Longest time to wait for a knock before we assume that it's finished.


// Variables.
 int secretCode[maximumKnocks] = {50, 25, 25, 50, 100, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,    0, 0, 0, 0};  // Initial setup: "Shave and a Hair Cut, two bits."
 int knockReadings[maximumKnocks];   // When someone knocks this array fills with delays  between knocks.
 int knockSensorValue = 0;           // Last reading of the knock sensor.
 int programButtonPressed = false;   // Flag so we remember the programming button setting at the end of the cycle.

#include <Servo.h>
Servo myservo;  // create servo object to control a servo 
            // a maximum of eight servo objects can be created 


int pos = 0; 
void setup() {
pinMode(lockMotor, OUTPUT);
pinMode(redLED, OUTPUT);
pinMode(greenLED, OUTPUT);
pinMode(programSwitch, INPUT);
myservo.attach(8);  // attaches the servo on pin 9 to the servo object 

Serial.begin(9600);                         // Uncomment the Serial.bla lines for debugging.
Serial.println("Program start.");           // but feel free to comment them out after it's working right.

digitalWrite(greenLED, HIGH);      // Green LED on, everything is go.
}

void loop() {
// Listen for any knock at all.
knockSensorValue = analogRead(knockSensor);

if (digitalRead(programSwitch)==HIGH){  // is the program button pressed?
programButtonPressed = true;          // Yes, so lets save that state
digitalWrite(redLED, HIGH);           // and turn on the red light too so we know we're programming.
} else {
programButtonPressed = false;
digitalWrite(redLED, LOW);
} 

if (knockSensorValue >=threshold){
listenToSecretKnock();
} 
 } 

// Records the timing of knocks.
void listenToSecretKnock(){
Serial.println("knock starting");   

int i = 0;
 // First lets reset the listening array.
for (i=0;i<maximumKnocks;i++){
knockReadings[i]=0;
} 

int currentKnockNumber=0;                   // Incrementer for the array.
int startTime=millis();                     // Reference for when this knock started.
int now=millis();

digitalWrite(greenLED, LOW);                // we blink the LED for a bit as a visual indicator of the knock.
if (programButtonPressed==true){
 digitalWrite(redLED, LOW);                         // and the red one too if we're programming a new knock.
}
delay(knockFadeTime);                                   // wait for this peak to fade before we listen to the next one.
digitalWrite(greenLED, HIGH);  
if (programButtonPressed==true){
 digitalWrite(redLED, HIGH);                        
}
do {
//listen for the next knock or wait for it to timeout. 
knockSensorValue = analogRead(knockSensor);
if (knockSensorValue >=threshold){                   //got another knock...
  //record the delay time.
  Serial.println("knock.");
  now=millis();
  knockReadings[currentKnockNumber] = now-startTime;
  currentKnockNumber ++;                             //increment the counter
  startTime=now;          
  // and reset our timer for the next knock
  digitalWrite(greenLED, LOW);  
  if (programButtonPressed==true){
    digitalWrite(redLED, LOW);                       // and the red one too if we're programming a new knock.
  }
  delay(knockFadeTime);                              // again, a little delay to let the knock decay.
  digitalWrite(greenLED, HIGH);
  if (programButtonPressed==true){
    digitalWrite(redLED, HIGH);                         
  }
  }

 now=millis();

//did we timeout or run out of knocks?
} while ((now-startTime < knockComplete) && (currentKnockNumber < maximumKnocks));

 //we've got our knock recorded, lets see if it's valid
if (programButtonPressed==false){             // only if we're not in progrmaing mode.
 if (validateKnock() == true){
  triggerDoorUnlock(); 
 } else {
  Serial.println("Secret knock failed.");
  digitalWrite(greenLED, LOW);          // We didn't unlock, so blink the red LED as visual feedback.
  for (i=0;i<4;i++){                    
    digitalWrite(redLED, HIGH);
    delay(100);
    digitalWrite(redLED, LOW);
    delay(100);
  }
  digitalWrite(greenLED, HIGH);
  }
  } else { // if we're in programming mode we still validate the lock, we just don't do anything with the lock
validateKnock();
// and we blink the green and red alternately to show that program is complete.
 Serial.println("New lock stored.");
 digitalWrite(redLED, LOW);
 digitalWrite(greenLED, HIGH);
 for (i=0;i<3;i++){
  delay(100);
  digitalWrite(redLED, HIGH);
  digitalWrite(greenLED, LOW);
  delay(100);
  digitalWrite(redLED, LOW);
  digitalWrite(greenLED, HIGH);      
  }
   }
     }


 // Runs the motor (or whatever) to unlock the door.
 void triggerDoorUnlock(){
 Serial.println("Door unlocked!");
  int i=0;

 // turn the motor on for a bit.
  for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees 
 {                                  // in steps of 1 degree 
  myservo.write(pos);              // tell servo to go to position in variable 'pos' 
  delay (5000);                    // Wait a bit.

  }  

 digitalWrite(greenLED, HIGH);            // And the green LED too.


 for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees 
 {                                
 myservo.write(pos);              // tell servo to go to position in variable 'pos' 
 delay(5000);                       // waits 15ms for the servo to reach the position 
 }            // Turn the motor off.

  // Blink the green LED a few times for more visual feedback.
  for (i=0; i < 5; i++){   
  digitalWrite(greenLED, LOW);
  delay(100);
  digitalWrite(greenLED, HIGH);
  delay(100);
   }

   }

Answer 1

不熟悉Arduino，我不能肯定你是否遗漏了API的任何特定内容，但我认为可以将电压应用于伺服的唯一方法是敲击验证是否返回为true，或伺服对象未正确设置。

documentation for servos建议相当简单的设置。

我还要验证validateKnock（）方法并确保它并不总是返回true - 也许可以通过一些示例代码手动执行它。我发现你的validateKnock方法没有发布，所以如果问题出现就无法说明为什么它可能不起作用。

一旦将物体绑定到引脚上，您确定电压没有施加到伺服电压上吗？伺服对象是否有一些你忘记在init上设置的属性？

Answer 2

将0度改为1度，将180度改为179度。它应该阻止它运行。如果你使用180度伺服。它无法达到最小/最大限制。

Answer 3

您是否尝试过校准压电传感器？因为，大多数arduino电路板使用10位ADC意味着1024个电压范围（0-5000mV），并查看您的代码，看起来您在电平超过10（即大约50 mV）时激活传感器有助于传感器的灵敏度，这也意味着除非使用经过适当校准的压电传感器，否则任何小噪声都会被记录下来。此外，您需要显示validateKnock代码，以帮助我们帮助您...

通过敲击控制伺服电机

3 个答案: