对于我们的移动镜子项目，我们使用6个超声波传感器来旋转镜子所在的伺服电机。
我们的理念是，如果一个传感器检测到他们前面的某个人/某物，那么他们就会远离那个人。虽然我似乎无法拒绝它。
我使用过“NewPing”库，可以在https://code.google.com/p/arduino-new-ping/看到，我使用了15传感器示例（https://code.google.com/p/arduino-new-ping/wiki/15_Sensors_Example）
这是正确的编码方式还是应该从头开始并使用其他方法？
提前致谢！
守则：
// ---------------------------------------------------------------------------
// This example code was used to successfully communicate with 15 ultrasonic sensors. You can adjust
// the number of sensors in your project by changing SONAR_NUM and the number of NewPing objects in the
// "sonar" array. You also need to change the pins for each sensor for the NewPing objects. Each sensor
// is pinged at 33ms intervals. So, one cycle of all sensors takes 495ms (33 * 15 = 495ms). The results
// are sent to the "oneSensorCycle" function which currently just displays the distance data. Your project
// would normally process the sensor results in this function (for example, decide if a robot needs to
// turn and call the turn function). Keep in mind this example is event-driven. Your complete sketch needs
// to be written so there's no "delay" commands and the loop() cycles at faster than a 33ms rate. If other
// processes take longer than 33ms, you'll need to increase PING_INTERVAL so it doesn't get behind.
// ---------------------------------------------------------------------------
// Sketch of 6 sensors with servo
// ---------------------------------------------------------------------------
// | \ | | / |
// | ----------- ----------- ----------- ----------- |
// | |Sensor 2 | |Sensor 3 | |Sensor 4 | |Sensor 5 | |
// | \ ----------- ----------- ----------- ----------- |
// | \ / |
// | ----------- ----------- |
// | |Sensor 1 | |Sensor 6 | |
// | ----------- ----------- ----------- |
// | | Servo | |
// | ----------- |
// | |
// | if Sensor 1 measures someone close the Servo should turn away from |
// | Sensor 1 |
// ---------------------------------------------------------------------------
#include <NewPing.h>
#include <Servo.h>
Servo myservo;
#define SONAR_NUM 6 // Number or sensors.
#define MAX_DISTANCE 200 // Maximum distance (in cm) to ping.
#define PING_INTERVAL 33 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo).
unsigned long pingTimer[SONAR_NUM]; // Holds the times when the next ping should happen for each sensor.
unsigned int cm[SONAR_NUM]; // Where the ping distances are stored.
uint8_t currentSensor = 0; // Keeps track of which sensor is active.
int val; // The number which makes the Servomotor rotate
NewPing sonar[SONAR_NUM] = { // Sensor object array.
NewPing(1, 2, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping.
NewPing(3, 4, MAX_DISTANCE),
NewPing(5, 6, MAX_DISTANCE),
NewPing(7, 8, MAX_DISTANCE),
NewPing(9, 10, MAX_DISTANCE),
NewPing(11, 12, MAX_DISTANCE)
};
void setup() {
Serial.begin(115200);
pingTimer[0] = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting.
for (uint8_t i = 1; i < SONAR_NUM; i++) // Set the starting time for each sensor.
pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL;
}
void loop() {
for (uint8_t i = 0; i < SONAR_NUM; i++) { // Loop through all the sensors.
if (millis() >= pingTimer[i]) { // Is it this sensor's time to ping?
pingTimer[i] += PING_INTERVAL * SONAR_NUM; // Set next time this sensor will be pinged.
if (i == 0 && currentSensor == SONAR_NUM - 1) oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
sonar[currentSensor].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
currentSensor = i; // Sensor being accessed.
cm[currentSensor] = 0; // Make distance zero in case there's no ping echo for this sensor.
sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
}
}
// -------------- BEGIN SELFMADE CODE -----------------------
if(cm[1] <= 30) {
val = 60;
}
if(cm[2] <= 30) {
val = 100;
}
if(cm[3] <= 30) {
val = 140;
}
if(cm[4] <= 30) {
val = 120;
}
if(cm[5] <= 30) {
val = 80;
}
if(cm[6] <= 30) {
val = 40;
}
myservo.write(val);
// -------------- END SELFMADE CODE --------------------
}
void echoCheck() { // If ping received, set the sensor distance to array.
if (sonar[currentSensor].check_timer())
cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;
}
void oneSensorCycle() { // Sensor ping cycle complete, do something with the results.
for (uint8_t i = 0; i < SONAR_NUM; i++) {
Serial.print(i);
Serial.print("=");
Serial.print(cm[i]);
Serial.print("cm ");
}
Serial.println();
}
答案 0 :(得分：0)
这就是我构建代码的方式。
我刚将自制零件移动到 oneSensorCycle（）中。我不喜欢它使用地球仪的方式，但它仍然看起来很干净。
#include <NewPing.h>
#include <Servo.h>
Servo myservo;
#define SONAR_NUM 6 // Number or sensors.
#define MAX_DISTANCE 200 // Maximum distance (in cm) to ping.
#define PING_INTERVAL 33 // Milliseconds between sensor pings (29ms is about the min to avoid cross-sensor echo).
unsigned long pingTimer[SONAR_NUM]; // Holds the times when the next ping should happen for each sensor.
unsigned int cm[SONAR_NUM]; // Where the ping distances are stored.
uint8_t currentSensor = 0; // Keeps track of which sensor is active.
//int val; // The number which makes the Servomotor rotate
NewPing sonar[SONAR_NUM] = { // Sensor object array.
NewPing(1, 2, MAX_DISTANCE), // Each sensor's trigger pin, echo pin, and max distance to ping.
NewPing(3, 4, MAX_DISTANCE),
NewPing(5, 6, MAX_DISTANCE),
NewPing(7, 8, MAX_DISTANCE),
NewPing(9, 10, MAX_DISTANCE),
NewPing(11, 12, MAX_DISTANCE)
};
void setup() {
Serial.begin(115200);
pingTimer[0] = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting.
for (uint8_t i = 1; i < SONAR_NUM; i++) // Set the starting time for each sensor.
pingTimer[i] = pingTimer[i - 1] + PING_INTERVAL;
}
void loop() {
for (uint8_t i = 0; i < SONAR_NUM; i++) { // Loop through all the sensors.
if (millis() >= pingTimer[i]) { // Is it this sensor's time to ping?
pingTimer[i] += PING_INTERVAL * SONAR_NUM; // Set next time this sensor will be pinged.
if (i == 0 && currentSensor == SONAR_NUM - 1) oneSensorCycle(); // Sensor ping cycle complete, do something with the results.
sonar[currentSensor].timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
currentSensor = i; // Sensor being accessed.
cm[currentSensor] = 0; // Make distance zero in case there's no ping echo for this sensor.
sonar[currentSensor].ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
}
}
}
void echoCheck() { // If ping received, set the sensor distance to array.
if (sonar[currentSensor].check_timer())
cm[currentSensor] = sonar[currentSensor].ping_result / US_ROUNDTRIP_CM;
}
void oneSensorCycle() { // Sensor ping cycle complete, do something with the results.
int val =0;
for (uint8_t i = 0; i < SONAR_NUM; i++) {
Serial.print(i);
Serial.print("=");
Serial.print(cm[i]);
Serial.print("cm ");
// -------------- BEGIN SELFMADE CODE -----------------------
if(cm[0] <= 30) {
val = 60;
}
if(cm[1] <= 30) {
val = 100;
}
if(cm[2] <= 30) {
val = 140;
}
if(cm[3] <= 30) {
val = 120;
}
if(cm[4] <= 30) {
val = 80;
}
if(cm[5] <= 30) {
val = 40;
}
myservo.write(val);
// -------------- END SELFMADE CODE -----------------------
}
Serial.println();
}