Question

编辑：最终解决方案：

看到最终的解决方案被隐藏在评论中，我会把它放在这里供未来的观众使用。

我的问题是我用来停止动作的信号包括“r”，也是停止命令（我以为我很聪明，结合我的“左”命令和“停止”命令）。 C ++（arduino）代码分别读取每个字符，因此完全停止信号，而不仅仅是我想要的信号。

谢谢你 dbasnett 以了解这一点：）

好的，大家好，这是我对这个最新项目的最后一个问题。简单来说，这个想法就是通过arduino制作一个控制遥控车的程序。有用！！！（只有一个小虫子）。

简单地说，我使用箭头键或WASD来控制程序。它通过串行端口向arduino发送信号，arduino中有一些函数用于解释信号。您总共可以发送9个信号;一个用于每个方向，一个用于停止每个方向输入（例如，左侧使车轮指向左侧，左侧向左侧指向车轮直线前方）。

问题是：当我向前（或反向）和向左（或向右）时，如果我改变DIRECTION（左/右），它会一起停止。我花了大部分时间都试图解决这个问题，我只是看不出我做错了什么。

所以，我的代码：

Imports System.IO.Ports
Imports System.IO
Imports System.Threading

Public Class Form1

    Shared _continue As Boolean
    Shared _serialPort As SerialPort
    Shared lturn As Boolean
    Shared rturn As Boolean
    Shared keydelay As Integer = 0

    Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load

        SerialPort1.PortName = "com3" 'change com port to match your Arduino port
        SerialPort1.BaudRate = 115200
        SerialPort1.DataBits = 8
        SerialPort1.Parity = Parity.None
        SerialPort1.StopBits = StopBits.One
        SerialPort1.Handshake = Handshake.None
        SerialPort1.Encoding = System.Text.Encoding.Default 'very important!

    End Sub

    Private Sub Form1_KeyDown(ByVal sender As System.Object, ByVal e As System.Windows.Forms.KeyEventArgs) Handles MyBase.KeyDown

        Dim bHandled As Boolean = False

        If SerialPort1.IsOpen Then
        Else
            SerialPort1.Open()
        End If

        Select Case e.KeyCode

            Case Keys.Right

                pbBgML.BackColor = Color.Transparent
                pbBgMR.BackColor = Color.Black
                SerialPort1.Write("d")

                e.Handled = True

            Case Keys.Left

                pbBgMR.BackColor = Color.Transparent
                pbBgML.BackColor = Color.Black
                SerialPort1.Write("a")

                e.Handled = True

            Case Keys.Up

                pbBgBC.BackColor = Color.Transparent
                pbBgTC.BackColor = Color.Black
                SerialPort1.Write("w")

                e.Handled = True

            Case Keys.Down

                pbBgTC.BackColor = Color.Transparent
                pbBgBC.BackColor = Color.Black
                SerialPort1.Write("s")

                e.Handled = True

            Case Keys.Space

                SerialPort1.Write("r")

                e.Handled = True

        End Select
    End Sub

    Private Sub Form1_KeyUp(ByVal sender As Object, ByVal e As KeyEventArgs) Handles Me.KeyUp

        Select Case e.KeyCode

            Case Keys.Right
                pbBgMR.BackColor = Color.Transparent
                SerialPort1.Write("dr")

            Case Keys.Left
                pbBgML.BackColor = Color.Transparent
                SerialPort1.Write("ar")

            Case Keys.Up
                pbBgTC.BackColor = Color.Transparent
                SerialPort1.Write("wr")

            Case Keys.Down
                pbBgBC.BackColor = Color.Transparent
                SerialPort1.Write("sr")

        End Select

    End Sub

End Class

另外，如果你想要它，arduino代码（用C ++编写）：

    // Car Control v. 0.2

int reversePin = 9;
int forwardPin = 8;
int leftPin = 10;
int rightPin = 11;

byte byteRead;
int time;

void forward(int time){
  digitalWrite(reversePin, HIGH);
  Serial.println("This is forward...");
  digitalWrite(forwardPin, LOW);
  delay(time);
}

void reverse(int time){
  digitalWrite(forwardPin, HIGH);
  Serial.println("This is reverse...");
  digitalWrite(reversePin, LOW);
  delay(time);
}

void left(int time){
  digitalWrite(rightPin, HIGH);
  Serial.println("This is left...");
  digitalWrite(leftPin, LOW);
  delay(time);
}

void right(int time){
  digitalWrite(leftPin, HIGH);
  Serial.println("This is right...");
  digitalWrite(rightPin, LOW);
  delay(time);
}

void off(){
  Serial.println("This is stop...");
  digitalWrite(leftPin, HIGH);
  digitalWrite(rightPin, HIGH);
  digitalWrite(reversePin, HIGH);
  digitalWrite(forwardPin, HIGH);
}

void setup() {
  // initialize the digital pins as an output.
  pinMode(rightPin, OUTPUT);
  pinMode(leftPin, OUTPUT);
  pinMode(forwardPin, OUTPUT);
  pinMode(reversePin, OUTPUT);

  Serial.begin(115200);
  Serial.print("\n\nStart...\n");
}

void loop() 
{
  //Turn everything off...
  if (Serial.available()) {
    /* read the most recent byte */
    byteRead = Serial.read();

    switch(byteRead)
   {
     case 'w':
     forward(5);
     break;

     case 'wr':
     digitalWrite(forwardPin, HIGH);
     break;

     case 's':
     reverse(5);
     break;

     case 'sr':
     digitalWrite(reversePin, HIGH);
     break;

     case 'a':
     left(5);
     break;

     case 'ar':
     digitalWrite(leftPin, HIGH);
     break;

     case 'd':
     right(5);
     break;   

     case 'dr':
     digitalWrite(rightPin, HIGH);
     break;

     case 'r':
     off();
     break;

    }
  }
}

对于巨大的文本块感到抱歉，但我根本不知道问题出在哪里。干杯。

Answer 1

我认为你的方法有点偏僻。

我建议您使用位字段来确定每个输入使用不同的位来按下哪个输入（因为每个输入实际上是独立的）。

Private _input As Integer = 0

Private Sub Form1_KeyDown(sender As Object, e As KeyEventArgs) Handles Me.KeyDown
    'set the bit of the required input
    Select Case e.KeyCode
        Case Keys.Right
            _input = SetBit(_input, 0) '0001
        Case Keys.Left
            _input = SetBit(_input, 1) '0010
        Case Keys.Up
            _input = SetBit(_input, 2) '0100
        Case Keys.Down
            _input = SetBit(_input, 3) '1000
    End Select
    SerialPort1.Write(Convert.ToChar(_input))
End Sub

Private Sub Form1_KeyUp(sender As Object, e As KeyEventArgs) Handles Me.KeyUp
    'clear the bit of the de-selected input
    Select Case e.KeyCode
        Case Keys.Right
            _input = ClearBit(_input, 0)
        Case Keys.Left
            _input = ClearBit(_input, 1)
        Case Keys.Up
            _input = ClearBit(_input, 2)
        Case Keys.Down
            _input = ClearBit(_input, 3)
    End Select
    SerialPort1.Write(Convert.ToChar(_input))
End Sub

Private Function SetBit(value As Integer, bit As Integer) As Integer
    ' Create a bitmask with the 2 to the nth power bit set:
    Dim mask As Integer = CInt(2 ^ bit)
    ' Set the nth Bit:
    value = value Or mask
    Return value
End Function

Private Function ClearBit(value As Integer, bit As Integer) As Integer
    ' Create a bitmask with the 2 to the nth power bit set:
    Dim mask As Integer = CInt(2 ^ bit)
    ' Clear the nth Bit:
    value = value And Not mask
    Return value
End Function

然后你需要在C ++代码中做相反的事情（这应该更加优雅）并检查无效的密钥组合（例如，一起向前和向后）

理想情况下，您希望将字节传递给串口而不是字符，但我试图尽可能保持相似

Answer 2

我无法使用C代码，但VB代码可以使用单个字节作为控件

<FlagsAttribute()> _
Enum ctrl As Byte
    stp = 0 'stop is no bits set
    frwd = 1 << 0 '1
    back = 1 << 1 '2
    left = 1 << 2 '4
    rght = 1 << 3 '8
    mask = 255
End Enum

Private _control(0) As ctrl

Private Sub Form1_KeyDown(sender As Object, e As KeyEventArgs) Handles Me.KeyDown
    Select Case e.KeyCode
        Case Keys.Right
            _control(0) = _control(0) Or ctrl.rght
        Case Keys.Left
            _control(0) = _control(0) Or ctrl.left
        Case Keys.Up
            _control(0) = _control(0) Or ctrl.frwd
        Case Keys.Down
            _control(0) = _control(0) Or ctrl.back
    End Select
    'SerialPort1.Write(_control, 0, 1)
    Debug.WriteLine(_control(0))
End Sub

Private Sub Form1_KeyUp(sender As Object, e As KeyEventArgs) Handles Me.KeyUp
    Select Case e.KeyCode
        Case Keys.Right
            _control(0) = _control(0) And (ctrl.mask Xor ctrl.rght)
        Case Keys.Left
            _control(0) = _control(0) And (ctrl.mask Xor ctrl.left)
        Case Keys.Up
            _control(0) = _control(0) And (ctrl.mask Xor ctrl.frwd)
        Case Keys.Down
            _control(0) = _control(0) And (ctrl.mask Xor ctrl.back)
    End Select
    'SerialPort1.Write(_control, 0, 1)
    Debug.WriteLine(_control(0))
End Sub

VB.NET：未知的KeyDown事件问题

2 个答案: