是否有一种简单的方法可以修改以下代码，以便我可以用另一个输入中断case'0'。我很确定它与millis（）有关，但我看到的例子看起来太复杂了。我对编码很新，所以任何帮助都会很棒！谢谢。 ：）
#include <Servo.h>
Servo myservo; // create servo object to control a servo
void setup()
{
myservo.attach(9); // attaches the servo on pin 9 to the servo object
Serial.begin(9600); //begins serial communication
}
void loop()
{
int pos;
if (Serial.available()){
delay(100);
while(Serial.available()>0){
pos=Serial.read(); //reads the value sent from Visual Basic
if(pos=='0'){
myservo.write(45); // Turn Servo Left to 45 degrees
delay(1000);
// Wait 1 second
myservo.write(0); // Turn Servo Left to 0 degrees
delay(1000); // Wait 1 second
myservo.write(90); // Turn Servo back to center position (90 degrees)
delay(2000); // Wait 2 second
myservo.write(135); // Turn Servo Right to 135 degrees
delay(1000); // Wait 1 second
myservo.write(180); // Turn Servo Right to 180 degrees
delay(4000); // Wait 4 second
myservo.write(90); // Turn Servo back to center position (90 degrees)
delay(1000);} // Wait 1 second
else if(pos=='1')
myservo.write(-90); //rotates the servo 90 degrees (right)
else if(pos=='2')
myservo.write(180); //rotates the servo 180 degrees (Left)
else if(pos=='3')
myservo.write(-180); //rotates the servo 180 degrees (right)
}
}
}
答案 0 :(得分：0)
您可以创建两个新变量int servoStep;＆amp;循环外int timer。然后创建一个用于控制伺服的新函数，而不是使用delay（），你可以像这样使用millis（）。
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int servoStep; // variable to hold witch step is pending
int timer; // variable to hold time since last step
void setup()
{
myservo.attach(9); // attaches the servo on pin 9 to the servo object
Serial.begin(9600); //begins serial communication
}
void loop()
{
int pos;
if (Serial.available()){
delay(100);
while(Serial.available()>0){
pos=Serial.read(); //reads the value sent from Visual Basic
if(pos=='0'){
servoStep = 1;
}
else if(pos=='1') {
servoStep = 0;
myservo.write(-90); //rotates the servo 90 degrees (right)
}
else if(pos=='2') {
servoStep = 0;
myservo.write(180); //rotates the servo 180 degrees (Left)
}
else if(pos=='3') {
servoStep = 0;
myservo.write(-180); //rotates the servo 180 degrees (right)
}
}
}
if(servoStep != 0) {
servoControle(servoStep);
}
}
void servoControle(int v) {
switch (v) {
case 1:
timer = millis();
myservo.write(45);
servoStep++;
break;
case 2:
if(timer+1000 <= millis()) {
myservo.write(0);
servoStep++;
timer = millis();
}
break;
case 3:
if(timer+1000 <= millis()) {
myservo.write(90);
servoStep++;
timer = millis();
}
break;
case 4:
if(timer+2000 <= millis()) {
myservo.write(135);
servoStep++;
timer = millis();
}
break;
case 5:
if(timer+1000 <= millis()) {
myservo.write(180);
servoStep++;
timer = millis();
}
break;
case 6:
if(timer+4000 <= millis()) {
myservo.write(90);
servoStep = 0;
}
break;
}
}
使用millis()会让草图继续在需要延迟的地方运行。
我没有测试过，所以让我知道它是否有效。
这是实现伺服速度的相同代码。
#include <Servo.h>
Servo myservo; // create servo object to control a servo
int servoStep;
int stepActive;
int timer;
int speedTimer;
void setup()
{
myservo.attach(9); // attaches the servo on pin 9 to the servo object
Serial.begin(9600); //begins serial communication
speedTimer = millis();
}
void loop()
{
int pos;
if (Serial.available()){
delay(100);
while(Serial.available()>0){
pos=Serial.read(); //reads the value sent from Visual Basic
if(pos=='0'){
servoStep = 1;
Serial.println("0");
}
else if(pos=='1') {
servoStep = 0;
myservo.write(-90); //rotates the servo 90 degrees (right)
Serial.println("1");
}
else if(pos=='2') {
servoStep = 0;
myservo.write(180); //rotates the servo 180 degrees (Left)
Serial.println("2");
}
else if(pos=='3') {
servoStep = 0;
myservo.write(-180); //rotates the servo 180 degrees (right)
Serial.println("3");
}
}
}
if(servoStep != 0) {
servoControle(servoStep);
}
}
void servoControle(int v) {
switch (v) {
case 1:
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 45) == 1) { // calls the function with these parameters delay=20, new position=45
servoStep++; // and cheks if it is done
stepActive = 0;
}
break;
case 2:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 0) == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 3:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 90) == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 4:
if(timer+2000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 135) == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 5:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 180) == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 6:
if(timer+4000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 90) == 1) {
servoStep = 0;
stepActive = 0;
}
}
break;
}
}
int speedControle(int dly, int pos) { // function that needs delay and new position
int currentPos = myservo.read(); // reads last position
if(speedTimer+dly <= millis()) { // manages the delay
if(currentPos > pos) { // chek if new position is clockwise og not
myservo.write(currentPos-1); // moves servo one degree
speedTimer = millis();
} else if(currentPos < pos) {
myservo.write(currentPos+1);
speedTimer = millis();
} else if(currentPos == pos) { // cheks if function is completed
return 1;
}
}
}
如果您需要帮助，请理解您欢迎提出的代码。这个想法是让你自己学习这样做。 ;）
答案 1 :(得分：0)
代码应如下所示：
#include <Servo.h>
Servo myservo[3]; // create servo object to control 3 servos
int servoStep;
int stepActive;
int timer;
int speedTimer;`
void setup()
{
myservo[0].attach(9); // attaches servo 1 on pin 9 to the servo object
myservo[1].attach(10); // attaches servo 2 on pin 10 to the servo object
myservo[2].attach(11); // attaches servo 3 on pin 11 to the servo object
//...ect
Serial.begin(9600); //begins serial communication
speedTimer = millis();
}
void loop()
{
int pos;
if (Serial.available()){
delay(100);
while(Serial.available()>0){
pos=Serial.read(); //reads the value sent from Visual Basic
if(pos=='0'){
servoStep = 1;
Serial.println("0");
}
else if(pos=='1') {
servoStep = 0;
myservo[1].write(-90); //rotates the servo 90 degrees (right)
Serial.println("1");
}
else if(pos=='2') {
servoStep = 0;
myservo[1].write(180); //rotates the servo 180 degrees (Left)
Serial.println("2");
}
else if(pos=='3') {
servoStep = 0;
myservo[1].write(-180); //rotates the servo 180 degrees (right)
Serial.println("3");
}
}
}
if(servoStep != 0) {
servoControle(servoStep);
}
}
void servoControle(int v) {
switch (v) {
case 1:
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 45, 0) == 1) { // calls the function with these parameters delay=20, new position=45, servo=0(really 1)
servoStep++; // and cheks if it is done
stepActive = 0;
}
break;
case 2:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 0, "The servo you want to controle fx. 1") == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 3:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 90, "The servo you want to controle fx. 1") == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 4:
if(timer+2000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 135, "The servo you want to controle fx. 1") == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 5:
if(timer+1000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 180, "The servo you want to controle fx. 1") == 1) {
servoStep++;
stepActive = 0;
}
}
break;
case 6:
if(timer+4000 <= millis()) {
if(stepActive == 0) {
timer = millis();
stepActive = 1;
}
if(speedControle(20, 90, "The servo you want to controle fx. 1") == 1) {
servoStep = 0;
stepActive = 0;
}
}
break;
}
}
int speedControle(int dly, int pos, int servo) { // function that needs delay and new position
int currentPos = myservo[servo].read(); // reads last position
if(speedTimer+dly <= millis()) { // manages the delay
if(currentPos > pos) { // chek if new position is clockwise og not
myservo[servo].write(currentPos-1); // moves servo one degree
speedTimer = millis();
} else if(currentPos < pos) {
myservo[servo].write(currentPos+1);
speedTimer = millis();
} else if(currentPos == pos) { // cheks if function is completed
return 1;
}
}
}
Haven没有测试它..