我的C＃代码向arduino发送信号，伺服电机开始运行，但是当我运行代码时，arduino没有响应，伺服电机无法启动。如果我在arduino IDE中使用串行监视器，则arduino和伺服电机可以完美地工作。怎么了？
这是我的代码：
string dir = " ";
string distance;
string result = " ";
string port1 = "COM12";
int baudRatePort1 = 9600;
SerialPort arduino1 = new SerialPort(port1, baudRatePort1);
string port2 = "COM8";
int baudRatePort2 = 115200;
SerialPort arduino2 = new SerialPort(port2, baudRatePort2);
Console.WriteLine("Enter Direction:\n");
dir = Console.ReadLine();
if (dir == "S")
{
Console.WriteLine("Enter Distance:\n");
distance = Console.ReadLine();
arduino2.Open();
if (arduino2.IsOpen)
{
try
{
arduino2.WriteLine(distance.ToString());
result = arduino2.ReadLine();
string[] words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
arduino1.Open();
if (arduino1.IsOpen)
{
try
{
arduino1.WriteLine("S");
}
catch (Exception e)
{
Console.WriteLine("Arduino connecting Servo is in problem");
}
}
while (result != distance)
{
if (result != "ON")
{
result = arduino2.ReadLine();
Console.WriteLine(result);
words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
result = arduino1.ReadLine();
Console.WriteLine(result);
}
else
{
Console.WriteLine("Please Excuse Me!");
}
}
arduino1.WriteLine("P");
arduino1.Close();
arduino2.Close();
Console.WriteLine("Finish");
}
catch (Exception e)
{
Console.WriteLine("Arduino connecting LRF is in problem does not open");
}
}
}
else if(dir == "R")
{
arduino1.Open();
if(arduino1.IsOpen)
{
try
{
arduino1.WriteLine("R");
result = arduino1.ReadLine();
string[] words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
while (result != "F")
{
result = arduino1.ReadLine();
words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
}
arduino1.WriteLine("P");
arduino1.Close();
Console.WriteLine("Finish");
}
catch(Exception e)
{
Console.WriteLine("Problem in arduino connecting servo");
}
}
}
else if (dir == "L")
{
arduino1.Open();
if (arduino1.IsOpen)
{
try
{
arduino1.WriteLine("L");
result = arduino1.ReadLine();
string[] words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
while (result != "F")
{
result = arduino1.ReadLine();
words = result.Split('\r');
foreach (string word in words)
{
result = word;
break;
}
}
arduino1.WriteLine("P");
arduino1.Close();
Console.WriteLine("Finish");
}
catch (Exception e)
{
Console.WriteLine("Problem in arduino connecting servo");
}
}
}
端口2用于激光测距仪，可以很好地工作。
对于port1中的arduino代码：
#include <Servo.h>
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
Servo servoLeft;
Servo servoRight;
unsigned long timer = 0;
float timeStep = 0.01;
//Pitch, Roll, Yaw values
float yaw = 0;
char dir; //direction to be travelled
int hold = 0;
int gyroVal = 0;
void setup()
{
Serial.begin(9600);
servoRight.attach(9); //BLUE SERVO
servoLeft.attach(8); //YELLOW SERVO
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(3);
}
void loop()
{
timer = millis();
int gyroYaw = readGyro();
//Serial.println(dir);
while(Serial.available()>0)
{
dir = Serial.read();
}
Stop();
Serial.println(dir);
if(dir == 'S')
{
// Serial.print(gyroYaw);
//Serial.print (hold);
// Serial.println();
//delay(1000);
if(gyroYaw >= 1)
{
adjustToRight();
// Serial.println("Adjust Right");
// Serial.print (hold);
//Serial.println();
//delay(1000);
//Forward();
/*if(gyroYaw=1)
{
hold = 1;
}
else if(gyroYaw<=-0)
{
hold = 2;
}
else
{
hold = 0;
}*/
}
else if(gyroYaw<=-1)
{
//Serial.println("Adjust Left");
adjustToLeft();
}
else
{
//Serial.println("forward");
Forward();
}
/* if(hold = 1)
{
Serial.print(gyroYaw);
Serial.print (hold);
Serial.println();
delay(1000);
//adjustToLeft();
if(gyroYaw == 0)
{
hold = 0;
}
}
if(hold = 2)
{
Serial.print(gyroYaw);
Serial.print (hold);
Serial.println();
delay(1000);
// adjustToRight();
if(gyroYaw == 0)
{
hold = 0;
}
}*/
}
else if(dir == 'R')
{
TurnRight();
}
else if(dir == 'L')
{
TurnLeft();
}
else
{
Stop();
}
}
void Stop()
{
servoRight.write(0);
servoLeft.write(0);
}
void Forward()
{
servoRight.write(50);
servoLeft.write(96.9);
}
void TurnRight()
{
servoLeft.write(170);
servoRight.write(180);
delay(2200);
Stop();
Serial.println("F");
}
void TurnLeft()
{
servoLeft.write(80);
servoRight.write(30);
delay(2200);
Stop();
Serial.println("F");
}
void adjustToRight()
{
servoRight.write(100);
servoLeft.write(100);
//delay(1500);
}
void adjustToLeft()
{
servoRight.write(50);
servoLeft.write(70);
}
int readGyro()
{
// Read normalized values
Vector norm = mpu.readNormalizeGyro();
// Calculate Pitch, Roll and Yaw
yaw = yaw + norm.ZAxis * timeStep;
//Serial.println(yaw);
// Wait to full timeStep period
delay((timeStep*1000) - (millis() - timer));
return ((int)yaw);
}
谢谢！
答案 0 :(得分：2)
如果我们将代码分解为Arduino和C＃之间的简单双向通信问题，我认为回答您的问题会更容易。
为了在Arduino和C＃之间进行稳定的通信，有几个可用的库，这简化了通信，例如SolidSoils4Arduino和CmdMessenger，还有其他全面的示例。此外，stackoverflow上已经存在一些类似的问题（例如Recieve and send data from arduino to c# and vice versa）。
我希望这有助于您检查和改进代码并集成电机控制。
答案 1 :(得分：0)
您发送的utf16字符串以\ r \ n - ＆gt;结尾所以你要发送4个字节的数据。 在arduino网站上，你在while循环中读取数据，只取最后一个字节。所以你总是在阅读\ n