如何将此代码改进为Arduino IDE以更有效地执行差分转向？转向不能平稳地转动我的机器人。它转得太慢或太快。
这是我的代码：
#define BLYNK_PRINT Serial // Prints to serial
#include <ESP8266WiFi.h> //Calls Blynk ESP8266 Wifi Libary
#include <BlynkSimpleEsp8266.h>//Calls Blynk ESP8266 Library
//Variables are declared at this point before void setup to make variables public and thus accessible throughout the entire code if needed.
int motorA ; //Variables for motor speed.
int motorB ; //Variables for motor speed.
int X=0; //Variable to recieve horizontal analog stick movement data.
int Y=0; //Variable to recieve vertical analog stick movement data.
int factor=0; //Decreases the speed of one motor to increase the differential between the two and thus provide differential steering or a steering wheel like control.
int maximo=0; //Limits the speed based on a slider widget within the Blynk App.
// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
char auth[] = "authentication code for blynk";
void setup()
{
// Set console baud rate
Serial.begin(9600);
Blynk.begin(auth,"WifiName","WifiPassword"); // Signs into home wifi.
pinMode(motorA, OUTPUT); //sets any pin used for motorA as output since pins may be inputs by default.
pinMode(motorB, OUTPUT); //sets any pin used for motorB as output since pins may be inputs by default.
pinMode(0,OUTPUT); //sets pin 0 to output since pins may be inputs by default.
pinMode(2,OUTPUT); //sets pin 2 to output since pins may be inputs by default.
}
BLYNK_WRITE(V1) //Vertual pin used with 2-axis joystick in merge mode to control robot movement.
{
int X1 = param[0].asInt();// Variable to recieve input from parameter 0 position array within V1 that tracks horizontal movement.
X=X1;
int Y1 = param[1].asInt();// Variable to recieve input from parameter 1 position array within V1 that tracks vertical movement.
Y=Y1;
}
BLYNK_WRITE(V0)//Virtual pin used with maximo variable to limit upper boundary or top end of speed.
{
int vel = param.asInt();
maximo=vel;
}
void loop()
{
if(X == 128 && Y == 128) // Writes 0 to all motor pins to Stop vehicle when joystick is in centered x and y position or neutral.
{
motorA = 0;
motorB = 0;
analogWrite(5, motorA);
analogWrite(4, motorA);
analogWrite(0, motorB);
analogWrite(2, motorB);
}
if(X > 123 && X < 132 && Y >= 129) //Forward
{
motorA = Y;
motorB = Y;
motorA = map(motorA, 129,255 , 450,maximo);
analogWrite(5, motorA);
digitalWrite(0,LOW);
motorB = map(motorB, 129,255 , 450,maximo);
analogWrite(4, motorB);
digitalWrite(2,HIGH);
}
else if(X > 123 && X < 132 && Y <= 127) //Reverse
{
motorA = Y;
motorB = Y;
motorA = map(motorA, 127,0 , 450,maximo);
analogWrite(5, motorA);
digitalWrite(0,HIGH);
motorB = map(motorB, 127,0 , 450,maximo);//something is wrong with HIGH signal
analogWrite(4, motorB);
digitalWrite(2,LOW);
}
else if(Y > 123 && Y < 132 && X <= 127) //Left
{
motorA = X;
motorB = X;
motorA = map(motorA, 127,0 , 450,maximo);
analogWrite(5, motorA);
digitalWrite(0,HIGH);
motorB = map(motorB, 127,0 , 450,maximo);//something is wrong with HIGH signal
analogWrite(4, motorB);
digitalWrite(2,HIGH);
}
else if(Y > 123 && Y < 132 && X >= 127) //Right
{
motorA = X;
motorB = X;
motorA = map(motorA, 129,255 , 450,maximo);
analogWrite(5, motorA);
digitalWrite(0,LOW);
motorB = map(motorB, 129,255 , 450,maximo);//something is wrong with HIGH signal
analogWrite(4, motorB);
digitalWrite(2,LOW);
}
else if(X >= 129 && Y >= 129) //Forward Right Steering
{
motorA = Y;
motorB = Y;
factor = X;
factor= map(factor,129,255, 0,200);
motorA = map(motorA, 129,255 , 450,maximo);
analogWrite(5, motorA);
digitalWrite(0,LOW);
motorB = map(motorB, 129,255 , 450,maximo);
analogWrite(4, (motorB-factor));
digitalWrite(2,HIGH);
}
else if(X <= 127 && Y >=129) //Forward Left Steering
{
motorA = Y;
motorB = Y;
factor = X;
factor= map(factor,127,0, 0,150);
motorA = map(motorA, 129,255 , 450,maximo);
analogWrite(5, (motorA-factor));
digitalWrite(0,LOW);
motorB = map(motorB, 129,255 , 450,maximo);
analogWrite(4, motorB);
digitalWrite(2,HIGH);
}
Blynk.run();
}
唯一的问题是我需要在motorA和motorB上分别获得和增加和减少的数学运算，这也与在X轴上向左或向右移动的距离成正比。
是否有其他人在Arduino IDE中有更多的滑动转向经验，可以帮助提供解决方案？
答案 0 :(得分：1)
这让我感到困惑：
pinMode(motorA, OUTPUT); //sets any pin used for motorA as output since pins may be inputs by default.
pinMode(motorB, OUTPUT); //sets any pin used for motorB as output since pins may be inputs by default.
在此处使用之前，您从未初始化motorA和motorB，但稍后在循环（）中使用它们来存储值并将其数字写出。以上代码应该是吗？：
pinMode(5,OUTPUT);
pinMode(4,OUTPUT);
然后;在我看来，你以128为中心。如果是这样，为什么使用123和132作为安全界限？ 123是远离128的5个值，132是4个值。虽然很小但仍然不正确，我想。不应该是123和133，或124和132？
现在我认为可能导致你的问题;在循环（）中的最后两个ifs（前向右转向和前向左转向）中，您将X与127和129进行比较，但这两个值仍然在您的安全X轴区域中，因此这两个ifs将不会生效直到X在安全区域（123-132）之外，因此我相信当它超出安全区域并因此进入那些ifs时他们突然有更多的工作量。
向右旋转X >= 127应为X >= 129。
同样在向右旋转和向左旋转时，您对motorA和motorB执行相同的map。我认为一个应该与另一个相反。