我想通过PC控制两个伺服器,使用鼠标x-y坐标。光标的x-y坐标发送到串行端口:
对于arduino部分,我得到6个字符串并将其分成2部分。然后将这些部分转换为整数值并发送到arduino引脚以设置伺服位置:
#include <Servo.h>
String readString, servo1, servo2;
Servo myservo1; // create servo object to control a servo
Servo myservo2;
void setup() {
Serial.begin(9600);
myservo1.attach(6); //the pin for the servo control
myservo2.attach(7);
}
void loop() {}
void serialEvent() {
while (Serial.available()) {
delay(2);
if (Serial.available() >0) {
char c = Serial.read(); //gets one byte from serial buffer
readString += c; //makes the string readString
}
}
if (readString.length() >0) {
Serial.println(readString); //see what was received
// expect a string like 07002100 containing the two servo positions
servo1 = readString.substring(0, 3); //get the first three characters
servo2 = readString.substring(3, 6); //get the next three characters
Serial.println(servo1); //print ot serial monitor to see results
Serial.println(servo2);
int n1; //declare as number
int n2;
char carray1[6]; //magic needed to convert string to a number
servo1.toCharArray(carray1, sizeof(carray1));
n1 = atoi(carray1);
char carray2[6];
servo2.toCharArray(carray2, sizeof(carray2));
n2 = atoi(carray2);
myservo1.write(n1); //set servo position
myservo2.write(n2);
readString="";
}
}
但是,代码非常慢。我需要非常缓慢地移动鼠标以使伺服器移动。从50度到170度的瞬间移动需要1秒才能移动伺服。在这种情况下,你能提供更好的选择来控制两个伺服系统吗?
只控制一个伺服系统,它可以立即移动伺服,没有任何滞后:
#include <Servo.h>
Servo x;
int xval;
void setup() {
Serial.begin(9600);
x.attach(9);
}
void loop() {
}
void serialEvent() {
xval = Serial.parseInt();
if(xval!=0) {
x.write(xval);
}
}
C#中的代码:
public partial class Form1 : Form
{
SerialPort port;
public Form1()
{
InitializeComponent();
init();
}
private void init()
{
port = new SerialPort();
port.PortName = "COM1";
port.BaudRate = 9600;
//porty = new SerialPort();
try
{
port.Open();
}
catch (Exception e1)
{
MessageBox.Show(e1.Message);
}
}
int x = 0, y = 0;
protected override void OnMouseMove(MouseEventArgs e)
{
base.OnMouseMove(e);
Graphics g = CreateGraphics();
Pen p = new Pen(Color.Navy);
Pen erase = new Pen(Color.White);
x = e.X; y = e.Y;
double curWidth = this.Width / 180;
double x2 = Math.Round(x / curWidth);
double curHeight = this.Height / 180;
double y2 = Math.Round(y / curHeight);
label1.Text = x2.ToString(); label2.Text = y2.ToString();
string valx = x2.ToString();
string valy = y2.ToString();
while(valx.Length < 3)
{
valx = '0' + valx;
}
while(valy.Length < 3)
{
valy = '0' + valy;
}
string valsum = valx+valy;
label3.Text = valsum.ToString();
if (port.IsOpen)
{
port.WriteLine(valsum);
}
}
}
在上面的代码中,我采用x和y坐标并将其转换为大约180范围。将值连接到一个字符串后,通过串口发送它。
答案 0 :(得分:0)
为了提高代码的性能,您可以消除延迟并使用最大波特率(115200)。为了简单起见,我在下面压缩了你的Arduino代码:
#include <Servo.h>
// create 2 servos x and y
Servo x;
Servo y;
void setup() {
Serial.begin(115200);
x.attach(6);
y.attach(7);
}
void loop() {
//empty
}
void serialEvent() {
//set servo position.
if (Serial.available()>0) {
//Receives 2 angles separated per a comma
x.write(Serial.parseInt()); //Returns first angle
y.write(Serial.parseInt()); //Returns second angle
Serial.read(); //Read the '\n'. I am not sure if it is necessary.
}
}
在C#源代码中也提高波特率:
port.BaudRate = 115200;
另外,我建议你通过串口发送用逗号分隔的角度。所以,而不是:
while(valx.Length < 3) {
valx = '0' + valx;
}
while(valy.Length < 3) {
valy = '0' + valy;
}
string valsum = valx+valy;
label3.Text = valsum.ToString();
if (port.IsOpen) {
port.WriteLine(valsum);
}
替换为:
if (port.IsOpen) {
port.WriteLine(valx + ',' + valy); //Note that WriteLine appends a '\n' character in the end.
}