我的C＃代码存在问题（或缺乏人才）。我正在使用此代码通过蓝牙控制机器人，当我按下时，我工作正常： W - 前进， S - 向后， A - 左， D - 对， Q - 前进左， E - 前进权， Z - 向后走， X - 向后右， O - 抬起机器人手臂， P - 放下手臂， N - 打开手柄， M - 关闭握把， 是 - 停止上面的所有命令，
现在这些是通过Keydown命令处理的，它们工作正常。问题是，当我没有按任何键时，我不知道如何停止这些命令。作为临时解决方案，我一直在使用＆＃34; Y＆＃34;停止所有操作的键，但我确信有更好的方法可以使用keyUp或类似的东西来解决这个问题。
你能不能给我一个例子，或许我的命令W如果W不再被按下我应该如何处理？我希望机器人停下来？
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using AForge.Video;
namespace RoverControl
{
public partial class Form1 : Form
{
MJPEGStream stream;
public Form1()
{
InitializeComponent();
}
// Declare the comands for Rover control//
private void Form1_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode.ToString() == "W") // Keyboard characeter "W" //
try
{
serialPort1.Write("F"); // Passing the command "Forward" through letter "F" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover."); // Exception in the case letter "W" is pressed without connection being established//
}
if (e.KeyCode.ToString() == "S") // Keyboard characeter "S" //
try
{
serialPort1.Write("B"); // Passing the command "Backward" through letter "B" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "A") // Keyboard characeter "A" //
try
{
serialPort1.Write("L"); // Passing the command "Left" through letter "L" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "D") // Keyboard characeter "D" //
try
{
serialPort1.Write("R"); // Passing the command "Right" through letter "R" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Q") // Keyboard characeter "Q" //
try
{
serialPort1.Write("G"); // Passing the command "Forward Left" through letter "G" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "E") // Keyboard characeter "E" //
try
{
serialPort1.Write("I"); // Passing the command "Forward Right" through letter "I" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Z") // Keyboard characeter "Z" //
try
{
serialPort1.Write("H"); // Passing the command "Backward Left" through letter "H" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "X") // Keyboard characeter "X" //
try
{
serialPort1.Write("J"); // Passing the command "Backward Right" through letter "J" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "O") // Keyboard characeter "O" //
try
{
serialPort1.Write("O"); // Passing the command "Up" through letter "O" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "P") // Keyboard characeter "P" //
try
{
serialPort1.Write("P"); // Passing the command "Down" through letter "P" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "N") // Keyboard characeter "N" //
try
{
serialPort1.Write("N"); // Passing the command "Open" through letter "N" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "M") // Keyboard characeter "M" //
try
{
serialPort1.Write("M"); // Passing the command "Close" through letter "M" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "C") // Keyboard characeter "C" //
try
{
serialPort1.Write("C"); // Passing the command "" through letter "C" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "c") // Keyboard characeter "c" //
try
{
serialPort1.Write("c"); // Passing the command "" through letter "c" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "V") // Keyboard characeter "V" //
try
{
serialPort1.Write("V"); // Passing the command "" through letter "V" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "v") // Keyboard characeter "v" //
try
{
serialPort1.Write("v"); // Passing the command "" through letter "v" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "U") // Keyboard characeter "U" //
try
{
serialPort1.Write("U"); // Passing the command "" through letter "U" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "u") // Keyboard characeter "u" //
try
{
serialPort1.Write("u"); // Passing the command "" through letter "u" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Y") // Keyboard characeter "Y" //
try
{
serialPort1.Write("S"); // Passing the command "Stop" through letter "S" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
}
void stream_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
Bitmap bmp = (Bitmap) eventArgs.Frame.Clone();
pictureBox1.Image = bmp;
}
private void Start_Click(object sender, EventArgs e)
{
string IP = "";
IP = textBox3.Text;
stream = new MJPEGStream(IP);
stream.NewFrame += stream_NewFrame;
try
{
stream.Start();
}
catch (Exception)
{
MessageBox.Show("Please enter valid IP address.");
}
}
private void Stop_Click(object sender, EventArgs e)
{
stream.Stop();
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
string COM = "";
COM = comboBox1.Text;
serialPort1.PortName = COM;
serialPort1.BaudRate = 9600;
}
private void button1_Click(object sender, EventArgs e)
{
try
{
serialPort1.Open();
}
catch (Exception)
{
var dialogResult = MessageBox.Show("Please select correct Comunication Port.");
}
}
private void Disconnect_Click(object sender, EventArgs e)
{
serialPort1.Close();
}
}
}
好的，所以当我添加你建议的代码我仍然有同样的问题。我按下W向前移动，当我释放W键时它仍然向前移动。我错误地编辑了代码吗？
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using AForge.Video;
namespace RoverControl
{
public partial class Form1 : Form
{
MJPEGStream stream;
public Form1()
{
InitializeComponent();
}
// Declare the comands for Rover control//
private void Form1_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode.ToString() == "W") // Keyboard characeter "W" //
try
{
serialPort1.Write("F"); // Passing the command "Forward" through letter "F" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover."); // Exception in the case letter "W" is pressed without connection being established//
}
if (e.KeyCode.ToString() == "S") // Keyboard characeter "S" //
try
{
serialPort1.Write("B"); // Passing the command "Backward" through letter "B" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "A") // Keyboard characeter "A" //
try
{
serialPort1.Write("L"); // Passing the command "Left" through letter "L" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "D") // Keyboard characeter "D" //
try
{
serialPort1.Write("R"); // Passing the command "Right" through letter "R" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Q") // Keyboard characeter "Q" //
try
{
serialPort1.Write("G"); // Passing the command "Forward Left" through letter "G" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "E") // Keyboard characeter "E" //
try
{
serialPort1.Write("I"); // Passing the command "Forward Right" through letter "I" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Z") // Keyboard characeter "Z" //
try
{
serialPort1.Write("H"); // Passing the command "Backward Left" through letter "H" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "X") // Keyboard characeter "X" //
try
{
serialPort1.Write("J"); // Passing the command "Backward Right" through letter "J" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "O") // Keyboard characeter "O" //
try
{
serialPort1.Write("O"); // Passing the command "Up" through letter "O" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "P") // Keyboard characeter "P" //
try
{
serialPort1.Write("P"); // Passing the command "Down" through letter "P" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "N") // Keyboard characeter "N" //
try
{
serialPort1.Write("N"); // Passing the command "Open" through letter "N" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "M") // Keyboard characeter "M" //
try
{
serialPort1.Write("M"); // Passing the command "Close" through letter "M" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "C") // Keyboard characeter "C" //
try
{
serialPort1.Write("C"); // Passing the command "" through letter "C" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "c") // Keyboard characeter "c" //
try
{
serialPort1.Write("c"); // Passing the command "" through letter "c" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "V") // Keyboard characeter "V" //
try
{
serialPort1.Write("V"); // Passing the command "" through letter "V" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "v") // Keyboard characeter "v" //
try
{
serialPort1.Write("v"); // Passing the command "" through letter "v" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "U") // Keyboard characeter "U" //
try
{
serialPort1.Write("U"); // Passing the command "" through letter "U" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "u") // Keyboard characeter "u" //
try
{
serialPort1.Write("u"); // Passing the command "" through letter "u" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
if (e.KeyCode.ToString() == "Y") // Keyboard characeter "Y" //
try
{
serialPort1.Write("S"); // Passing the command "Stop" through letter "S" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
}
void Form1_KeyUp(object sender, KeyEventArgs e)
{
try
{
serialPort1.Write("S"); // Passing the command "Stop" through letter "S" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
}
void stream_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
Bitmap bmp = (Bitmap) eventArgs.Frame.Clone();
pictureBox1.Image = bmp;
}
private void Start_Click(object sender, EventArgs e)
{
string IP = "";
IP = textBox3.Text;
stream = new MJPEGStream(IP);
stream.NewFrame += stream_NewFrame;
try
{
stream.Start();
}
catch (Exception)
{
MessageBox.Show("Please enter valid IP address.");
}
}
private void Stop_Click(object sender, EventArgs e)
{
stream.Stop();
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
string COM = "";
COM = comboBox1.Text;
serialPort1.PortName = COM;
serialPort1.BaudRate = 9600;
}
private void button1_Click(object sender, EventArgs e)
{
try
{
serialPort1.Open();
}
catch (Exception)
{
var dialogResult = MessageBox.Show("Please select correct Comunication Port.");
}
}
private void Disconnect_Click(object sender, EventArgs e)
{
serialPort1.Close();
}
}
}
答案 0 :(得分：1)
首先，不建议使用非实时系统来控制移动物体。这包括蓝牙通信协议和PC本身（更具体地说，Windows操作系统）。这些系统永远无法通过任何商业或工业测试 - 出于明显的安全问题。
现在回到你的问题。我会做的是，
在＆＃34;状态＆＃34;中定义PC和机器人控制器之间的协议。方式，而不是事件驱动的方式。例如，而不是发送＆＃34;前进的事件＆＃34;刚刚按下或释放了键，我们应该发送一个描述是否＆＃34;前进的状态＆＃34;钥匙被压了。机器人方面不需要知道何时按下或释放钥匙，只需要知道它是否应该向前移动。
维护状态机，当处于运行模式时，定期发送密钥状态，比如每10ms发送一次。
检测当前密钥状态，如果使用WPF，可以通过Keyboard.IsKeyDown（）方法直接检测，或者使用WinForm
在机器人控制器方面，事情变得相对容易，因为大多数都以状态机方式运行，最终你必须将控制命令转换成电机或伺服的单位数字输出。并且基于状态的通信协议与此完美配合。例如，正在按下＆＃34;前进键＆＃34;状态直接转换为＆＃34;打开X轴电机的数字输出xxx＆＃34;。
答案 1 :(得分：0)
Repalce构造函数：
public Form1()
{
InitializeComponent();
this.KeyUp += new KeyEventHandler(Form1_KeyUp);
}
然后添加
private void Form1_KeyUp(object sender, KeyEventArgs e)
{
if (e.KeyCode.ToString() == "S" || e.KeyCode.ToString() == "W")//Check conditions
{
try
{
serialPort1.Write("S"); // Passing the command "Stop" through letter "S" in arduino code//
}
catch (Exception)
{
MessageBox.Show("Please establish the connection with rover.");
}
}
}