Question

我正在开发一个项目，该项目使用处理从文件中读取数据，然后使用serial将这些数据发送到arduino Uno板，然后将这些值提供给arduino braccio Braccio.ServoMovment（）函数以移动机械臂根据他们。然而，无论何时我运行代码，我都会在函数中得到错误的值，并且手臂以奇怪的方式移动，我已经测试了相同的代码并试图点亮一个led，并且由于某种原因它运行良好。

 import processing.serial.*;
 import java.io.*;
 int mySwitch=0;

 int counter=0;

 String [] subtext;

 Serial myPort;



 void setup(){

 //Create a switch that will control the frequency of text file reads.

 //When mySwitch=1, the program is setup to read the text file.

 //This is turned off when mySwitch = 0

 mySwitch=1;


 //Open the serial port for communication with the Arduino

 //Make sure the COM port is correct

 myPort = new Serial(this, "COM5", 9600);
  myPort.bufferUntil('\n');
 }

 void draw() {
  // print(" the switch " + mySwitch);

  if (mySwitch>0){
  /*The readData function can be found later in the code.
  This is the call to read a CSV file on the computer hard-drive. */
  readData("C:/Users/Tareq/Desktop/data.txt");

  /*The following switch prevents continuous reading of the text file,           until
  we are ready to read the file again. */
  mySwitch=0;
  }

  /*Only send new data. This IF statement will allow new data to be sent      to
  the arduino. */
  if(counter<subtext.length){
  /* Write the next number to the Serial port and send it to the Arduino 
  There will be a delay of half a second before the command is
  sent to turn the LED off : myPort.write('0'); */
 // print(subtext[counter]);
  delay(5000);
  myPort.write(subtext[counter]);
  print(subtext[counter]);
  delay(2000);
  //Increment the counter so that the next number is sent to the arduino.
  counter++;
  } else{
  //If the text file has run out of numbers, then read the text file again      in 5 seconds.
  delay(5000);
  mySwitch=1;
  }
 } 


 /* The following function will read from a CSV or TXT file */
 void readData(String myFileName){

  File file=new File(myFileName);
  BufferedReader br=null;

  try{
  br=new BufferedReader(new FileReader(file));
  String text=null;

  /* keep reading each line until you get to the end of the file */
  while((text=br.readLine())!=null){

  /* Spilt each line up into bits and pieces using a comma as a separator */
  subtext = splitTokens(text,",");

  }
  }catch(FileNotFoundException e){
  e.printStackTrace();
  }catch(IOException e){
  e.printStackTrace();
  }finally{
  try {
  if (br != null){
  br.close();
  }
  } catch (IOException e) {
  e.printStackTrace();
  }
  }
 }

Arduino代码

#include <Braccio.h>
#include <Servo.h>
#include<SoftwareSerial.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;

String stringData[6] ;
int intData[6] ;

void setup() {
 Serial.begin(9600);
 Braccio.begin();
 pinMode(1, OUTPUT); // Set pin as OUTPUT
 pinMode(2, OUTPUT); // Set pin as OUTPUT
 pinMode(3, OUTPUT); // Set pin as OUTPUT
 pinMode(4, OUTPUT); // Set pin as OUTPUT
 pinMode(5, OUTPUT); // Set pin as OUTPUT
 pinMode(6, OUTPUT); // Set pin as OUTPUT
 pinMode(7, OUTPUT); // Set pin as OUTPUT
 pinMode(8, OUTPUT); // Set pin as OUTPUT
 pinMode(9, OUTPUT); // Set pin as OUTPUT
}

void loop() {




for(int y=0;y<6;y++){

  while(Serial.available()== 0){}

stringData[y]= Serial.readString();

if(stringData[y]=="90")
intData[y]=90;
else if(stringData[y]=="120")
intData[y]=120;
else if(stringData[y]=="180")
intData[y]=180;
else if(stringData[y]=="45")
intData[y]=45;
else if(stringData[y]=="160")
intData[y]=160;
else if(stringData[y]=="170")
intData[y]=170;
else if(stringData[y]=="165")
intData[y]=165;
else if(stringData[y]=="60")
intData[y]=60;
else if(stringData[y]=="30")
intData[y]=30;
else if(stringData[y]=="110")
intData[y]=110;
else if(stringData[y]=="80")
intData[y]=80;
else if(stringData[y]=="155")
intData[y]=155;
}

Braccio.ServoMovement(20 ,         intData[0], intData[1], intData[2] , intData[3] ,intData[4] , intData[5]);

}

注意：从中读取的文件是一个记事本，其中包含用“，”150,30,60之类的数字分隔的数字，用于我的代码我用6进行测试有人可能会说它很奇怪为什么发送字符串然后将它映射到一个int而不是直接发送int，我先尝试了int然后它没有用，然后我试了这个。

Answer 1

我会尝试在以下罪魁祸首之间隔离这个问题：

你能让机器人从arduino中的静态路径做可重复的事情（即硬编码arduino中的值并检查你是否知道机器人是如何被驱动的并且它正在工作）

您是否在arduino和处理之间干净地传递数据？为了测试这个，创建一些数值的对象/数组，并将它们从处理转移到arduino，并让arduino验证它是否收到了预期的结果。

您的文件是否正确无误。阅读文件并将其写入处理控制台或其他内容，以确认您拥有自己的想法。

使用来自处理的数据控制Arduino Braccio手臂

1 个答案: