与arduino连接的步进电机没有监听python发送的初始状态

Question

我将数据从python脚本发送到我的Arduino板。我可以成功地与董事会沟通。根据python发送的数据，连接的步进电机应向前或向后移动。如果python正在发送＆＃39; 0＆＃39;电机应该向前旋转，如果python正在发送＆＃39; 1＆＃39;那么电机应该向后旋转。当我键入＆＃39; 0＆＃39;在串行监视器中，步进器向前移动并开启“1”。步进器向后移动。但是当python最初发送数据时，步进器不会向前或向后移动。只有当状态发生变化时（如果状态从＆＃39; 0＆＃39;或＆＃39; 0＆＃39; 0＆＃39;到＆＃39; 1＆＃39;），步进器向前或向后移动。我试图查看是否从python发送数据，arduino正在从python接收数据。建议将受到高度赞赏。

Ardunio代码

static const int SELENOID_PIN = 2;
static const int OPEN = '0';
static const int CLOSE = '1';
static const int STEPS = 30;
static const int delaylegnth = 10; 
void setup() {

   //establish motor direction toggle pins
  pinMode(12, OUTPUT); //CH A -- HIGH = forwards and LOW = backwards???
  pinMode(13, OUTPUT); //CH B -- HIGH = forwards and LOW = backwards???

  //establish motor brake pins
  pinMode(9, OUTPUT); //brake (disable) CH A
  pinMode(8, OUTPUT); //brake (disable) CH B


  Serial.begin(9600);
  while(!Serial){}//wait until the serial port is connected
  Serial.write('1');
  pinMode(SELENOID_PIN  ,OUTPUT);
}


void polarisingA()
 {
  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, HIGH);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A

  delay(delaylegnth);
 }


void polarisingB()
{
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, HIGH);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B

  delay(delaylegnth);
}



void polarisingC()
{
  digitalWrite(9, LOW);  //ENABLE CH A
  digitalWrite(8, HIGH); //DISABLE CH B

  digitalWrite(12, LOW);   //Sets direction of CH A
  analogWrite(3, 255);   //Moves CH A

  delay(delaylegnth);
}


void polarisingD()
{
  digitalWrite(9, HIGH);  //DISABLE CH A
  digitalWrite(8, LOW); //ENABLE CH B

  digitalWrite(13, LOW);   //Sets direction of CH B
  analogWrite(11, 255);   //Moves CH B

  delay(delaylegnth);  
}

void stepRight()
{
    polarisingA();
    polarisingB();
    polarisingC();
    polarisingD();
}
void stepLeft();
{
    polarisingD();
    polarisingC();
    polarisingB();
    polarisingA();
}
void spin(bool dir,int tickes)
{
 //Serial.print(dir);
  for(int i =0 ; i < tickes; i++)
  {
    if(dir == true)//right
    {
      stepRight();
    }
    else
    { 
      stepLeft();
    }
  }
}
void loop() {
  if(Serial.available() > 0)
  {//there is incoming data form the serial and serial is setted up
    handleData();
  }
   delay(5);
  }
void handleData()
{
  unsigned char a = Serial.read();
  Serial.write("new data");
  int action = -1;
  if(a == OPEN)
  {
     action = 1;
  }
  else if(a == CLOSE)
  {
  //Serial.print("close");
     action = 0;
  }
  if (action != -1)
  {
    bool dir = action == 1 ? HIGH : LOW ;
    spin(dir,STEPS);
    digitalWrite(SELENOID_PIN ,action ? HIGH : LOW );
    Serial.write(a);//ack
   }
 }

Python代码（仅部分向arduino发送数据）：

def openthedoor(set_accepted_list,set_list_ant_id,set_forbidden_list,set_accepted_list_frozen):
    if(((len(set_accepted_list)) >0) & (set_forbidden_list == set()) & ((set_accepted_list_frozen == None) or ((set_accepted_list_frozen & set_accepted_list)== set_accepted_list))):
        print"yes,open the gate"
        use_step(1)
    else:
        print"no,close the gate"
        use_step(0) 
def establishing_connection():
#serial.Serial("COM1",9600)
    print ser.read();
last_action = -1 

def use_door(activate):
    global last_action
    #global serial
    if(last_action != activate):
        send_data(activate)
    last_action = activate  

def send_data(data):
    global ser
    try:
        if(ser == None):
            ser = serial.Serial("COM1",9600,timeout = 0)
            print "reconnect"
        if(data==0):
           ser.write('0')
           print "python is telling the arduino to move stepper forward"
        else:
           ser.write('1')
           print "python is telling the ardunio to move stepper backward"
        time.sleep(0)

    except IOError:
         time.sleep(0)
         ser.close()
         #continue
         ser = None
    print "after read"