Question

我正在尝试根据陀螺仪的数据移动我的伺服系统。不幸的是，我的程序在while循环开始后停止。例如，在我的代码中，一旦gyroX值达到3000，串行监视器就会停止给我陀螺仪数据并且伺服不会运行。如何解决这个问题的任何建议将不胜感激。

#include <Wire.h>
#include <Servo.h>

Servo servo;

long accelX, accelY, accelZ;
float gForceX, gForceY, gForceZ;

long gyroX, gyroY, gyroZ;
float rotX, rotY, rotZ;

int pos1 = 90;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  setupMPU();
}


void loop() {
  recordAccelRegisters();
  recordGyroRegisters();
  printData();
  while( gyroX > 3000 ){ //problem happens here
    pos1 += 5;
    servo.write(pos1);
  } 
}

void setupMPU(){
  Wire.beginTransmission(0b1101000);
  Wire.write(0x6B); 
  Wire.write(0b00000000);
  Wire.endTransmission();  
  Wire.beginTransmission(0b1101000); 
  Wire.write(0x1B); 
  Wire.write(0x00000000); 
  Wire.endTransmission(); 
  Wire.beginTransmission(0b1101000); 
  Wire.write(0x1C); 
  Wire.write(0b00000000);
  Wire.endTransmission(); 
}

void recordGyroRegisters() {
  Wire.beginTransmission(0b1101000); 
  Wire.write(0x3B); 
  Wire.endTransmission();
  Wire.requestFrom(0b1101000,6);
  while(Wire.available() < 6);
  gyroX = Wire.read()<<8|Wire.read();
  gyroY = Wire.read()<<8|Wire.read(); 
  gyroZ = Wire.read()<<8|Wire.read(); 
}

void recordAccelRegisters() {
  Wire.beginTransmission(0b1101000); 
  Wire.write(0x43);
  Wire.endTransmission();
  Wire.requestFrom(0b1101000,6);
  while(Wire.available() < 6);
  accelX = Wire.read()<<8|Wire.read();
  accelY = Wire.read()<<8|Wire.read();
  accelZ = Wire.read()<<8|Wire.read();
}

void printData() {
  Serial.print("Gyro (deg)");
  Serial.print(" X=");
  Serial.print(gyroX);
  Serial.print(" Y=");
  Serial.print(gyroY);
  Serial.print(" Z=");
  Serial.print(gyroZ);
  Serial.print(" Accel (g)");
  Serial.print(" X=");
  Serial.print(accelX);
  Serial.print(" Y=");
  Serial.print(accelY);
  Serial.print(" Z=");
  Serial.println(accelZ);
}

Answer 1

在while循环内部没有可以改变gyroX值的命令。所以一旦你进入它就变成了一个无限循环。您需要在while循环中调用recordGyroRegisters函数，以便变量在其中更新。或者你可以利用循环函数已经循环的事实，简单地摆脱for循环并选择基于if语句的东西。

循环开始后程序停止

1 个答案: