Question

在此草图中，Arduino连接到Android应用程序并通过蓝牙连接接收数据。它按预期工作，但如果没有连接蓝牙且草图没有接收到串行数据，草图就会卡在while循环中。如果连接蓝牙，它正在接收串行数据，它工作正常，但我无法弄清楚如何使草图断开while循环，以便它可以读取按钮状态。我需要草图来打破while循环来读取按钮状态。有人有什么想法吗？收到的数据看起来像这些例子： L178： R215： L-125： R-115：总是有一个L或R后跟一个 - 符号或没有减号后跟数字-255到255后跟始终是：

char myChar = 'a';
String string;
char LorR;

int M2INA = 8;   //left
int M2INB = 7;
int M2PWM = 9;

int M1INA = 11;  //right
int M1INB = 12;
int M1PWM = 10;

int ledB = A2;
int ledR = A3;
int button = 2;

int buttonState;
int val;
int mode = 0;

void setup() {

  pinMode(M1INA, OUTPUT);
  pinMode(M1INB, OUTPUT);
  pinMode(M2INA, OUTPUT);
  pinMode(M2INB, OUTPUT);
  pinMode(M1PWM, OUTPUT);
  pinMode(M2PWM, OUTPUT);
  pinMode(ledB, OUTPUT);
  pinMode(ledR, OUTPUT);
  Serial.begin(57600);  //230400  460800   921600

  buttonState = digitalRead(button);   // read the initial state
}

void loop() {
  val = digitalRead(button);      // read input value and store it in val

  if (val != buttonState) {          // the button state has changed!
    if (val == LOW) {                // check if the button is pressed
      if (mode == 0) {          // light is off
        mode = 1;               // light is on!

      } else {
        mode = 0;               // light is on!

      }
    }
  }
  buttonState = val;                 // save the new state in our variable
  if (mode == 0) {
    btMode();
  }
  if (mode == 1) {
    followMode();
  }

}

void followMode() {
  digitalWrite (ledR, HIGH);
  digitalWrite (ledB, LOW);
    }


void btMode() {
  digitalWrite (ledR, LOW);
  digitalWrite (ledB, HIGH);

    string = "";
    //Add to string

    while (true) {

      myChar = Serial.read();
      if (32 <= myChar && myChar <= 127) {
        string += myChar;
      }
      if (myChar == ':'){
        break;

    }// While End
    }
    //Analyse string
    if (string != "off:" && string != "on:") {
      if (string != "L0:" && string != "R0:") {
        //code for setting motor left or right
        if (string[0] == 'L') {
          LorR = 'L';
        } else {
          LorR = 'R';
        }
        string.remove(0, 1);
        //code for putting it in reverse
        if (string[0] == '-') {
          string.remove(0, 1);
          string.remove((string.length() - 1), 1);
          //Serial.println(string);
          if (LorR == 'L') {
            //digitalWrite(M2EN, HIGH);
            digitalWrite (M2INA, LOW);
            digitalWrite (M2INB, HIGH);
            analogWrite(M2PWM, string.toInt());

          } else {                           //Reverse left
            //digitalWrite(M1EN, HIGH);
            digitalWrite (M1INA, LOW);
            digitalWrite (M1INB, HIGH);
            analogWrite(M1PWM, string.toInt());
          }
        } else {
          string.remove((string.length() - 1), 1);
          if (LorR == 'L') {
            //digitalWrite(M2EN, HIGH);
            digitalWrite (M2INA, HIGH);
            digitalWrite (M2INB, LOW);
            analogWrite(M2PWM, string.toInt());

          } else {
            digitalWrite (M1INA, HIGH);
            digitalWrite (M1INB, LOW);
            analogWrite(M1PWM, string.toInt());
          }
        }
      } else {
        allStop();
      }

    }//End of long if statment
    if (string == "on:") {

    }
    if (string == "off:") {

    }    
  }


void allStop () {  //coast
  analogWrite(M1PWM, 0);
  analogWrite(M2PWM, 0);
  digitalWrite(M1INA, HIGH);
  digitalWrite(M2INA, HIGH);
  digitalWrite(M1INB, HIGH);
  digitalWrite(M2INB, HIGH);
}

Answer 1

问题是我无法打破while循环来读取按钮，但这现在有效。我改变了这个

while (true) {

到

while (mode == 0) {
readButton();

并清理了草图。这是决赛：

char myChar = 'a';
String string;
char LorR;

int M2INA = 8;   //left
int M2INB = 7;
int M2PWM = 9;

int M1INA = 11;  //right
int M1INB = 12;
int M1PWM = 10;

int ledB = A2;
int ledR = A3;
int button = 2;

int buttonState;
int val;
int mode = 0;

unsigned long previousButtonMillis=0;
const int buttonInterval = 50; // number of millisecs between button reading
unsigned long previousSerialReadMillis=0;
const int serialReadInterval = 10; // number of millisecs between button reading

void setup() {

  pinMode(M1INA, OUTPUT);
  pinMode(M1INB, OUTPUT);
  pinMode(M2INA, OUTPUT);
  pinMode(M2INB, OUTPUT);
  pinMode(M1PWM, OUTPUT);
  pinMode(M2PWM, OUTPUT);
  pinMode(ledB, OUTPUT);
  pinMode(ledR, OUTPUT);
  Serial.begin(57600);  //230400  460800   921600

  buttonState = digitalRead(button);   // read the initial state
}

void loop() {

  readButton();
  if (mode == 0) {
    btMode();
  }
  if (mode == 1) {
    followMode();
  }

}

void readButton() {
   if (millis() - previousButtonMillis >= buttonInterval) {   
  val = digitalRead(button);      // read input value and store it in val
  if (val != buttonState) {          // the button state has changed!
    if (val == LOW) {                // check if the button is pressed
      if (mode == 0) {          
        mode = 1;               
      } else {
        mode = 0;               
      }
    }
  } 
  buttonState = val;                 // save the new state in our variable
  previousButtonMillis += buttonInterval;
}
}

void followMode() {
  digitalWrite (ledR, HIGH);
  digitalWrite (ledB, LOW);
}

void btMode() {
  digitalWrite (ledR, LOW);
  digitalWrite (ledB, HIGH);
if (millis() - previousSerialReadMillis >= serialReadInterval){
  string = "";

  while (mode == 0) {
    readButton();
    myChar = Serial.read();
    if (32 <= myChar && myChar <= 127) {
      string += myChar;
    }
    if (myChar == ':') {
      break;
    }
  }
  previousSerialReadMillis += serialReadInterval;
  } // While End
  analyseString();
}

void  analyseString() {

  if (string != "L0:" && string != "R0:") {
    //code for setting motor left or right
    if (string[0] == 'L') {
      LorR = 'L';
    } else {
      LorR = 'R';
    }
    string.remove(0, 1);
    //code for putting it in reverse
    if (string[0] == '-') {
      string.remove(0, 1);
      string.remove((string.length() - 1), 1);
      if (LorR == 'L') {
        digitalWrite (M2INA, LOW);
        digitalWrite (M2INB, HIGH);
        int leftPWM = string.toInt();
        if (leftPWM > 80) {
          leftPWM = 80;
        }
        analogWrite(M2PWM, leftPWM);

      } else {                           //Reverse left
        digitalWrite (M1INA, LOW);
        digitalWrite (M1INB, HIGH);
        int rightPWM = string.toInt();
        if (rightPWM > 80) {
          rightPWM = 80;
        }
        analogWrite(M1PWM, rightPWM);
      }
    } else {
      string.remove((string.length() - 1), 1);
      if (LorR == 'L') {
        digitalWrite (M2INA, HIGH);
        digitalWrite (M2INB, LOW);
        analogWrite(M2PWM, string.toInt());

      } else {
        digitalWrite (M1INA, HIGH);
        digitalWrite (M1INB, LOW);
        analogWrite(M1PWM, string.toInt());
      }
    }
  } else {
    allStop();
  }
  //End of long if statment
}

void allStop () {

  analogWrite(M1PWM, 125);
  analogWrite(M2PWM, 125);
  digitalWrite(M1INA, HIGH);
  digitalWrite(M2INA, HIGH);
  digitalWrite(M1INB, HIGH);
  digitalWrite(M2INB, HIGH);
}

退出while循环读取按钮

1 个答案: