Question

我正在创建操作机器人的代码。它应该告诉机器人何时转动，这取决于它从传感器获得的读数。我尝试了一个if语句来转动它，并且对机器人如何转动感到不满意。我感觉有一个while循环更好，因为它不必经过整个代码来继续检查它是否应该继续转动，并且将保持while循环直到转弯完成。我遇到的问题是代码不会从传感器中读取读数并直接进入while循环并保持在那里。我该如何解决这个问题？

>#include<SoftwareSerial.h> // Import the serial Library
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Select which 'port' M1, M2, M3 or M4. In this case, M1

Adafruit_DCMotor *FL= AFMS.getMotor(1); //Front left motor

Adafruit_DCMotor *FR= AFMS.getMotor(4); //Front right motor


int left_trig = 8;
int left_echo = 9;

int mid_trig = 5;
int mid_echo = 6;

int right_trig = 3;
int right_echo = 4;
long duration1, duration2, duration3, inches1, inches2, inches3;

void setup() {
  Serial.begin(9600);
AFMS.begin();  // create with the default frequency 1.6KHz

  //This establishes the sensors as inputs and outputs
 pinMode(left_trig,OUTPUT);   
  pinMode(left_echo,INPUT);

  pinMode (mid_trig,OUTPUT);
  pinMode(mid_echo,INPUT);

  pinMode (right_trig,OUTPUT);
  pinMode(right_echo,INPUT);

  FL->setSpeed(150);
  FL->run(FORWARD);
  //FL->run(RELEASE);
  FR->setSpeed(150);
  FR->run(BACKWARD);
  //FR->run(RELEASE);
}

void loop() {

   digitalWrite(left_trig, LOW);
  delayMicroseconds(2); 
  digitalWrite(left_trig, HIGH);
  delayMicroseconds(10); 
   duration1 = pulseIn(left_echo,HIGH);


 // pinMode (mid_trig,OUTPUT);
  digitalWrite(mid_trig, LOW); 
  delayMicroseconds(2); 
  digitalWrite(mid_trig, HIGH);
  delayMicroseconds(10);
     duration2 = pulseIn(mid_echo, HIGH);

//  pinMode (right_trig,OUTPUT);
  digitalWrite(right_trig, LOW); 
  delayMicroseconds(2); 
  digitalWrite(right_trig, HIGH);
  delayMicroseconds(10);
   duration3 = pulseIn(right_echo, HIGH);

    // convert the time into inches
  inches1 = microsecondsToInches(duration1);
  inches2 = microsecondsToInches(duration2);
  inches3 = microsecondsToInches(duration3);

   FL->setSpeed(150);
  FL->run(FORWARD);
  FR->setSpeed(150);
  FR->run(BACKWARD);

Serial.print(inches1);
  Serial.print("in,\t");
    Serial.print(inches2);
  Serial.print("in,\t");
    Serial.print(inches3);
  Serial.print("in");
  Serial.println();

while(inches3 <=8 && inches2 <=12){
//  Serial.print(inches1);
//  Serial.print("win,\t");
//    Serial.print(inches2);
//  Serial.print("win,\t");
//    Serial.print(inches3);
//  Serial.print("win");
//  Serial.println();
  FL->setSpeed(120);
  FL->run(BACKWARD);
  FR->setSpeed(120);
  FR->run(BACKWARD);

}

 FL->setSpeed(150);
  FL->run(FORWARD);
  FR->setSpeed(150);
  FR->run(BACKWARD);

delay(50);
}
long microsecondsToInches(long microseconds) {
  return microseconds / 74 / 2;
}

Answer 1

while循环中的任何内容都不会更改inches3或inches2的值。如果它们分别小于8和12来进入while循环，那么每次它回来检查时它们仍然是那个。所以这是一个无限循环。

Answer 2

由于在while循环中永远不会更新该值，您应该能够添加检查while循环内传感器的代码，如下所示：

#include<SoftwareSerial.h> // Import the serial Library
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Select which 'port' M1, M2, M3 or M4. In this case, M1

Adafruit_DCMotor *FL= AFMS.getMotor(1); //Front left motor

Adafruit_DCMotor *FR= AFMS.getMotor(4); //Front right motor


int left_trig = 8;
int left_echo = 9;

int mid_trig = 5;
int mid_echo = 6;

int right_trig = 3;
int right_echo = 4;
long duration1, duration2, duration3, inches1, inches2, inches3;

void setup() 
{
    Serial.begin(9600);
    AFMS.begin();  // create with the default frequency 1.6KHz

    //This establishes the sensors as inputs and outputs
    pinMode(left_trig,OUTPUT);   
    pinMode(left_echo,INPUT);

    pinMode (mid_trig,OUTPUT);
    pinMode(mid_echo,INPUT);

    pinMode (right_trig,OUTPUT);
    pinMode(right_echo,INPUT);

    FL->setSpeed(150);
    FL->run(FORWARD);
    //FL->run(RELEASE);
    FR->setSpeed(150);
    FR->run(BACKWARD);
    //FR->run(RELEASE);
}

void loop() 
{

    digitalWrite(left_trig, LOW);
    delayMicroseconds(2); 
    digitalWrite(left_trig, HIGH);
    delayMicroseconds(10); 
    duration1 = pulseIn(left_echo,HIGH);


    // pinMode (mid_trig,OUTPUT);
    digitalWrite(mid_trig, LOW); 
    delayMicroseconds(2); 
    digitalWrite(mid_trig, HIGH);
    delayMicroseconds(10);
    duration2 = pulseIn(mid_echo, HIGH);

    //  pinMode (right_trig,OUTPUT);
    digitalWrite(right_trig, LOW); 
    delayMicroseconds(2); 
    digitalWrite(right_trig, HIGH);
    delayMicroseconds(10);
    duration3 = pulseIn(right_echo, HIGH);

    // convert the time into inches
    inches1 = microsecondsToInches(duration1);
    inches2 = microsecondsToInches(duration2);
    inches3 = microsecondsToInches(duration3);

    FL->setSpeed(150);
    FL->run(FORWARD);
    FR->setSpeed(150);
    FR->run(BACKWARD);

    Serial.print(inches1);
    Serial.print("in,\t");
    Serial.print(inches2);
    Serial.print("in,\t");
    Serial.print(inches3);
    Serial.print("in");
    Serial.println();

    while(inches3 <=8 && inches2 <=12)
    {

        // convert the time into inches
        inches1 = microsecondsToInches(duration1);
        inches2 = microsecondsToInches(duration2);
        inches3 = microsecondsToInches(duration3);

        //  Serial.print(inches1);
        //  Serial.print("win,\t");
        //    Serial.print(inches2);
        //  Serial.print("win,\t");
        //    Serial.print(inches3);
        //  Serial.print("win");
        //  Serial.println();
        FL->setSpeed(120);
        FL->run(BACKWARD);
        FR->setSpeed(120);
        FR->run(BACKWARD);
    }

    FL->setSpeed(150);
    FL->run(FORWARD);
    FR->setSpeed(150);
    FR->run(BACKWARD);

    delay(50);
}
long microsecondsToInches(long microseconds) 
{
    return microseconds / 74 / 2;
}

虽然循环问题与arduino机器人

2 个答案: