Question

我正在进行一个项目，该项目使用H桥来控制直流电动机的正向和反向旋转。并在电路接通的同时点亮一个adafruit neopixel。

我使这两件事分开工作。现在，我合并了代码，但是它无法正常工作。它的工作方式类似于直流电动机执行一个正向和反向循环并停止。然后，新像素环亮起。一段时间后，当新像素代码完成时，直流电动机执行相同的一个循环，并且此循环继续。

在使此代码同时启动直流电动机工作和新像素照明时，我需要帮助。

代码如下：

#include <Adafruit_NeoPixel.h>

#ifdef __AVR__
  #include <avr/power.h>
#endif

#define PIN 6
Adafruit_NeoPixel strip = Adafruit_NeoPixel(60, PIN, NEO_GRB + NEO_KHZ800);


//DC motor
const int pwm = 3;  //initializing pin 2 as pwm
const int in_1 = 8 ;
const int in_2 = 7 ;

//For providing logic to L298 IC to choose the direction of the DC motor

void setup()
{
pinMode(pwm,OUTPUT) ;   //we have to set PWM pin as output
pinMode(in_1,OUTPUT) ;  //Logic pins are also set as output
pinMode(in_2,OUTPUT) ;

//Neopixel Ring
// This is for Trinket 5V 16MHz, you can remove these three lines if you are not using a Trinket
#if defined (__AVR_ATtiny85__)
  if (F_CPU == 16000000) clock_prescale_set(clock_div_1);
#endif
  // End of trinket special code

strip.begin();
strip.show(); // Initialize all pixels to 'off'


}

void loop()
{
//For Clock wise motion , in_1 = High , in_2 = Low

digitalWrite(in_1,HIGH) ;
digitalWrite(in_2,LOW) ;
analogWrite(pwm,255) ;

/*setting pwm of the motor to 255
we can change the speed of rotaion
by chaning pwm input but we are only
using arduino so we are using higest
value to driver the motor  */

//Clockwise for 3 secs
delay(1000) ;    

//For brake
digitalWrite(in_1,HIGH) ;
digitalWrite(in_2,HIGH) ;
delay(50) ;

//For Anti Clock-wise motion - IN_1 = LOW , IN_2 = HIGH
digitalWrite(in_1,LOW) ;
digitalWrite(in_2,HIGH) ;
delay(1000) ;

//For brake
digitalWrite(in_1,HIGH) ;
digitalWrite(in_2,HIGH) ;
delay(50) ;

//Neopixel Ring

// Some example procedures showing how to display to the pixels:
  colorWipe(strip.Color(255, 0, 0), 50); // Red
  colorWipe(strip.Color(0, 255, 0), 50); // Green
  colorWipe(strip.Color(0, 0, 255), 50); // Blue
//colorWipe(strip.Color(0, 0, 0, 255), 50); // White RGBW
  // Send a theater pixel chase in...
  theaterChase(strip.Color(127, 127, 127), 50); // White
  theaterChase(strip.Color(127, 0, 0), 50); // Red
  theaterChase(strip.Color(0, 0, 127), 50); // Blue

  rainbow(20);
  rainbowCycle(20);
  theaterChaseRainbow(50);
}

// Fill the dots one after the other with a color
void colorWipe(uint32_t c, uint8_t wait) {
  for(uint16_t i=0; i<strip.numPixels(); i++) {
    strip.setPixelColor(i, c);
    strip.show();
    delay(wait);
  }
}

void rainbow(uint8_t wait) {
  uint16_t i, j;

  for(j=0; j<256; j++) {
    for(i=0; i<strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel((i+j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

// Slightly different, this makes the rainbow equally distributed throughout
void rainbowCycle(uint8_t wait) {
  uint16_t i, j;

  for(j=0; j<256*5; j++) { // 5 cycles of all colors on wheel
    for(i=0; i< strip.numPixels(); i++) {
      strip.setPixelColor(i, Wheel(((i * 256 / strip.numPixels()) + j) & 255));
    }
    strip.show();
    delay(wait);
  }
}

//Theatre-style crawling lights.
void theaterChase(uint32_t c, uint8_t wait) {
  for (int j=0; j<10; j++) {  //do 10 cycles of chasing
    for (int q=0; q < 3; q++) {
      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, c);    //turn every third pixel on
      }
      strip.show();

      delay(wait);

      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, 0);        //turn every third pixel off
      }
    }
  }
}

//Theatre-style crawling lights with rainbow effect
void theaterChaseRainbow(uint8_t wait) {
  for (int j=0; j < 256; j++) {     // cycle all 256 colors in the wheel
    for (int q=0; q < 3; q++) {
      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, Wheel( (i+j) % 255));    //turn every third pixel on
      }
      strip.show();

      delay(wait);

      for (uint16_t i=0; i < strip.numPixels(); i=i+3) {
        strip.setPixelColor(i+q, 0);        //turn every third pixel off
      }
    }
  }
}

// Input a value 0 to 255 to get a color value.
// The colours are a transition r - g - b - back to r.
uint32_t Wheel(byte WheelPos) {
  WheelPos = 255 - WheelPos;
  if(WheelPos < 85) {
    return strip.Color(255 - WheelPos * 3, 0, WheelPos * 3);
  }
  if(WheelPos < 170) {
    WheelPos -= 85;
    return strip.Color(0, WheelPos * 3, 255 - WheelPos * 3);
  }
  WheelPos -= 170;
  return strip.Color(WheelPos * 3, 255 - WheelPos * 3, 0);


}

Answer 1

基本上，每次您呼叫延迟时，arduino都无能为力。因此，您需要将控制权切换到您想做的其他事情。

有几种方法：

计时器-使用计时器来更新两个任务之一的状态。这样做的好处是您的任务不依赖其他任务来完成，但不会超出几个任务。

软件状态机-为每个任务创建一个状态机，并在循环中依次递增每个状态机。您将需要创建一个结构来跟踪任务的状态，并且每次调用延迟时，您都需要更新结构并返回。通常，您会为每个任务创建一个类，就像在this Adafruit tutorial中所做的那样。这可能是很多工作，因此有一些库可以为您完成。

协程-这些协程使用库为您构造状态机。例如http://forum.arduino.cc/index.php?topic=256256.0

使用H-Bridge和neopixel以及Arduino UNO控制直流电机

1 个答案: