我正在尝试让一个Arduino通过传感器将数据提供给Python。然后，当将这些数据接收到Python中时，Python需要将信号发送回Arduino，以使电动机对传入的数据做出反应。目前，我的代码会导致这种情况，但是，如果我查看数据，将会发现随机峰值的数据与场景不符。例如，我将5牛顿的负载放在传感器上，它将读取5牛顿的几次迭代，然后它会突增到随机的值。我只看了Arduino IDE中的Arduino输出，它是稳定而持续的数据流。我已经看过Python在没有发出信号的情况下收到了什么，并且给出了与Arduino相同的东西。我不知道为什么当我不得不两次来回发送信息时会遇到此问题。如果有人对如何获得良好的阅读有更好的解决方案，我将不胜感激。
Python
import serial
import csv
import time
import sys
from time import localtime, strftime
import warnings
import serial.tools.list_ports
__author__ = 'Matt Munn'
arduino_ports = [
p.device
for p in serial.tools.list_ports.comports()
if 'Arduino' in p.description
]
if not arduino_ports:
raise IOError("No Arduino found - is it plugged in? If so, restart computer.")
if len(arduino_ports) > 1:
warnings.warn('Multiple Arduinos found - using the first')
Arduino = serial.Serial(arduino_ports[0],9600,timeout=1)
time.sleep(2)
start_time=time.time()
Force = []
Actuator_Signal=[]
Cycle_Count=[]
state = True
Up = True
numPoints = 10
ForceList = [0]*numPoints
AvgForce = 0
#This allows the user to input test conditions.
Force_Input = input("What is the force you want to test with in Newtons?")
Cycles = input("How many cycles would you like to run?")
Material = input("What kind of material is to be tested?")
print("The test will be conducted with", Force_Input, " Newtons of force and for a total of" , Cycles, " cycles.", " on", Material)
print ("REMOVE HANDS AND OTHER OBJECTS AWAY FROM AREA OF OPERATION.")
print("Testing will begin.")
time.sleep(5)
start_time = time.time()
#This creates the unique file for saving test result data.
outputFileName = " Cycle_Pull_Test_#.csv"
outputFileName = outputFileName.replace("#", strftime("%Y-%m-%d_%H %M %S", localtime()))
with open(outputFileName, 'w',newline='') as outfile:
HeaderNames = ['Material','Newtons','Time']
outfileWrite = csv.DictWriter(outfile, fieldnames = HeaderNames)
outfileWrite.writeheader()
#This takes the data from the arduino and interprits it.
while True:
while (Arduino.inWaiting()==0):
pass
try:
data = Arduino.readline()
dataarray = data.decode().rstrip().split(',')
for i in range(0,numPoints):
Force = abs(round(float(dataarray[0]),3))
ForceList[i] = Force
AvgForce = round((sum(ForceList)/numPoints),3)
elapsed_time = round(time.time()-start_time,3)
print (AvgForce, elapsed_time)
#This Controls the actuators direction based on the force input on the loadcell.
if AvgForce > float(Force_Input):
Up = False
state = True
Arduino.write(b'd')
else:
Arduino.write(b'u')
Up = True
if state == True and Up == True:
state = False
Cycles = float(Cycles) + 1
if Cycles >= float(Cycle_Count[0]):
Arduino.write(b'o')
print("Testing is done.")
time.sleep(1)
sys.exit("All the data will be saved now")
except (KeyboardInterrupt, SystemExit,IndexError,ValueError):
pass
#This writes the data from the loadcell to a csv file for future use.
outfileWrite.writerow({'Material' : Material, 'Newtons' : AvgForce, 'Time' :elapsed_time })
Arduino
#include <HX711_ADC.h> // HX711 Library
#include "CytronMotorDriver.h"
// Configure the motor driver.
CytronMD motor(PWM_DIR, 3, 2); // PWM = Pin 3, DIR = Pin 2.
int up = HIGH;
int down = LOW;
int dstate = up;
int python_direction = 0;
float interval = 12000;
float pretime= 0;
float curtime = 0;
HX711_ADC LoadCell(11, 12);
float force;
float calforce;
float newtons;
void setup() {
Serial.begin(9600);
LoadCell.begin();
LoadCell.start(2000); // tare preciscion can be improved by adding a few seconds of stabilising time
LoadCell.setCalFactor(100.0); // user set calibration factor (float)
}
void loop() {
LoadCell.update();
forceRead();
actuatorControl();
}void forceRead()
{
force = LoadCell.getData();
force = (force/285); // Force in (N) // 285 is conversion factor
calforce = (-1.0389*force)+0.0181, // This is in lbs
newtons = 4.45*calforce;
Serial.println(newtons);
//receive from serial terminal for tare
if (Serial.available() > 0) {
char inByte = Serial.read();
if (inByte == 't') LoadCell.tareNoDelay();
}
}
void actuatorControl(){
if (Serial.available()>0){
python_direction = Serial.read();
Serial.print (python_direction);
Serial.print (",");
}
if (python_direction == 'd'){
motor.setSpeed(255); // Run forward at full speed.
}
if (python_direction == 0){
motor.setSpeed(0); // Stop motor.
}
if (python_direction == 'u'){
motor.setSpeed(-255); // Run backward at full speed.
}
}