多个视差PING出现问题）））超声波传感器

Question

我正在尝试制造一款AGV（自动导引车），我想使用4个视差超声波传感器，但是当我使用其中的1个时，一切都还不错，并且工作得很好，但是当我添加时1或更多我在串行监视器上的输出说0厘米。我只是想不通

我已经阅读了很多论坛，但没有任何帮助。这是我用于1的代码：

if (mb_detect_encoding(mb_convert_encoding($string,'Windows-1251','UTF-8'),'Windows-1251,UTF-8',true) === 'UTF-8' ){
  $string=mb_convert_encoding($string,'Windows-1251','UTF-8');
};

在这里，当我使用1个以上

// this constant won't change. It's the pin number of the sensor's output:
const int pingPin = 7;

void setup() {
  // initialize serial communication:
  Serial.begin(9600);
}

void loop() {
  // establish variables for duration of the ping, and the distance result
  // in inches and centimeters:
  long duration, inches, cm;

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH pulse
  // whose duration is the time (in microseconds) from the sending of the ping
  // to the reception of its echo off of an object.
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);

  Serial.print(inches);
  Serial.print("in, ");
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  delay(100);
}

long microsecondsToInches(long microseconds) {
  // According to Parallax's datasheet for the PING))), there are 73.746
  // microseconds per inch (i.e. sound travels at 1130 feet per second).
  // This gives the distance travelled by the ping, outbound and return,
  // so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds) {
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the object we
  // take half of the distance travelled.
  return microseconds / 29 / 2;
}

当我使用1个传感器时，它会给我正确的值，如预期；当我使用2个或更多传感器时，它的值为0cm

Answer 1

谢谢，我只是复制粘贴了一个传感器的代码，然后又粘贴了4次，然后使每个代码都用于另一个传感器，每个传感器只有很小的延迟，但是没关系。新代码如下：

// this constant won't change. It's the pin number of the sensor's output:
const int pingPin = 7;
const int pingPin2= 6;
const int pingPin3 = 5;
const int pingPin4 = 4;

void setup() {
  // initialize serial communication:
  Serial.begin(9600);
}

void loop() {
  // establish variables for duration of the ping, and the distance result
  // in inches and centimeters:
  long duration, inches, cm;

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH pulse
  // whose duration is the time (in microseconds) from the sending of the ping
  // to the reception of its echo off of an object.
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);

  Serial.print(inches);
  Serial.print("in, "); 
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  delay(400);

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin2, OUTPUT);
  digitalWrite(pingPin2, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin2, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin2, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH pulse
  // whose duration is the time (in microseconds) from the sending of the ping
  // to the reception of its echo off of an object.
  pinMode(pingPin2, INPUT);
  duration = pulseIn(pingPin2, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);

  Serial.print(inches);
  Serial.print("in, "); 
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  delay(400);


  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin3, OUTPUT);
  digitalWrite(pingPin3, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin3, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin3, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH pulse
  // whose duration is the time (in microseconds) from the sending of the ping
  // to the reception of its echo off of an object.
  pinMode(pingPin3, INPUT);
  duration = pulseIn(pingPin3, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);

  Serial.print(inches);
  Serial.print("in, "); 
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  delay(400);

  // The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
  // Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
  pinMode(pingPin4, OUTPUT);
  digitalWrite(pingPin4, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin4, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin4, LOW);

  // The same pin is used to read the signal from the PING))): a HIGH pulse
  // whose duration is the time (in microseconds) from the sending of the ping
  // to the reception of its echo off of an object.
  pinMode(pingPin4, INPUT);
  duration = pulseIn(pingPin4, HIGH);

  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);

  Serial.print(inches);
  Serial.print("in, "); 
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();

  delay(400);
}

long microsecondsToInches(long microseconds) {
  // According to Parallax's datasheet for the PING))), there are 73.746
  // microseconds per inch (i.e. sound travels at 1130 feet per second).
  // This gives the distance travelled by the ping, outbound and return,
  // so we divide by 2 to get the distance of the obstacle.
  // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
  return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds) {
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the object we
  // take half of the distance travelled.
  return microseconds / 29 / 2;
}