我已经为4个超声波传感器编写了一个代码，它本身可以很好地工作，但是当我在主程序中编写它时，会出现此错误。
我试图在独立的草图中查看问题出在哪里，但我已将所有问题都写到了主代码中，所以应该不成问题
独立代码：
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;
}
主要代码：
void Reverse (void);
void Left (void);
void Right (void);
void Stop (void);
volatile int irval1; // variable to store the values genetated by IR_SENSOR_MODULES attached to the AGV
volatile int irval2;
volatile int irval3;
volatile int irval4;
volatile int irval5;
// this constant won't change. It's the pin number of the sensor's output:
const int pingPin = 10;
const int pingPin2= 9;
const int pingPin3 = 8;
const int pingPin4 = 7;
int pos = 0;
#include <Servo.h>;
Servo myservo;
//lijn volg systeem
#define MotorSpeed 2 //geef de pin(2, ,3 een naam(MotorSpeed, MotorDirection)
#define MotorDirection 3
#define MotorSpeed2 5 //geef de pin(2, ,3 een naam(MotorSpeed2, MotorDirection2)
#define MotorDirection2 6
#define ir1 A1 //geef de pin(A1, A2, A3) een naam(ir1, ir2, ir3)
#define ir2 A2
#define ir3 A3
#define ir4 A4
#define ir5 A5
#define threshold 500 //threshold value to differenciate between black line and other part of the surface
// Value threshold should be changed accordingly depending on the track.
#define buttons A6
void setup() {
// put your setup code here, to run once:
myservo.attach(4);
myservo.write(90);
pinMode(Drive , OUTPUT); // sets the value on register so that GPIO acts as output pin
pinMode(MotorSpeed, OUTPUT);
pinMode(MotorDirection, OUTPUT);
pinMode(ir1 , INPUT); // set the value of the register so that the GPIO acts as input pin
pinMode(ir2 , INPUT);
pinMode(ir3 , INPUT);
irval1 = analogRead(ir1 ); // reads the value and stores in volatile int Variable
irval2 = analogRead(ir2 );
irval3 = analogRead(ir3 );
pinMode(MotorSpeed, OUTPUT); //sets both to outputs
pinMode(MotorDirection, OUTPUT);
pinMode(buttons, INPUT);
Serial.begin(9600); //Sets the data rate in bits per second (baud) for serial data transmission
}
void loop() {
// put your main code here, to run repeatedly:
// 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);
if (buttons, LOW) and if (pingPin && pingPin2 && pingPin3 && pingPin4, >150cm) {
if ( ir1 > threshold && ir2 > threshold && ir3 < threshold && ir4 > threshold && ir5 > threshold)
{
void Drive (void);
}
else if ( ir1 > threshold && ir2 > threshold && ir3 > threshold && ir4 < threshold && ir5 > threshold)
{
void Right(void);
}
else if ( ir1 > threshold && ir2 < threshold && ir3 > threshold && ir4 > threshold && ir5 > threshold)
{
void Left (void);
}
else if ( ir1 < threshold && ir2 < threshold && ir3 < threshold && ir4 < threshold && ir5 < threshold)
{
void Reverse (void);
}
else if ( ir1 > threshold && ir2 > threshold && ir3 > threshold && ir4 > threshold && ir5 > threshold)
{
void Stop (void);
}
}
else (MotorSpeed, 0);
}
void Drive() {
digitalWrite(MotorDirection, HIGH);
for (int motorValue = 0 ; motorValue <= 255; motorValue += 10) {
digitalWrite(MotorSpeed, motorValue);
delay(100);
}
digitalWrite(MotorSpeed, 255);
}
void Right() {
digitalWrite(MotorSpeed, 255);
for (pos = 90; pos <= 0; pos += 10) {
myservo.write(pos);
delay(100);
}
}
void Left() {
digitalWrite(MotorSpeed, 255);
for (pos = 90; pos <= 180; pos += 10) {
myservo.write(pos);
delay(100);
}
}
void Reverse () {
if (MotorSpeed == 255) {
for (int motorValue = 255 ; motorValue >= 0; motorValue -= 10) {
digitalWrite(MotorSpeed, motorValue);
delay(100);
}
delay(3000);
for (int motorValue = 0; motorValue <= -255; motorValue += 10) {
digitalWrite(MotorSpeed, motorValue);
delay(100);
}
}
else {
for (int motorValue = 0; motorValue <= -255; motorValue += 10) {
digitalWrite(MotorSpeed, motorValue);
delay(100);
}
}
}
void Stop() {
digitalWrite(MotorSpeed, 0);
}