Question

设置为180度时，我的伺服器只会开始“改变”（无论如何代码都会告诉我）。

我已经尝试过搜索网站以及Google，但这似乎与以先进的，不可重复的方式写给Servo的事情非常具体。

更改伺服的代码为：

#include <SoftwareSerial.h>
#include <Servo.h>

const int rxPin = 12;
const int txPin = 13;
SoftwareSerial bluetooth (rxPin, txPin);

Servo myServo;
boolean canMove = true;

int rotation = 0;
int currentRotation = 0;

void setup() {
  Serial.begin(9600); // Begins Serial communication
  bluetooth.begin(9600);
  myServo.attach(11); // Sets a servo on pin 11  
}

void loop() {
  // put your main code here, to run repeatedly:

  // Checks if Serial has something to read
  if (bluetooth.available() > 0) {
    rotation = bluetooth.read(); // Reads it and sets it to an integer
  }

  currentRotation = myServo.read();

  if (currentRotation != rotation) {
    Serial.println("Current Rotation:");
    Serial.println(currentRotation);
    Serial.println("Set to:");
    Serial.println(rotation);
    for (int i = currentRotation; i < rotation; i++) {
      Serial.println("Writing to servo");
      myServo.write(i);
    }  
  }

}

有一个处理程序将数据发送到Arduino，但我可以完美地看到Arduino的串行监视器中的数字（它们的范围从0到180）

完成此操作后，串行监视器中显示的唯一内容是：

Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0

一遍又一遍。伺服器只是来回抽动。它唯一更改的时间（要设置的数字来自Processing程序）是将其设置为180时的数字。然后它来回移动得更多，并说：

Current Rotation:
179
Set to:
180
Writing to servo
Current Rotation:
179
Set to:
180
Writing to servo

一遍又一遍。怎么回事，我该如何解决？干杯，谢谢您的帮助！

Answer 1

您的代码存在一些问题：

您无需读取当前伺服值，只需保存最后给出的值即可。
逐步移动伺服不是一个好的选择，因为它可能会出现一些移动错误。您需要根据移动阈值找到动态延迟。例如，假设您的伺服器从0到180完全移动的最大延迟时间是2秒，那么如果您需要将伺服器移动90度，则需要1秒的延迟。
您只需要在收到新数据时移动伺服，因此在收到新数据时设置伺服即可。

请记住要根据您的伺服器设置max_delay。

#include <SoftwareSerial.h>
#include <Servo.h>

const int rxPin = 12;
const int txPin = 13;
SoftwareSerial bluetooth(rxPin, txPin);

Servo myServo;
boolean canMove = true;

int rotation = 0;
int currentRotation = 0;

// how much time takes servo to move
int move_delay = 0;
// maximum time for changing servo state from lowest to highest value
const int max_delay = 2;

void setup()
{
    Serial.begin(9600); // Begins Serial communication
    bluetooth.begin(9600);
    myServo.attach(11); // Sets a servo on pin 11
}

void loop()
{
    // put your main code here, to run repeatedly:

    // Checks if Serial has something to read
    if (bluetooth.available() > 0)
    {
        rotation = bluetooth.read(); // Reads it and sets it to an integer

        Serial.print("New value: ");
        Serial.println(rotation);
        Serial.print("Current Rotation: ");
        Serial.println(rotation);
        if (currentRotation != rotation)
        {
            Serial.println("Setting new value");
            // find a proper delay
            move_delay = (max_delay / 180) * (abs(rotation - currentRotation)) * 1000;
            myServo.write(rotation);
            delay(move_delay);
            currentRotation = rotation;
        }
    }
}

仅当尝试写入180度时，我的伺服器才会移动

1 个答案: