使用串行 USB Arduino 浮动运输 - 覆盆子

Question

我正在与 Arduino 和 Raspberry pi 3 进行双向通信。Raspberry 需要向 Arduino 发送一个 Float 值，Arduino 收到此值后，需要将其与另一个浮点数相加并返回给覆盆子。但是当 arduino 将值发回时，它们是不正确的。

Arduino 代码：

float we = 0.0;
float wd = 0.0;

 
void setup(){
    
  Serial.begin(9600);
   
}
 
void loop(){
  if(Serial.available() > 0){
       int valorWe = Serial.read() - '0';                                                                   
       int valorWd = Serial.read() - '0'; 

       we = we + valorWe;
       wd = wd + valorWd;
      
   }
    Serial.print(we);Serial.print(",");
    Serial.println(wd);
    delay(500);
        
    
}

树莓代码：

#!/usr/bin/env python3
 

 
import serial 
ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1)

ValorEsquerdo = 90
ValorDireito = 90

valorEnviado = 5
ValorRecebido = 0

we = 0.5
wd = 0.5

ser.flush()
# Infinite loop
while (1):
  line = ser.readline().decode('utf-8')
 
  # Take out the commas. Parse the string into a list.
  parsed = line.split(',')
     
  parsed = [x.rstrip() for x in parsed]
     
  # We know we need to receive 2 integers. This code helps with any loss
  # of data that might happen as data is transferred between Arduino
  # and the Raspberry Pi.
  if(len(parsed) > 1):
    print(parsed)          
    ValorEsquerdo = float(float(parsed[0]+'0'))
    ValorDireito = float(float(parsed[1]+'0'))

  print("Valor roda esquerda: " + str(ValorEsquerdo))
  print("Valor roda direita: " + str(ValorDireito))
  
  ser.write(str(wd).encode('utf-8'))
  ser.write(str(we).encode('utf-8'))

在下图中，您可以看到这些值是整数且不正确，因为我从 0 开始并增加了 0.5。

Plot Terminal