Question

我是Arduino编程的新手，并且花了几天时间才开始这么做，但似乎无法弄清楚为什么这段代码无效。

我正在尝试使用业余级遥控器RX / TX来控制步进电机。

我有一个RC接收器向我的Arduino发送1000到2000的模拟值。如果该信号为1000，我想在步进器上制作1000 = -360度，在步进器上制作2000 = +360度。

我从接收器接收到正确的信号并将它们打印到串行监视器，但我似乎无法用这个值控制步进电机。这个电机只是在第一个while循环中卡住，并继续沿1个方向旋转。

int ch1 = 0;                                // RC Reciever Channel Value
int ch1previous = 0;                        // RC Receiver Channel Previous Value
int PUL=7;                                  //define Pulse pin of stepper driver
int DIR=6;                                  //define Direction pin of stepper driver
int ENA=5;                                  //define Enable Pin of stepper driver

void setup() {
  pinMode (PUL, OUTPUT);                    // Stepper Driver Pulse Pin
  pinMode (DIR, OUTPUT);                    // Stepper Driver Direction Pin
  pinMode (ENA, OUTPUT);                    // Stepper Driver Enable Pin
  pinMode(3, INPUT);                        // RC Reciever Pin Input
  Serial.begin(9600);                       

}

void loop() {

  ch1 = pulseIn(3, HIGH, 50000);                    // Read RC Reciever Channel Value

while ( ch1 > ch1previous) {                        // If CH1 is greater than CH1Previous run the differance
      for ( int i = ch1; i < ch1previous; i++);{    // in steps to maintain the setpoint value in forwared position
      digitalWrite(DIR,HIGH);
      digitalWrite(ENA,HIGH);                       // pulsing stepper motor in forward motion
      digitalWrite(PUL,HIGH);
      delayMicroseconds(50);
      digitalWrite(PUL,LOW);
      delayMicroseconds(50);
}
  }

 while ( ch1 < ch1previous) {                      // if CH1 is less than CH1Previous run the differance
      for ( int i = ch1; i<ch1previous; i--);{      // in steps to maintain the setpoint value in reverse motion
      digitalWrite(DIR,LOW);
      digitalWrite(ENA,HIGH);                       // pulsing stepper motor in reverse motion
      digitalWrite(PUL,HIGH);
      delayMicroseconds(50);
      digitalWrite(PUL,LOW);
      delayMicroseconds(50);
    }
  }


  Serial.print ("Channel 1: ");             // print text to the serial monitor
  Serial.println(ch1);                      // print ch1 value to the serial monitor and end line
  Serial.print("CH1 Previous: ");           // print text to the serial monitor 
  Serial.println(ch1previous);              // print ch1previous value to the serial monitor and end line
  ch1previous = ch1;                        // remember the previous value from ch1

  delay(500);                               // just to clean up the serial monitor
}

Answer 1

能 ch1 = pulseIn(3, HIGH, 50000) 曾经是一个负面的价值？如果没有，那么当你考虑这个陈述时，这可以解释这种行为：

 while ( ch1 > ch1previous) {

和ch1previous初始化为零。

Answer 2

如果while条件一旦启动，它们将无限期地继续运行。正如您在评论If CH1 is greater than CH1Previous run the difference中所做的那样，这些条件必须由if statements替换。也就是说，将它们设为if(ch1 > ch1previous)和else if(ch1 < ch1previous)。并且for循环的条件也应该颠倒，根据if条件限制它们。

完成这些更改后，您的代码将变为类似

void loop() {
    ch1 = pulseIn(3, HIGH, 50000);

    if ( ch1 > ch1previous) {
        for ( int i = ch1; i > ch1previous; i--){
            //code
        }
    }

    else if ( ch1 < ch1previous) {
        for ( int i = ch1; i<ch1previous; i++){
            //code
        }
    }

    ...
}

通过RC接收器控制步进电机

2 个答案: