Arduino:用电机控制两台电机并测量行程
Arduino:用电机控制两台电机并测量行程
提问于 2022-07-20 20:48:53
我试图使用一个两台电动机和一个arduino uno来控制来自pololu的马达驱动器，这是由一个覆盆子圆周率指示的。然而，当我试图读取编码器输出时，我会遇到错误，这样我就可以测量出发生了多少次完整的旋转，这样我就知道机器人走了多远。
我希望流程看起来像这样(psuedo代码)，而我的代码显然不是这样的--我认为它更好地说明了我要寻找的是什么：
1rotation = 4in
distance_goal = 36in
rot_req = 1rotation / distance_goal
if rotation_count < rot_req:
m1.PowerOn
m2.PowerOn
rotation_count++我的实际arduino代码：
#include "TB67H420FTG.h"
#include <QuadratureEncoder.h>
TB67H420FTG (2,3,11,4,5,10);
Encoders leftEncoder(7,6); // Create an Encoder object name leftEncoder, using digitalpin 2 & 3
Encoders ridriverghtEncoder(15,14); // Encoder object name rightEncoder using analog pin A0 and A1
unsigned long lastMilli = 0;
void encoderTest(){
// print encoder count every 50 millisecond
if(millis()-lastMilli > 50){
long currentLeftEncoderCount = leftEncoder.getEncoderCount(); //use this anytime you need to read encoder count
long currentRightEncoderCount = rightEncoder.getEncoderCount();//use this anytime you need to read encoder count
Serial.print(currentLeftEncoderCount);
Serial.print(" , ");
Serial.println(currentRightEncoderCount);
lastMilli = millis();
}
}
void setup()
{
driver.init(); // The only thing left to do is call init() so the library can initialize the pins
Serial.begin(9600);
}
void loop()
{
if (Serial.available() > 0)
{
long currentLeftEncoderCount = leftEncoder.getEncoderCount();
long currentRightEncoderCount = rightEncoder.getEncoderCount();
Serial.println(currentLeftEncoderCount);
Serial.println(CurrentRightEncoderCount);
String data = Serial.readStringUntil('\n');
Serial.print("Command Received: " + String(data));
// Move the motor clockwise a bit (our motor speed is valued from -100 to +100)
if (data == "turn A right")
driver.setMotorAPower(50); // Set the motor speed to 50% in a clockwise direction
// Move the motor anti-clockwise a bit (our motor speed is valued from -100 to +100)
else if (data == "turn A left")
driver.setMotorAPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
// Move the motor clockwise a bit (our motor speed is valued from -100 to +100)
if (data == "turn B right")
driver.setMotorBPower(50); // Set the motor speed to 50% in a clockwise direction
// Move the motor anti-clockwise a bit (our motor speed is valued from -100 to +100)
else if (data == "turn B left")
driver.setMotorBPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
else if (data == "stop A")
driver.motorABrake(); // Notice here we can brake motor using the motorABrake() function
else if (data == "stop B")
driver.motorBBrake(); // Notice here we can brake motor using the motorBBrake() function
else if (data == "stop All")
driver.brakeAll(); // Notice here we can brake both motors using the brakeAll() function
else
Serial.print("Invalid Command Received");
}
}我的Raspberry Pi代码，指示arduino：
import serial
import time
ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1)
ser.reset_input_buffer()
while True:
ser.write(b"turn A left\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"turn A right\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"turn B left\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"turn B right\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"stop A\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"stop B\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(3)
ser.write(b"stop All\n")
line = ser.readline().decode('utf-8').rstrip()
print("Data Received from Arduino: ",line)
time.sleep(5)错误本身
Arduino: 1.8.19 (Linux), Board: "Arduino Uno"
ard_code:3:14: error: expected unqualified-id before numeric constant
TB67H420FTG (2,3,11,4,5,10);
^
ard_code:3:14: error: expected ')' before numeric constant
/home/garb/Desktop/test/ard_code/ard_code.ino: In function 'void encoderTest()':
ard_code:14:37: error: 'rightEncoder' was not declared in this scope
long currentRightEncoderCount = rightEncoder.getEncoderCount();//use this anytime you need to read encoder count
^~~~~~~~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:14:37: note: suggested alternative: 'leftEncoder'
long currentRightEncoderCount = rightEncoder.getEncoderCount();//use this anytime you need to read encoder count
^~~~~~~~~~~~
leftEncoder
/home/garb/Desktop/test/ard_code/ard_code.ino: In function 'void setup()':
ard_code:27:3: error: 'driver' was not declared in this scope
driver.init(); // The only thing left to do is call init() so the library can initialize the pins
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:27:3: note: suggested alternative: 'div'
driver.init(); // The only thing left to do is call init() so the library can initialize the pins
^~~~~~
div
/home/garb/Desktop/test/ard_code/ard_code.ino: In function 'void loop()':
ard_code:37:37: error: 'rightEncoder' was not declared in this scope
long currentRightEncoderCount = rightEncoder.getEncoderCount();
^~~~~~~~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:37:37: note: suggested alternative: 'leftEncoder'
long currentRightEncoderCount = rightEncoder.getEncoderCount();
^~~~~~~~~~~~
leftEncoder
ard_code:39:20: error: 'CurrentRightEncoderCount' was not declared in this scope
Serial.println(CurrentRightEncoderCount);
^~~~~~~~~~~~~~~~~~~~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:39:20: note: suggested alternative: 'currentRightEncoderCount'
Serial.println(CurrentRightEncoderCount);
^~~~~~~~~~~~~~~~~~~~~~~~
currentRightEncoderCount
ard_code:46:5: error: 'driver' was not declared in this scope
driver.setMotorAPower(50); // Set the motor speed to 50% in a clockwise direction
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:46:5: note: suggested alternative: 'div'
driver.setMotorAPower(50); // Set the motor speed to 50% in a clockwise direction
^~~~~~
div
ard_code:50:5: error: 'driver' was not declared in this scope
driver.setMotorAPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:50:5: note: suggested alternative: 'div'
driver.setMotorAPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
^~~~~~
div
ard_code:54:5: error: 'driver' was not declared in this scope
driver.setMotorBPower(50); // Set the motor speed to 50% in a clockwise direction
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:54:5: note: suggested alternative: 'div'
driver.setMotorBPower(50); // Set the motor speed to 50% in a clockwise direction
^~~~~~
div
ard_code:58:5: error: 'driver' was not declared in this scope
driver.setMotorBPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:58:5: note: suggested alternative: 'div'
driver.setMotorBPower(-50); // Set the motor speed to 50% in a anti-clockwise direction
^~~~~~
div
ard_code:61:5: error: 'driver' was not declared in this scope
driver.motorABrake(); // Notice here we can brake motor using the motorABrake() function
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:61:5: note: suggested alternative: 'div'
driver.motorABrake(); // Notice here we can brake motor using the motorABrake() function
^~~~~~
div
ard_code:64:5: error: 'driver' was not declared in this scope
driver.motorBBrake(); // Notice here we can brake motor using the motorBBrake() function
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:64:5: note: suggested alternative: 'div'
driver.motorBBrake(); // Notice here we can brake motor using the motorBBrake() function
^~~~~~
div
ard_code:67:5: error: 'driver' was not declared in this scope
driver.brakeAll(); // Notice here we can brake both motors using the brakeAll() function
^~~~~~
/home/garb/Desktop/test/ard_code/ard_code.ino:67:5: note: suggested alternative: 'div'
driver.brakeAll(); // Notice here we can brake both motors using the brakeAll() function
^~~~~~
div
exit status 1
expected unqualified-id before numeric constant
This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.在这件事上有任何帮助将是非常感谢的！
回答 1
Stack Overflow用户
回答已采纳
发布于 2022-07-21 06:50:41
这不是一个答案，只是对代码问题的描述。还请记住，我知道C++，但对Arduino一无所知。
我不知道您期望TB67H420FTG (2,3,11,4,5,10);做什么，但是TB67H420FTG是类的名称，应该以与下一行中的Encoders类似的方式使用。您必须创建一个TB67H420FTG对象。这可以通过以下两种方式之一实现：TB67H420FTG motor;或TB67H420FTG motor(a, b);，其中motor是对象的名称，a和b是指示电机方向的整数参数(无论这意味着什么)。
在后面的代码中，您开始使用一个名为driver的变量，例如driver.setMotorAPower(50);，它在任何地方都没有声明。显然，这需要一份声明，尽管我不知道那会是什么。
老实说，代码看起来就像你刚刚组合了你在互联网上找到的各种代码。它看起来也不像你发布的伪代码。看来你得花些时间学习基本的C++。这不是一种你可以随心所欲学习的语言。
页面原文内容由Stack Overflow提供。腾讯云小微IT领域专用引擎提供翻译支持
原文链接：
https://stackoverflow.com/questions/73057974
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