Arduino智能小车+L298N+测速模块+5110液晶屏，车速显示功能实现过程遇到的小问题
Arduino智能小车+L298N+测速模块+5110液晶屏，车速显示功能实现过程遇到的小问题（液晶屏一直保持000cm/s的状态，但修改中断时间为5000ms时会出现速度值，但也只持续5000ms，之后一直保持000cm/s，求各路前辈指教，新手一枚）以下为烧录的代码
#include <MsTimer2.h>
#defineValue 1.02101761//计算周长的常量
//volatile int state = HIGH;
int u_left = 2;//定义U型测速端口
int u_right = 3;
int IN1=4;
int IN2=5;
int leftPWM=10;
int IN3=6;
int IN4=7;
int rightPWM=11;
int lcd_ce=2;
int lcd_rst=3;
int sclk=4;
int sdin=5;
int lcd_dc=6;//5110
//****************************定义ascii字符**********************//
/**********************************
6 x 8 font
1 pixel space at left and bottom
index = ascii - 32
***********************************/
const unsigned char font6x8[] =
{
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }, // sp
{ 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00 }, // !
{ 0x00, 0x00, 0x07, 0x00, 0x07, 0x00 }, // "
{ 0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14 }, // #
{ 0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12 }, // $
{ 0x00, 0x62, 0x64, 0x08, 0x13, 0x23 }, // %
{ 0x00, 0x36, 0x49, 0x55, 0x22, 0x50 }, // &
{ 0x00, 0x00, 0x05, 0x03, 0x00, 0x00 }, // '
{ 0x00, 0x00, 0x1c, 0x22, 0x41, 0x00 }, // (
{ 0x00, 0x00, 0x41, 0x22, 0x1c, 0x00 }, // )
{ 0x00, 0x14, 0x08, 0x3e, 0x08, 0x14 }, // *
{ 0x00, 0x08, 0x08, 0x3e, 0x08, 0x08 }, // +
{ 0x00, 0x00, 0x00, 0xa0, 0x60, 0x00 }, // ,
{ 0x00, 0x08, 0x08, 0x08, 0x08, 0x08 }, // -
{ 0x00, 0x00, 0x60, 0x60, 0x00, 0x00 }, // .
{ 0x00, 0x20, 0x10, 0x08, 0x04, 0x02 }, // /
{ 0x00, 0x3e, 0x51, 0x49, 0x45, 0x3e }, // 0
{ 0x00, 0x00, 0x42, 0x7f, 0x40, 0x00 }, // 1
{ 0x00, 0x42, 0x61, 0x51, 0x49, 0x46 }, // 2
{ 0x00, 0x21, 0x41, 0x45, 0x4b, 0x31 }, // 3
{ 0x00, 0x18, 0x14, 0x12, 0x7f, 0x10 }, // 4
{ 0x00, 0x27, 0x45, 0x45, 0x45, 0x39 }, // 5
{ 0x00, 0x3c, 0x4a, 0x49, 0x49, 0x30 }, // 6
{ 0x00, 0x01, 0x71, 0x09, 0x05, 0x03 }, // 7
{ 0x00, 0x36, 0x49, 0x49, 0x49, 0x36 }, // 8
{ 0x00, 0x06, 0x49, 0x49, 0x29, 0x1e }, // 9
{ 0x00, 0x00, 0x36, 0x36, 0x00, 0x00 }, // :
{ 0x00, 0x00, 0x56, 0x36, 0x00, 0x00 }, // ;
{ 0x00, 0x08, 0x14, 0x22, 0x41, 0x00 }, // <
{ 0x00, 0x14, 0x14, 0x14, 0x14, 0x14 }, // =
{ 0x00, 0x00, 0x41, 0x22, 0x14, 0x08 }, // >
{ 0x00, 0x02, 0x01, 0x51, 0x09, 0x06 }, // ?
{ 0x00, 0x32, 0x49, 0x59, 0x51, 0x3e }, // @
{ 0x00, 0x7c, 0x12, 0x11, 0x12, 0x7c }, // a
{ 0x00, 0x7f, 0x49, 0x49, 0x49, 0x36 }, // b
{ 0x00, 0x3e, 0x41, 0x41, 0x41, 0x22 }, // c
{ 0x00, 0x7f, 0x41, 0x41, 0x22, 0x1c }, // d
{ 0x00, 0x7f, 0x49, 0x49, 0x49, 0x41 }, // e
{ 0x00, 0x7f, 0x09, 0x09, 0x09, 0x01 }, // f
{ 0x00, 0x3e, 0x41, 0x49, 0x49, 0x7a }, // g
{ 0x00, 0x7f, 0x08, 0x08, 0x08, 0x7f }, // h
{ 0x00, 0x00, 0x41, 0x7f, 0x41, 0x00 }, // i
{ 0x00, 0x20, 0x40, 0x41, 0x3f, 0x01 }, // j
{ 0x00, 0x7f, 0x08, 0x14, 0x22, 0x41 }, // k
{ 0x00, 0x7f, 0x40, 0x40, 0x40, 0x40 }, // l
{ 0x00, 0x7f, 0x02, 0x0c, 0x02, 0x7f }, // m
{ 0x00, 0x7f, 0x04, 0x08, 0x10, 0x7f }, // n
{ 0x00, 0x3e, 0x41, 0x41, 0x41, 0x3e }, // o
{ 0x00, 0x7f, 0x09, 0x09, 0x09, 0x06 }, // p
{ 0x00, 0x3e, 0x41, 0x51, 0x21, 0x5e }, // q
{ 0x00, 0x7f, 0x09, 0x19, 0x29, 0x46 }, // r
{ 0x00, 0x46, 0x49, 0x49, 0x49, 0x31 }, // s
{ 0x00, 0x01, 0x01, 0x7f, 0x01, 0x01 }, // t
{ 0x00, 0x3f, 0x40, 0x40, 0x40, 0x3f }, // u
{ 0x00, 0x1f, 0x20, 0x40, 0x20, 0x1f }, // v
{ 0x00, 0x3f, 0x40, 0x38, 0x40, 0x3f }, // w
{ 0x00, 0x63, 0x14, 0x08, 0x14, 0x63 }, // x
{ 0x00, 0x07, 0x08, 0x70, 0x08, 0x07 }, // y
{ 0x00, 0x61, 0x51, 0x49, 0x45, 0x43 }, // z
{ 0x00, 0x00, 0x7f, 0x41, 0x41, 0x00 }, // [
{ 0x00, 0x55, 0x2a, 0x55, 0x2a, 0x55 }, // 55
{ 0x00, 0x00, 0x41, 0x41, 0x7f, 0x00 }, // ]
{ 0x00, 0x04, 0x02, 0x01, 0x02, 0x04 }, // ^
{ 0x00, 0x40, 0x40, 0x40, 0x40, 0x40 }, // _
{ 0x00, 0x00, 0x01, 0x02, 0x04, 0x00 }, // '
{ 0x00, 0x20, 0x54, 0x54, 0x54, 0x78 }, // a
{ 0x00, 0x7f, 0x48, 0x44, 0x44, 0x38 }, // b
{ 0x00, 0x38, 0x44, 0x44, 0x44, 0x20 }, // c
{ 0x00, 0x38, 0x44, 0x44, 0x48, 0x7f }, // d
{ 0x00, 0x38, 0x54, 0x54, 0x54, 0x18 }, // e
{ 0x00, 0x08, 0x7e, 0x09, 0x01, 0x02 }, // f
{ 0x00, 0x18, 0xa4, 0xa4, 0xa4, 0x7c }, // g
{ 0x00, 0x7f, 0x08, 0x04, 0x04, 0x78 }, // h
{ 0x00, 0x00, 0x44, 0x7d, 0x40, 0x00 }, // i
{ 0x00, 0x40, 0x80, 0x84, 0x7d, 0x00 }, // j
{ 0x00, 0x7f, 0x10, 0x28, 0x44, 0x00 }, // k
{ 0x00, 0x00, 0x41, 0x7f, 0x40, 0x00 }, // l
{ 0x00, 0x7c, 0x04, 0x18, 0x04, 0x78 }, // m
{ 0x00, 0x7c, 0x08, 0x04, 0x04, 0x78 }, // n
{ 0x00, 0x38, 0x44, 0x44, 0x44, 0x38 }, // o
{ 0x00, 0xfc, 0x24, 0x24, 0x24, 0x18 }, // p
{ 0x00, 0x18, 0x24, 0x24, 0x18, 0xfc }, // q
{ 0x00, 0x7c, 0x08, 0x04, 0x04, 0x08 }, // r
{ 0x00, 0x48, 0x54, 0x54, 0x54, 0x20 }, // s
{ 0x00, 0x04, 0x3f, 0x44, 0x40, 0x20 }, // t
{ 0x00, 0x3c, 0x40, 0x40, 0x20, 0x7c }, // u
{ 0x00, 0x1c, 0x20, 0x40, 0x20, 0x1c }, // v
{ 0x00, 0x3c, 0x40, 0x30, 0x40, 0x3c }, // w
{ 0x00, 0x44, 0x28, 0x10, 0x28, 0x44 }, // x
{ 0x00, 0x1c, 0xa0, 0xa0, 0xa0, 0x7c }, // y
{ 0x00, 0x44, 0x64, 0x54, 0x4c, 0x44 }, // z
{ 0x14, 0x14, 0x14, 0x14, 0x14, 0x14 } // horiz lines
};
/************************lcd初始化函数********************************/
void lcd_init(void)
{
//先设置为输出
pinMode(sclk,OUTPUT);
pinMode(sdin,OUTPUT);
pinMode(lcd_dc,OUTPUT);
pinMode(lcd_ce,OUTPUT);
pinMode(lcd_rst,OUTPUT);
// 产生一个让lcd复位的低电平脉冲
digitalWrite( lcd_rst, LOW);
delayMicroseconds(1);
digitalWrite( lcd_rst, HIGH);
// 关闭lcd
digitalWrite( lcd_ce, LOW);
delayMicroseconds(1);
// 使能lcd
digitalWrite( lcd_ce, HIGH); //lcd_ce = 1;
delayMicroseconds(1);
lcd_write_byte(0x21, 0); // 使用扩展命令设置lcd模式
lcd_write_byte(0xc8, 0); // 设置偏置电压
lcd_write_byte(0x06, 0); // 温度校正
lcd_write_byte(0x13, 0); // 1:48
lcd_write_byte(0x20, 0); // 使用基本命令
lcd_clear(); // 清屏
lcd_write_byte(0x0c, 0); // 设定显示模式，正常显示
// 关闭lcd
digitalWrite( lcd_ce, LOW);//lcd_ce = 0;
}
/************************lcd清屏函数*******************************/
void lcd_clear(void)
{
unsigned int i;
lcd_write_byte(0x0c, 0);
lcd_write_byte(0x80, 0);
for (i=0; i<504; i++)
{
lcd_write_byte(0, 1);
}
}
/*************************设置字符位置函数**************************/
void lcd_set_xy(unsigned char x, unsigned char y)
{
lcd_write_byte(0x40 | y, 0);// column
lcd_write_byte(0x80 | x, 0);// row
}
/*************************ascii字符显示函数*************************/
void lcd_write_char(unsigned char c)
{
unsigned char line;
c -= 32;
for (line=0; line<6; line++)
{
lcd_write_byte(font6x8, 1);
}
}
/*******************************************************************/
/*-------------------------------------------------
lcd_write_english_string: 英文字符串显示函数
输入参数：*s ：英文字符串指针；
x、y : 显示字符串的位置,x 0-83 ,y 0-5
--------------------------------------------------*/
void lcd_write_english_string(unsigned char x,unsigned char y,char *s)
{
lcd_set_xy(x,y);
while (*s)
{
lcd_write_char(*s);
s++;
}
}
/******************************************************************/
/*---------------------------------------------
lcd_write_byte : 写数据到lcd
输入参数：data ：写入的数据；
command ：写数据/命令选择；
---------------------------------------------*/
void lcd_write_byte(unsigned char dat, unsigned char command)
{
unsigned char i;
digitalWrite( lcd_ce, LOW); // 使能lcd_ce = 0
if (command == 0)
{
digitalWrite( lcd_dc, LOW);// 传送命令 lcd_dc = 0;
}
else
{
digitalWrite( lcd_dc, HIGH);// 传送数据lcd_dc = 1;
}
for(i=0;i<8;i++)
{
if(dat&0x80)
{
digitalWrite( sdin, HIGH);//sdin = 1;
}
else
{
digitalWrite( sdin, LOW);//sdin = 0;
}
digitalWrite( sclk, LOW);//sclk = 0;
dat = dat << 1;
digitalWrite( sclk, HIGH);//sclk = 1;
}
digitalWrite( lcd_ce, HIGH);//lcd_ce = 1;
}
/******************************************************************/
int r_wheel = 0; //记录U型测速模块的次数
int l_wheel = 0;
float r_velocity=0;//速度;
float l_velocity=0;
float velocity(int n)
{
//(n/20)轮子装的圈数,轮子直径是65mm
//速度的计算公式应该为（n/20）×(65×π)即n*1.02101761
//后面的计算得常数
float vel =Value*(n/20)*(65*3.14159);
return vel;
}
void flash()
{
lcd_init();//初始化液晶
lcd_clear();
lcd_write_english_string(0,0,"L:");
lcd_write_english_string(0,1,"R:");
int r,l;
r=r_wheel;l=l_wheel;
int rv,lv;
rv=velocity(r);
lv=velocity(l);
//Serial.print(r_velocity);
// Serial.print("\0");
// itoa (r_wheel,buffer1,10);
//itoa (l_wheel,buffer2,10);
//s1+=r;
//s2+=l;
lcd_write_english_string(60,0,"cm/s");
lcd_set_xy(10, 0);
lcd_write_char( 0x30+lv%1000/100);
lcd_write_char( 0x30+lv%100/10);
lcd_write_char( 0x30+lv%10);//显示位数
lcd_write_english_string(60,1,"cm/s");
lcd_set_xy(10, 1);
lcd_write_char( 0x30+rv%1000/100);
lcd_write_char( 0x30+rv%100/10);
lcd_write_char( 0x30+rv%10); //显示位数
r_wheel = 0;
l_wheel = 0;
//interrupts();
}
void setup ()
{
Serial.begin(9600);
attachInterrupt(0,RCount, FALLING);
attachInterrupt(1,LCount, FALLING);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(leftPWM,OUTPUT);
pinMode(rightPWM,OUTPUT);
MsTimer2::set(1000, flash); // 中断设置函数，每 1s 进入一次中断
MsTimer2::start();
}
void loop()
{
digitalWrite( leftPWM,50);//电机1全速前进
digitalWrite(rightPWM,50);//电机2全速前进
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);//电机1正转
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);//电机2正转
while (1)
{
// digitalWrite(13, state);
}
}
void LCount()
{
l_wheel++;
// state=!state;
}
void RCount()
{
r_wheel++;
}
留爪，，，我也在做这个最近 pumpitup 发表于 2015-2-15 15:03 static/image/common/back.gif
留爪，，，我也在做这个最近
也有遇到相似问题？我最近又有新问题：小车用PWM调速后依然不能走直线，后期还会出现偏摆，右轮偶尔出现停转现象，不知道是否右电机出现问题，问题多多，但感觉代码没什么问题……int pwm1 = 10;
int IN1 = 4;
int IN2 = 5;
int pwm2 = 11;
int IN3 = 6;
int IN4 = 7;
void setup()
{
Serial.begin(9600);
pinMode(pwm1,OUTPUT);
pinMode(pwm2,OUTPUT);
int i;
for (i=4;i<=7;i++)
pinMode(i,OUTPUT); //设置数字端口4,5,6,7为输出模式
}
void loop()
{
int value;
for(value = 0 ; value <= 255; value+=1)
{
digitalWrite(IN2,HIGH);
digitalWrite(IN1,LOW);
digitalWrite(IN4, HIGH);
digitalWrite(IN3,LOW);
analogWrite(pwm1, 78); //PWM调速
analogWrite(pwm2, 85); //PWM调速
}
} GaryChan 发表于 2015-2-15 16:48 static/image/common/back.gif
也有遇到相似问题？我最近又有新问题：小车用PWM调速后依然不能走直线，后期还会出现偏摆，右轮偶尔出现停 ...
我是不知道应该如何实时测速，感觉应该是测试最近1秒（还是别的时间段）里转过的圈数？
还是做一个数组，记录最近10个10秒的圈数？ pumpitup 发表于 2015-2-17 13:31 static/image/common/back.gif
我是不知道应该如何实时测速，感觉应该是测试最近1秒（还是别的时间段）里转过的圈数？
还是做一个数组， ...
我是测试一秒钟里转过的周长数 delta t 是不是长了一点了？
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