=w=新手上路，关于VEX+Arduino做道闸的问题

PCDotFan

代码在这里~只用了VEX的那个直流电机、两个限位开关和两个FC-04的超声波……

1. #include <Servo.h>
   
2. #define MOTOR_PIN 7 // define the PWM range for the VEX speed controll
   
3. #define MIN_POS 1000 // 0
   
4. #define MAX_POS 2000 // 255
   
5. #define CENTER_POS 1500 // 127
   
6. Servo myservo;
   
7. const int TrigPin = 2;
   
8. const int EchoPin = 3;
   
9. const int SecondTPin = 4;
   
10. const int SecondEPin = 5;
    
11. const int bumperup = 8;
    
12. const int bumperdown = 9;
    
13. bool motor;
    
14. int uval,dval;
    
15. float cm1,cm2;
    
16. void setup()
    
17. {
    
18. Serial.begin(9600);
    
19. pinMode(TrigPin, OUTPUT);
    
20. pinMode(EchoPin, INPUT);
    
21. pinMode(SecondTPin, OUTPUT);
    
22. pinMode(SecondEPin, INPUT);
    
23. pinMode(7, OUTPUT);
    
24. pinMode(8, OUTPUT);
    
25. pinMode(bumperup,INPUT);
    
26. digitalWrite(bumperup,HIGH);
    
27. pinMode(bumperdown,INPUT);
    
28. digitalWrite(bumperdown,HIGH);
    
29. myservo.attach(MOTOR_PIN);
    
30.     motor = false;
    
31. }
    
32. 
    
33. void loop()
    
34. {
    
35.    myservo.attach(MOTOR_PIN);
    
36.     digitalWrite(TrigPin, LOW); //低高低电平发一个短时间脉冲去TrigPin
    
37.     delayMicroseconds(2);
    
38.     digitalWrite(TrigPin, HIGH);
    
39.     delayMicroseconds(10);
    
40.     digitalWrite(TrigPin, LOW);
    
41.     cm1 = pulseIn(EchoPin, HIGH) / 58.0; //将回波时间换算成cm
    
42.     cm1 = (int(cm1 * 100.0)) / 100.0; //保留两位小数
    
43.          delay(100);
    
44.     digitalWrite(SecondTPin, LOW); //低高低电平发一个短时间脉冲去TrigPin
    
45.     delayMicroseconds(2);
    
46.     digitalWrite(SecondTPin, HIGH);
    
47.     delayMicroseconds(10);
    
48.     digitalWrite(SecondTPin, LOW);
    
49.     cm2 = pulseIn(SecondEPin, HIGH) / 58.0; //将回波时间换算成cm
    
50.     cm2 = (int(cm2 * 100.0)) / 100.0; //保留两位小数
    
51. delay(100);
    
52.     uval = digitalRead(bumperup);
    
53. 
    
54. 
    
55.     Serial.print(cm1);
    
56.     Serial.print("cm1");
    
57.     Serial.println();
    
58.     Serial.print(cm2);
    
59.     Serial.print("cm2");
    
60.     Serial.println();
    
61.     uval = digitalRead(bumperup);
    
62.     dval = digitalRead(bumperdown);
    
63.     delay(10);
    
64.     if(0<cm1<=30)
    
65.     {
    
66.      uval = digitalRead(bumperup);
    
67.      while(uval == HIGH && motor == false)
    
68.      {
    
69.         myservo.writeMicroseconds(MIN_POS);
    
70.         uval = digitalRead(bumperup);
    
71.      }
    
72.      myservo.writeMicroseconds(CENTER_POS);
    
73.      motor = true;
    
74.     }
    
75.      delay(10);
    
76.     dval = digitalRead(bumperdown);
    
77.     myservo.writeMicroseconds(CENTER_POS);   
    
78. if(cm1>=30 && cm2>=30)
    
79.   {
    
80.     while(dval == HIGH && motor == true)
    
81.     {
    
82.         myservo.writeMicroseconds(MAX_POS);
    
83.         dval = digitalRead(bumperdown);
    
84.     }
    
85.     myservo.writeMicroseconds(CENTER_POS);
    
86.     motor = false;
    
87.   }
    
88. }
    

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然而症状是……无论超声波的值是虾米，道闸只会一直向上和向下……求救QAQ

迷你强

道闸一般选择伺服电机，两个终端之前要减速，提供阻尼，否则那根杆很容易折断

迷你强

if语句写的不对。。  要A>100 || A<50  (且)，这种写法  明显的语法错误

PCDotFan

迷你强 发表于 2015-5-22 23:26
道闸一般选择伺服电机，两个终端之前要减速，提供阻尼，否则那根杆很容易折断

已经配上差速器了~但是我的两个超声波是装在道闸前端和后端的……这样的写法也不对吗？

迷你强

  if(0<cm1<=30) 这个就是错误语句

PCDotFan

迷你强 发表于 2015-5-23 22:26
if(0

感谢大神！这问题搞了一星期没明白……