希望这不会太具体以保证问题结束。
我在校园里与一个研究小组合作，学习机器人技术和自动化。我目前的任务是学习 Arduino 电机扩展板的内部和外部，并将其与蓝牙扩展板结合起来。
我们正在使用 this bluetooth shield和 this motor shield .如有必要，我们还可以访问 this motor shield .
在大多数情况下，我当前的代码分别适用于每个板，但是当我将它们组合在一起时，突然就没有任何效果了。电机部分仅在蓝牙特定代码被注释掉时才工作。这使我得出结论，存在管脚冲突。话虽这么说，有什么办法可以让它发挥作用吗？任何解决方法等。
这是我正在使用的代码，以防我的代码出现问题。
#include <SoftwareSerial.h> // Necessary to use the bluetooth Software Serial Port
#define RxD 7
#define TxD 6
#define DEBUG_ENABLED 1
SoftwareSerial bts(RxD,TxD);
int drive = 12; // Pin definitions
int brake = 9;
int power = 3;
const int DRIVE_F = 1; // Command options returned from parseCommand
const int DRIVE_B = 2;
const int LEFT = 3;
const int RIGHT = 4;
const int STOP = 5;
const int NONE = 0;
void setup()
{
pinMode(RxD, INPUT); // Set up pin modes
pinMode(TxD, OUTPUT);
pinMode(drive, OUTPUT);
pinMode(brake, OUTPUT);
analogWrite(power, 80);
digitalWrite(drive, LOW);
digitalWrite(brake, HIGH);
setupBlueToothConnection();
}
void loop()
{
switch(parseCommand())
{
case DRIVE_F: // Switch through command returns.
forward();
bts.println("Driving forward");
delay(1000);
fullStop(); // Go ahead and stop. Don't want
break; // the car to run infinitely yet.
case DRIVE_B:
backward();
bts.println("Driving backward");
delay(1000);
fullStop();
break;
case LEFT:
turnLeft(); // These do nothing for now. Just here for later.
break;
case RIGHT:
turnRight();
break;
case STOP:
fullStop();
bts.println("Stopping"); // Stop the car. Will be needed later.
break;
default:
turnLeft(); // If invalid command returned,
delay(250); // wiggle wheels for an error message.
turnRight();
delay(250);
turnStraight();
break;
}
}
void setupBlueToothConnection() // Not exactly sure why all this is needed. It was in the sample code, so I kept it all
{
bts.begin(38400); //Set BluetoothBee BaudRate to default baud rate 38400
bts.print("\r\n+STWMOD=0\r\n"); //set the bluetooth work in slave mode
bts.print("\r\n+STNA=SeeedBTSlave\r\n"); //set the bluetooth name as "SeeedBTSlave"
bts.print("\r\n+STOAUT=1\r\n"); // Permit Paired device to connect me
bts.print("\r\n+STAUTO=0\r\n"); // Auto-connection should be forbidden here
delay(2000); // This delay is required.
bts.print("\r\n+INQ=1\r\n"); //make the slave bluetooth inquirable
Serial.println("The slave bluetooth is inquirable!");
delay(2000); // This delay is required.
bts.flush();
}
void forward()
{
digitalWrite(drive, HIGH);
digitalWrite(brake, LOW);
}
void backward()
{
digitalWrite(drive, LOW);
digitalWrite(brake, LOW);
}
void fullStop()
{
digitalWrite(brake, HIGH);
}
void turnRight()
{
}
void turnLeft()
{
}
void turnStraight()
{
}
int parseCommand()
{
String command = ""; // String to hold the command
char recvChar; // Char to hold each character.
while(true)
{
if(bts.available())
{
recvChar = bts.read();
if(recvChar == 13)
bts.println(); // If char received is an ASCII 13, carriage-return/enter key
else // print new line.
bts.print(recvChar); // Else, print received char to serial so user can see his/her input.
if(recvChar != -1 && recvChar != 13)
command += recvChar; // If not -1 (no input received from read()) or 13, concat it with command
if(recvChar == 13)
{ // If enter pressed, check the command variable.
if( command == "forward" )
return DRIVE_F;
else if( command == "back" || command == "backward")
return DRIVE_B;
else if( command == "stop" )
return STOP;
else
{
bts.println("'" + command + "' is an invalid command.");
return NONE; // If invalid, return NONE and print error.
}
}
}
}
}
提前致谢。
最佳答案
看看这两个屏蔽，我怀疑引脚 6 有引脚冲突。Arduino 电机屏蔽暴露了“2 个用于两个 Aanlog 输出的 TinkerKit 连接器(中间为橙色)，连接到引脚 D5 和 D6 上的 PWM 输出。”它们可能在 D6 上有一个下拉或上拉电阻，这会干扰您的蓝牙 UART 通信。
有没有办法通过引脚 0 和 1 路由您的蓝牙通信？如果这样做，您必须使用蓝牙而不是 USB。
也许更简单的方法是切换到电机护罩，只是一个电机护罩并且需要更少的引脚。类似 Ardumotor from Sparkfun 的东西只使用引脚 3, 11, 12, and 13 .
现在有一个 dedicated group for robotics .
关于c - 结合使用 Arduino Motor Shield 和 Bluetooth Shield，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/15061334/