From 2cfc9a62fcfee5b7b876505041afe0ea83ec603e Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Sun, 21 Mar 2021 23:31:43 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E7=8E=B0=E5=9C=A8=E4=BD=BF?= =?UTF-8?q?=E7=94=A8=20NeoHWSerial=20=E5=BA=93?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/moveTaiChi.cpp | 30 +++++++++------- TaiChi/sensorTaiChi.cpp | 79 +++++++++++++++++++++++------------------ TaiChi/servoTaiChi.cpp | 42 +++++++++++----------- TaiChi/servoTaiChi.h | 11 +++--- 4 files changed, 88 insertions(+), 74 deletions(-) diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp index 6f0e95b..c411215 100644 --- a/TaiChi/moveTaiChi.cpp +++ b/TaiChi/moveTaiChi.cpp @@ -1,5 +1,9 @@ #include +#ifdef SENSOR_DEBUG +#include +#endif + #include "moveTaiChi.h" @@ -119,8 +123,8 @@ void Move::Forward(float speed_rate) #ifdef MOVE_DEBUG //调试输出前进状态 - Serial.print("#MOVE: Move Forward"); - Serial.print(" speed_rate: "); Serial.println(speed_rate); + NeoSerial.print("#MOVE: Move Forward"); + NeoSerial.print(" speed_rate: "); NeoSerial.println(speed_rate); #endif } @@ -139,8 +143,8 @@ void Move::Backward(float speed_rate) #ifdef MOVE_DEBUG //调试输出后退状态 - Serial.print("#MOVE: Move Backward"); - Serial.print(" speed_rate: "); Serial.println(speed_rate); + NeoSerial.print("#MOVE: Move Backward"); + NeoSerial.print(" speed_rate: "); NeoSerial.println(speed_rate); #endif } @@ -159,8 +163,8 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向前左转状态 - Serial.print("#MOVE: Move ForLeftward"); - Serial.print(" speed_rate: "); Serial.print(speed_rate); Serial.print(" turn_speed_rate: "); Serial.println(turn_speed_rate); + NeoSerial.print("#MOVE: Move ForLeftward"); + NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate); #endif } @@ -179,8 +183,8 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向前右转状态 - Serial.print("#MOVE: Move ForRightward"); - Serial.print(" speed_rate: "); Serial.print(speed_rate); Serial.print(" turn_speed_rate: "); Serial.println(turn_speed_rate); + NeoSerial.print("#MOVE: Move ForRightward"); + NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate); #endif } @@ -199,8 +203,8 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向后左转状态 - Serial.print("#MOVE: Move BackLeftward"); - Serial.print(" speed_rate: "); Serial.print(speed_rate); Serial.print(" turn_speed_rate: "); Serial.println(turn_speed_rate); + NeoSerial.print("#MOVE: Move BackLeftward"); + NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate); #endif } @@ -219,8 +223,8 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate) #ifdef MOVE_DEBUG //调试输出向后右转状态 - Serial.print("#MOVE: Move BackRightward"); - Serial.print(" speed_rate: "); Serial.print(speed_rate); Serial.print(" turn_speed_rate: "); Serial.println(turn_speed_rate); + NeoSerial.print("#MOVE: Move BackRightward"); + NeoSerial.print(" speed_rate: "); NeoSerial.print(speed_rate); NeoSerial.print(" turn_speed_rate: "); NeoSerial.println(turn_speed_rate); #endif } @@ -239,7 +243,7 @@ void Move::Stop(void) #ifdef MOVE_DEBUG //调试输出制动状态 - Serial.println("#MOVE: Move Stop"); + NeoSerial.println("#MOVE: Move Stop"); #endif } diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp index bd1ac78..bf5ad76 100644 --- a/TaiChi/sensorTaiChi.cpp +++ b/TaiChi/sensorTaiChi.cpp @@ -1,6 +1,10 @@ #include #include +#ifdef SENSOR_DEBUG +#include +#endif + #include "sensorTaiChi.h" @@ -81,13 +85,13 @@ void Sensor::FlashGraySensor(uint8_t gray_sensor_num) //调试输出闪烁信息 switch (gray_sensor_num) { - case GRAY_1: Serial.println("#SENSOR: FLASH GRAY_1 NOW!"); break; - case GRAY_2: Serial.println("#SENSOR: FLASH GRAY_2 NOW!"); break; - case GRAY_3: Serial.println("#SENSOR: FLASH GRAY_3 NOW!"); break; - case GRAY_4: Serial.println("#SENSOR: FLASH GRAY_4 NOW!"); break; - case GRAY_5: Serial.println("#SENSOR: FLASH GRAY_5 NOW!"); break; - case GRAY_6: Serial.println("#SENSOR: FLASH GRAY_6 NOW!"); break; - case GRAY_7: Serial.println("#SENSOR: FLASH GRAY_7 NOW!"); + case GRAY_1: NeoSerial.println("#SENSOR: FLASH GRAY_1 NOW!"); break; + case GRAY_2: NeoSerial.println("#SENSOR: FLASH GRAY_2 NOW!"); break; + case GRAY_3: NeoSerial.println("#SENSOR: FLASH GRAY_3 NOW!"); break; + case GRAY_4: NeoSerial.println("#SENSOR: FLASH GRAY_4 NOW!"); break; + case GRAY_5: NeoSerial.println("#SENSOR: FLASH GRAY_5 NOW!"); break; + case GRAY_6: NeoSerial.println("#SENSOR: FLASH GRAY_6 NOW!"); break; + case GRAY_7: NeoSerial.println("#SENSOR: FLASH GRAY_7 NOW!"); } #endif @@ -120,18 +124,18 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num) //调试输出灰度值 switch (gray_sensor_num) { - case GRAY_1: Serial.print("#SENSOR: GRAY_1 and gate_val: "); break; - case GRAY_2: Serial.print("#SENSOR: GRAY_2 and gate_val: "); break; - case GRAY_3: Serial.print("#SENSOR: GRAY_3 and gate_val: "); break; - case GRAY_4: Serial.print("#SENSOR: GRAY_4 and gate_val: "); break; - case GRAY_5: Serial.print("#SENSOR: GRAY_5 and gate_val: "); break; - case GRAY_6: Serial.print("#SENSOR: GRAY_6 and gate_val: "); break; - case GRAY_7: Serial.print("#SENSOR: GRAY_7 and gate_val: "); + case GRAY_1: NeoSerial.print("#SENSOR: GRAY_1 and gate_val: "); break; + case GRAY_2: NeoSerial.print("#SENSOR: GRAY_2 and gate_val: "); break; + case GRAY_3: NeoSerial.print("#SENSOR: GRAY_3 and gate_val: "); break; + case GRAY_4: NeoSerial.print("#SENSOR: GRAY_4 and gate_val: "); break; + case GRAY_5: NeoSerial.print("#SENSOR: GRAY_5 and gate_val: "); break; + case GRAY_6: NeoSerial.print("#SENSOR: GRAY_6 and gate_val: "); break; + case GRAY_7: NeoSerial.print("#SENSOR: GRAY_7 and gate_val: "); } - Serial.print(gray_val); - Serial.print(" "); - Serial.println(gray_gate); + NeoSerial.print(gray_val); + NeoSerial.print(" "); + NeoSerial.println(gray_gate); #endif if (gray_val > gray_gate) @@ -165,25 +169,25 @@ float Sensor::GrayDeviationRate(uint8_t gray_sensor_num) //调试输出灰度值 switch (gray_sensor_num) { - case GRAY_1: Serial.print("#SENSOR: GRAY_1 and gate_val: "); break; - case GRAY_2: Serial.print("#SENSOR: GRAY_2 and gate_val: "); break; - case GRAY_3: Serial.print("#SENSOR: GRAY_3 and gate_val: "); break; - case GRAY_4: Serial.print("#SENSOR: GRAY_4 and gate_val: "); break; - case GRAY_5: Serial.print("#SENSOR: GRAY_5 and gate_val: "); break; - case GRAY_6: Serial.print("#SENSOR: GRAY_6 and gate_val: "); break; - case GRAY_7: Serial.print("#SENSOR: GRAY_7 and gate_val: "); + case GRAY_1: NeoSerial.print("#SENSOR: GRAY_1 and gate_val: "); break; + case GRAY_2: NeoSerial.print("#SENSOR: GRAY_2 and gate_val: "); break; + case GRAY_3: NeoSerial.print("#SENSOR: GRAY_3 and gate_val: "); break; + case GRAY_4: NeoSerial.print("#SENSOR: GRAY_4 and gate_val: "); break; + case GRAY_5: NeoSerial.print("#SENSOR: GRAY_5 and gate_val: "); break; + case GRAY_6: NeoSerial.print("#SENSOR: GRAY_6 and gate_val: "); break; + case GRAY_7: NeoSerial.print("#SENSOR: GRAY_7 and gate_val: "); } - Serial.print(gray_val); - Serial.print(" "); - Serial.print(gray_gate); + NeoSerial.print(gray_val); + NeoSerial.print(" "); + NeoSerial.print(gray_gate); #endif deviarion_rate = (float)gray_val / gray_gate; #ifdef SENSOR_DEBUG - Serial.print(" deviarion_rate: "); - Serial.println(deviarion_rate); + NeoSerial.print(" deviarion_rate: "); + NeoSerial.println(deviarion_rate); #endif return deviarion_rate; @@ -205,12 +209,12 @@ bool Sensor::IsPushed(uint8_t button_num) #ifdef SENSOR_DEBUG //调试输出按钮状态 if (button_num == BUTTON_1) - Serial.print("#SENSOR: BUTTON_1: "); - else Serial.print("#SENSOR: BUTTON_2: "); + NeoSerial.print("#SENSOR: BUTTON_1: "); + else NeoSerial.print("#SENSOR: BUTTON_2: "); if (button_val == LOW) - Serial.println("pushed"); - else Serial.println("released"); + NeoSerial.println("pushed"); + else NeoSerial.println("released"); #endif if (button_val == LOW) @@ -227,6 +231,11 @@ void Sensor::StartHMC5883(void) Wire.write(0x02); Wire.write(0x00); Wire.endTransmission(); + + #ifdef SENSOR_DEBUG + //调试输出 + NeoSerial.println("#SENSOR: Start HMC5883"); + #endif } @@ -260,8 +269,8 @@ float Sensor::GetAngle(void) #ifdef SENSOR_DEBUG //调试输出朝向角 - Serial.print("#SENSOR: Angle Value: "); - Serial.println(angle); + NeoSerial.print("#SENSOR: Angle Value: "); + NeoSerial.println(angle); #endif return angle; diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp index 660db85..f8821e8 100644 --- a/TaiChi/servoTaiChi.cpp +++ b/TaiChi/servoTaiChi.cpp @@ -1,3 +1,5 @@ +#include + #include "servoTaiChi.h" @@ -11,16 +13,14 @@ Servo::Servo() { - SerialX = &DEFAULT_SERVO_SERIAL_NUM; //默认使用 Mega 板 18 19 作为串口通信端口 - SerialX->begin(SERVO_BAUD_RATE); + NeoSerialX = &SERVO_SERIAL_NUM; //默认使用 Mega 板 18 19 作为串口通信端口 } -//指定串口通信端口 -Servo::Servo(HardwareSerial& serial_num) +//打开串口 +void Servo::BeginTransmit(unsigned long baud_rate) { - SerialX = &serial_num; - SerialX->begin(SERVO_BAUD_RATE); + NeoSerialX->begin(SERVO_BAUD_RATE); } @@ -40,13 +40,13 @@ void Servo::MoveServo(uint8_t servo_id, uint16_t position, uint16_t time) buf[8] = GET_LOW_BYTE(position); //填充目标位置的低八位 buf[9] = GET_HIGH_BYTE(position); //填充目标位置的高八位 - SerialX->write(buf, 10); + NeoSerialX->write(buf, 10); #ifdef SERVO_DEBUG //调试输出动作组执行信息 - Serial.print("#SERVO: MoveServo: "); Serial.print((int)servo_id); - Serial.print(" position: "); Serial.print((int)position); - Serial.print(" time: "); Serial.println((int)time); + NeoSerial.print("#SERVO: MoveServo: "); NeoSerial.print((int)servo_id); + NeoSerial.print(" position: "); NeoSerial.print((int)position); + NeoSerial.print(" time: "); NeoSerial.println((int)time); #endif } @@ -65,12 +65,12 @@ void Servo::RunActionGroup(uint8_t action_num, uint16_t times) buf[5] = GET_LOW_BYTE(times); //取得要运行次数的低八位 buf[6] = GET_HIGH_BYTE(times); //取得要运行次数的高八位 - SerialX->write(buf, 7); //发送数据帧 + NeoSerialX->write(buf, 7); //发送数据帧 #ifdef SERVO_DEBUG //调试输出动作组执行信息 - Serial.print("#SERVO: RunServoActionGroup: "); - Serial.println((int)action_num); + NeoSerial.print("#SERVO: RunServoActionGroup: "); + NeoSerial.println((int)action_num); #endif } @@ -84,11 +84,11 @@ void Servo::StopActionGroup(void) buf[2] = 2; //数据长度，数据帧除帧头部分数据字节数，此命令固定为2 buf[3] = CMD_ACTION_GROUP_STOP; //填充停止运行动作组命令 - SerialX->write(buf, 4); //发送数据帧 + NeoSerialX->write(buf, 4); //发送数据帧 #ifdef SERVO_DEBUG //调试输出动作组停止信息 - Serial.println("#SERVO: StopServoActionGroup"); + NeoSerial.println("#SERVO: StopServoActionGroup"); #endif } @@ -107,14 +107,14 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, float speed) buf[5] = GET_LOW_BYTE(speed_int); //获得目标速度的低八位 buf[6] = GET_HIGH_BYTE(speed_int); //获得目标熟读的高八位 - SerialX->write(buf, 7); //发送数据帧 + NeoSerialX->write(buf, 7); //发送数据帧 #ifdef SERVO_DEBUG //调试输出动作组速度设定信息 - Serial.print("#SERVO: SetServoActionGroupSpeed: "); - Serial.print((int)action_num); - Serial.print(" Speed: "); - Serial.println(speed); + NeoSerial.print("#SERVO: SetServoActionGroupSpeed: "); + NeoSerial.print((int)action_num); + NeoSerial.print(" Speed: "); + NeoSerial.println(speed); #endif } @@ -142,7 +142,7 @@ void Servo::Reset(float speed) } - //放下爪子，指定速度 +//放下爪子，指定速度 void Servo::Down(float speed) { SetActionGroupSpeed(ACTION_DOWN_NUM, speed); diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h index e97f68e..e64f662 100644 --- a/TaiChi/servoTaiChi.h +++ b/TaiChi/servoTaiChi.h @@ -9,9 +9,9 @@ #define SERVO_DEBUG -//默认与舵机控制板连接串口 -//默认使用 Mega 板 18 19 作为串口通信端口 -#define DEFAULT_SERVO_SERIAL_NUM Serial1 +//与舵机控制板连接串口 +//使用 Mega 板 18 19 作为串口通信端口 +#define SERVO_SERIAL_NUM NeoSerial1 //与舵机控制板串口通信波特率 @@ -52,7 +52,8 @@ class Servo { public: Servo(); - Servo(HardwareSerial &serial_num); //构造函数，指定串口通信端口 + + void BeginTransmit(unsigned long baud_rate = SERVO_BAUD_RATE); //打开串口 void MoveServo(uint8_t servo_id, uint16_t position, uint16_t time); //控制单个舵机转动 @@ -73,7 +74,7 @@ public: void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度 private: - HardwareSerial *SerialX; + NeoHWSerial* NeoSerialX; };