From 9bd14f85d84c8eb8a91b81f6ff2ac460f909aa6f Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Mon, 15 Feb 2021 12:28:14 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84=E6=95=B4=E6=9C=BA=E8=B0=83?= =?UTF-8?q?=E8=AF=95=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/TaiChi.ino | 52 +++++++++++++++++++++++++++++++++++++---- TaiChi/moveTaiChi.cpp | 28 +++++++++++----------- TaiChi/moveTaiChi.h | 2 +- TaiChi/sensorTaiChi.cpp | 24 +++++++++---------- TaiChi/sensorTaiChi.h | 2 +- TaiChi/servoTaiChi.cpp | 14 +++++------ TaiChi/servoTaiChi.h | 2 +- 7 files changed, 84 insertions(+), 40 deletions(-) diff --git a/TaiChi/TaiChi.ino b/TaiChi/TaiChi.ino index f89fdbf..b003e6c 100644 --- a/TaiChi/TaiChi.ino +++ b/TaiChi/TaiChi.ino @@ -3,6 +3,10 @@ #include "servoTaiChi.h" //舵机库 +//注释以关闭调试功能 +#define TAICHI_DEBUG + + Move move; //轮胎运动实例 Sensor sensor; //传感器实例 Servo servo; //舵机实例 @@ -99,6 +103,10 @@ void TurnDirection(uint8_t direction, float speed_rate = 1.0); void setup() { + #ifdef TAICHI_DEBUG + Serial.begin(9600); + #endif + move.Stop(); servo.StopAndReset(); @@ -177,7 +185,7 @@ void loop() //继续后退或转向 TurnDirection(CalcDirection()); } - else move.Stop(); //DEBUG + else move.Stop(); //调试用 //更新标记，继续循环 if (++passed_flag > max_flag) @@ -224,7 +232,7 @@ uint8_t CalcDirection(void) rx = -ry0; ry = rx0; } - else return 254; //DEBUG + else return 254; //调试用 //判断行进方向 if (rx == 0 && ry == 2) @@ -275,13 +283,20 @@ uint8_t CalcDirection(void) return BACKRIGHTWARD; } } - else return 255; //DEBUG + else return 255; //调试用 } //沿线直行，在触发条件后停止 void LineForward(uint8_t end_position, float speed_rate) { + #ifdef TAICHI_DEBUG + //调试输出沿线直行状态 + Serial.print("#TAICHI: Line Forward"); + Serial.print(" end_position: "); + Serial.println((int)end_position); + #endif + //记录开始时间 unsigned long begin_time = micros(); @@ -325,12 +340,24 @@ void LineForward(uint8_t end_position, float speed_rate) break; } } + + #ifdef TAICHI_DEBUG + //调试输出沿线直行结束 + Serial.println("#TAICHI: End Line Forward"); + #endif } //沿线后退，在触发条件后停止 void LineBackward(uint8_t end_position, float speed_rate) { + #ifdef TAICHI_DEBUG + //调试输出沿线后退状态 + Serial.print("#TAICHI: Line Backward"); + Serial.print(" end_position: "); + Serial.println((int)end_position); + #endif + while(1) { if (!sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4)) //左侧越线 @@ -361,13 +388,25 @@ void LineBackward(uint8_t end_position, float speed_rate) if (sensor.IsWhite(GRAY_5) && sensor.IsWhite(GRAY_6)) break; } - } + } + + #ifdef TAICHI_DEBUG + //调试输出沿线后退结束 + Serial.println("#TAICHI: End Line Backward"); + #endif } //直行或后退或转向 void TurnDirection(uint8_t direction, float speed_rate) { + #ifdef TAICHI_DEBUG + //调试输出直行或后退或转向状态 + Serial.print("#TAICHI: Turn Direction"); + Serial.print(" direction: "); + Serial.println((int)direction); + #endif + if (direction == FORWARD) //继续直行 { //沿线直行，到后端传感器接触线为止 @@ -386,4 +425,9 @@ void TurnDirection(uint8_t direction, float speed_rate) delay(TRUN_CHECK_DELAY); //延时后判断 while(!(sensor.IsWhite(GRAY_3) && sensor.IsWhite(GRAY_4))) {} } + + #ifdef TAICHI_DEBUG + //调试输出直行或后退或转向结束 + Serial.println("#TAICHI: End Turn Direction"); + #endif } \ No newline at end of file diff --git a/TaiChi/moveTaiChi.cpp b/TaiChi/moveTaiChi.cpp index 5e1f59c..7b9800a 100644 --- a/TaiChi/moveTaiChi.cpp +++ b/TaiChi/moveTaiChi.cpp @@ -109,9 +109,9 @@ void Move::Forward(float speed_rate) current_move = FORWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出前进状态 - Serial.print("Move Forward"); + Serial.print("#MOVE: Move Forward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -129,9 +129,9 @@ void Move::Backward(float speed_rate) current_move = BACKWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出后退状态 - Serial.print("Move Backward"); + Serial.print("#MOVE: Move Backward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -149,9 +149,9 @@ void Move::ForLeftward(float speed_rate, float turn_speed_rate) current_move = FORLEFTWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出向前左转状态 - Serial.print("Move ForLeftward"); + Serial.print("#MOVE: Move ForLeftward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -169,9 +169,9 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate) current_move = FORRIGHTWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出向前右转状态 - Serial.print("Move ForRightward"); + Serial.print("#MOVE: Move ForRightward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -189,9 +189,9 @@ void Move::BackLeftward(float speed_rate, float turn_speed_rate) current_move = BACKLEFTWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出向后左转状态 - Serial.print("Move BackLeftward"); + Serial.print("#MOVE: Move BackLeftward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -209,9 +209,9 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate) current_move = BACKRIGHTWARD; current_speed_rate = speed_rate; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出向后右转状态 - Serial.print("Move BackRightward"); + Serial.print("#MOVE: Move BackRightward"); Serial.print(" speed_rate: "); Serial.println(speed_rate); #endif @@ -229,9 +229,9 @@ void Move::Stop(void) current_move = STOP; current_speed_rate = 0; - #ifdef DEBUG + #ifdef MOVE_DEBUG //调试输出制动状态 - Serial.print("Move Stop\n"); + Serial.println("#MOVE: Move Stop"); #endif } diff --git a/TaiChi/moveTaiChi.h b/TaiChi/moveTaiChi.h index 8945977..972eeb4 100644 --- a/TaiChi/moveTaiChi.h +++ b/TaiChi/moveTaiChi.h @@ -3,7 +3,7 @@ //注释以关闭调试功能 -#define DEBUG +#define MOVE_DEBUG //轮胎定义 diff --git a/TaiChi/sensorTaiChi.cpp b/TaiChi/sensorTaiChi.cpp index 1797ed5..9350b70 100644 --- a/TaiChi/sensorTaiChi.cpp +++ b/TaiChi/sensorTaiChi.cpp @@ -27,16 +27,16 @@ bool Sensor::IsWhite(uint8_t gray_sensor_num) gray_val = analogRead(gray_out_pin); - #ifdef DEBUG + #ifdef SENSOR_DEBUG //调试输出灰度值 switch (gray_sensor_num) { - case GRAY_1: Serial.print("GRAY_1: "); break; - case GRAY_2: Serial.print("GRAY_2: "); break; - case GRAY_3: Serial.print("GRAY_3: "); break; - case GRAY_4: Serial.print("GRAY_4: "); break; - case GRAY_5: Serial.print("GRAY_5: "); break; - case GRAY_6: Serial.print("GRAY_6: "); + case GRAY_1: Serial.print("#SENSOR: GRAY_1: "); break; + case GRAY_2: Serial.print("#SENSOR: GRAY_2: "); break; + case GRAY_3: Serial.print("#SENSOR: GRAY_3: "); break; + case GRAY_4: Serial.print("#SENSOR: GRAY_4: "); break; + case GRAY_5: Serial.print("#SENSOR: GRAY_5: "); break; + case GRAY_6: Serial.print("#SENSOR: GRAY_6: "); } Serial.println(gray_val); @@ -59,15 +59,15 @@ bool Sensor::IsPushed(uint8_t button_num) button_val = digitalRead(button_out_pin); - #ifdef DEBUG + #ifdef SENSOR_DEBUG //调试输出按钮状态 if (button_num == BUTTON_1) - Serial.print("BUTTON_1: "); - else Serial.print("BUTTON_2: "); + Serial.print("#SENSOR: BUTTON_1: "); + else Serial.print("#SENSOR: BUTTON_2: "); if (button_val == LOW) - Serial.print("pushed\n"); - else Serial.print("released\n"); + Serial.println("pushed"); + else Serial.println("released"); #endif if (button_val == LOW) diff --git a/TaiChi/sensorTaiChi.h b/TaiChi/sensorTaiChi.h index 496bf5c..c4575c6 100644 --- a/TaiChi/sensorTaiChi.h +++ b/TaiChi/sensorTaiChi.h @@ -3,7 +3,7 @@ //注释以关闭调试功能 -#define DEBUG +#define SENSOR_DEBUG //灰度传感器接口定义 diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp index a8c33c8..940d604 100644 --- a/TaiChi/servoTaiChi.cpp +++ b/TaiChi/servoTaiChi.cpp @@ -40,9 +40,9 @@ void Servo::RunActionGroup(uint8_t action_num, uint16_t times) SerialX->write(buf, 7); //发送数据帧 - #ifdef DEBUG + #ifdef SERVO_DEBUG //调试输出动作组执行信息 - Serial.print("RunServoActionGroup: "); + Serial.print("#SERVO: RunServoActionGroup: "); Serial.println((int)action_num); #endif } @@ -59,9 +59,9 @@ void Servo::StopActionGroup(void) SerialX->write(buf, 4); //发送数据帧 - #ifdef DEBUG + #ifdef SERVO_DEBUG //调试输出动作组停止信息 - Serial.print("StopServoActionGroup\n"); + Serial.println("#SERVO: StopServoActionGroup"); #endif } @@ -82,10 +82,10 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, float speed) SerialX->write(buf, 7); //发送数据帧 - #ifdef DEBUG + #ifdef SERVO_DEBUG //调试输出动作组速度设定信息 - Serial.print("SetServoActionGroupSpeed: "); - Serial.println((int)action_num); + Serial.print("#SERVO: SetServoActionGroupSpeed: "); + Serial.print((int)action_num); Serial.print(" Speed: "); Serial.println(speed); #endif diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h index 23b9373..53c1d79 100644 --- a/TaiChi/servoTaiChi.h +++ b/TaiChi/servoTaiChi.h @@ -6,7 +6,7 @@ //注释以关闭调试功能 -#define DEBUG +#define SERVO_DEBUG #define SERVO_BAUD_RATE 9600