arduino带伺服电机的加速度计

Question

我目前正在进行一个项目，操作三个电机，同时通过蓝牙模块将加速度计值发送到计算机。我希望电机操作和数值传输分别工作。但当电机运转时，变速器就会停止。我使用了ArduinoThread库，但由于我不了解所有用法，它仍然有一些延迟。另外，我希望其中两个电机先工作(只工作一次(，另一个在特定时间后工作(也只工作一一次(。但是两个电机的第一个设置和后一个不起作用。请检查我的代码并给我一些建议。非常感谢。

#include <Wire.h>
#include <SoftwareSerial.h>
#include <Servo.h> 
#include <Thread.h>
const int MPU_addr=0x68;  // MPU-6050 I2C address
int16_t AcX,AcY,AcZ,GyX,GyY,GyZ;
SoftwareSerial BTSerial(3,2);   // TX,RX
Servo servoMini;
Servo servoUp;
Servo servoDown;
int pinMini = 6;
int pinUp = 9;
int pinDown = 10;
int i = 1;
unsigned long tPrev, tNow = 0; 
Thread myThread = Thread();
void readAcc(){ 
Wire.endTransmission(true);
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers   // 14bit??
AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
//AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
//AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
//GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
//GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
//GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
BTSerial.println(AcX);   // 16bit
Serial.println(AcX);
// delay(25);
}
void setup(){
// I2C
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B);  // PWR_MGMT_1 register
Wire.write(0);     // set to zero (wakes up the MPU-6050)
// serial, bluetooth
Serial.begin(9600);
BTSerial.begin(9600);
Serial.println("CLEARDATA");
Serial.println("ONLY AcX");
// servo
servoMini.attach(pinMini); 
servoUp.attach(pinUp);
servoDown.attach(pinDown);  
pinMode(pinMini, OUTPUT);
pinMode(pinUp, OUTPUT);
pinMode(pinDown, OUTPUT);
servoMini.write(145); 
servoUp.write(180);
servoDown.write(0);
// Thread(MPU-6050)
myThread.onRun(readAcc);
myThread.setInterval(20);
}
void loop(){
while(i == 1){
//delay(1000);
tNow = millis();
myThread.run();
servoUp.attach(pinUp);
servoDown.attach(pinDown);
servoUp.write(60);
servoDown.write(120);
if((tNow - tPrev)>= 1000){
servoMini.attach(pinMini);
servoMini.write(180);
i++;
}  
}
servoMini.detach();
myThread.run();
} 

Answer 1

我想你可能需要这样的东西？

#include <Wire.h>
#include <SoftwareSerial.h>
#include <Servo.h>
#include <Thread.h>
const int MPU_addr = 0x68; // MPU-6050 I2C address
int16_t AcX, AcY, AcZ, GyX, GyY, GyZ;
SoftwareSerial BTSerial(3, 2); // TX,RX
Servo servoMini;
Servo servoUp;
Servo servoDown;
int pinMini = 6;
int pinUp = 9;
int pinDown = 10;
int i = 1;
unsigned long tPrev, tNow = 0;
Thread accelleroThread = Thread();
Thread servoThread = Thread();
void main() {
setup();

// Thread(MPU-6050)
accelleroThread.onRun(readAcc);
accelleroThread.setInterval(20);

// Thread(MPU-6050)
servoThread.onRun(controlServo);
servoThread.setInterval(20);


accelleroThread.run();
servoThread.run();
}
void setup() {
// I2C
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
// serial, bluetooth
Serial.begin(9600);
BTSerial.begin(9600);
Serial.println("CLEARDATA");
Serial.println("ONLY AcX");
// servo
servoMini.attach(pinMini);
servoUp.attach(pinUp);
servoDown.attach(pinDown);
pinMode(pinMini, OUTPUT);
pinMode(pinUp, OUTPUT);
pinMode(pinDown, OUTPUT);
servoMini.write(145);
servoUp.write(180);
servoDown.write(0);
}
void readAcc() {
while (1) {
Wire.endTransmission(true);
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers   // 14bit??
AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
//AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
//AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
//GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
//GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
//GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
BTSerial.println(AcX); // 16bit
Serial.println(AcX);
// delay(25);
}
}
void controlServo() {
while (1) {
//delay(1000);
tNow = millis();
myThread.run();
servoUp.attach(pinUp);
servoDown.attach(pinDown);
servoUp.write(60);
servoDown.write(120);
if ((tNow - tPrev) >= 1000) {
servoMini.attach(pinMini);
servoMini.write(180);
i++;
}
}
servoMini.detach();
}

注意，我只是移动了一些块来运行2个线程(1个控制伺服，1个读取加速器(。