2个直流电机和1个用于转向遥控车的伺服

Question

即时操作RC汽车项目，我使用2个DC电动机作为后轮，前方的一个伺服电动机在前面使用Nano Arduino作为微控制器，HC 06-Slave Bluetooth Bluuetooth接收器，FWD/REV和PWM的L298N模块。对于我的发射器，我使用nano arduino a操纵杆和HC-06师父。

我需要操纵杆y轴才能驱动FWD/REV和X轴进行转向。我单独测试了X轴转向的伺服器，并且在测试FWD/Rev的Y轴上的代码时也可以工作。但是，当我组合代码时，它不起作用时，我的伺服器开始发抖，我的直流电动机开始回应X和Y !!

有人可以帮助我。

这是IM使用的代码：

主代码(发射器(;

    //                == MASTER DEVICE - Joystick ==
    //int xAxis, yAxis;
    void setup() {
    Serial.begin(9600); // Default communication rate of the Bluetooth 
    module
    }
    void loop() {
    xAxis = analogRead(A0); // Read Joysticks X-axis
    yAxis = analogRead(A1); // Read Joysticks Y-axis
    // Send the values via the serial port to the slave HC-05 Bluetooth 
    device
    Serial.write(xAxis/4); // Dividing by 4 for converting from 0 - 
    1023 to 0 - 256, (1 byte) range
    Serial.write(yAxis/4);
    delay(20);
    }

从代码(仅伺服(;

    #include <Servo.h>
    Servo myServo;
    int yAxis;
    void setup() {
    myServo.attach(3);
    Serial.begin(9600); // Default communication rate of the Bluetooth 
    module
    }
    void loop() {
    yAxis = 510 / 4;
      // Read the incoming data from the Joystick, or the master                 
      Bluetooth device
    if(Serial.available() > 0){ // Checks whether data is comming from 
    the serial port
    yAxis = Serial.read(); // Reads the data from the serial port
      }
    delay(10);
    myServo.write(yAxis);
    delay(10);
    }

直流电动机FWD/REV;

的从属代码

#include <Servo.h>
#define enA 9
#define in1 4
#define in2 5
#define enB 10
#define in3 6
#define in4 7
//int servoPin = 3;
int xAxis;
unsigned int  x = 0;
unsigned int  y = 0;
int motorSpeedA = 0;
int motorSpeedB = 0;
//Servo Servo1; 
void setup() {
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  Serial.begin(9600); // Default communication rate of the Bluetooth module
//  Servo1.attach(servoPin);
}
void loop() {
  // Default value - no movement when the Joystick stays in the center
  x = 510 / 4;
  y = 510 / 4;
  // Read the incoming data from the Joystick, or the master Bluetooth device
  while (Serial.available() >= 2) {
    x = Serial.read();
//    delay(10);
//    y = Serial.read();
  }
  delay(10);
  // Convert back the 0 - 255 range to 0 - 1023, suitable for motor control code below
  xAxis = x*4;
//  yAxis = y*4;
  // Y-axis used for forward and backward control
  if (xAxis < 470) {
    // Set Motor A backward
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    // Set Motor B backward
    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed
    motorSpeedA = map(xAxis, 470, 0, 0, 255);
    motorSpeedB = map(xAxis, 470, 0, 0, 255);
  }
  else if (xAxis > 550) {
    // Set Motor A forward
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    // Set Motor B forward
    digitalWrite(in3, LOW);
    digitalWrite(in4, HIGH);
    // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed
    motorSpeedA = map(xAxis, 550, 1023, 0, 255);
    motorSpeedB = map(xAxis, 550, 1023, 0, 255);
  }
  // If joystick stays in middle the motors are not moving
  else {
    motorSpeedA = 0;
    motorSpeedB = 0;
  }
    if (motorSpeedA < 70) {
    motorSpeedA = 0;
  }
  if (motorSpeedB < 70) {
    motorSpeedB = 0;
  }
  analogWrite(enA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
}

我想将它们组合起来，因此其中一个轴是DC电动机FWD/REV，另一个轴是右/向左/左/左。

Answer 1

您必须使用发送的数据更加明确。

不要发送x = 20，y = 30作为char [2] = {20,30}。

最低限度为char [4] = {'x'，20，'y'，30}。

然后，您将检查您是否收到4个char的完整数据报，然后您可以检查您不会将X与y混淆。