2
我寫了一些C++代碼通過串口與我的arduino進行通信。它只是試圖使用正弦和餘弦在兩臺伺服電機上進行振盪，但它正在跳過數據。我不知道爲什麼會發生這種情況。我正在使用termios.h作爲序列的東西。 C++的輸出結果類似於「V180H90」，即垂直180，水平90.我使用fstream和usleep（）發送數據並且它正在工作，但是我想使用比通過某些任意數字延遲更好的方法。串口在發送數據時爲什麼跳過數據？
感謝您的任何幫助或指導。
我的Arduino代碼
#include <Servo.h>
typedef enum { NONE, GOT_V, GOT_H } states;
states state = NONE;
Servo pan;
Servo tilt;
int laser = 11;
unsigned int currentValue;
int v_pan = 0;
int v_tilt = 0;
void setup()
{
pan.attach(10);
tilt.attach(9);
Serial.begin(9600);
state = NONE;
}
void processVertical(const unsigned int value)
{
Serial.print("Vertical = ");
Serial.println(value);
int result = 1300 + (value - 90) * 2;
//Serial.println(result);
tilt.writeMicroseconds(result);
}
void processHorizontal(const unsigned int value)
{
Serial.print("Horizontal = ");
Serial.println(value);
int result = 1500 + (value - 180) * 1;
//Serial.println(result);
pan.writeMicroseconds(result);
}
void handlePreviousState()
{
switch(state)
{
case GOT_V:
processVertical(currentValue);
break;
case GOT_H:
processHorizontal(currentValue);
break;
}
currentValue = 0;
}
void processIncomingByte (const byte c)
{
if (isdigit(c))
{
currentValue *=10;
currentValue += c - '0';
}
else
{
handlePreviousState();
switch (c)
{
case 'V':
state = GOT_V;
break;
case 'H':
state = GOT_H;
break;
default:
state = NONE;
break;
}
}
}
void loop()
{
if(Serial.available() > 0)
{
processIncomingByte(Serial.read());
}
digitalWrite(laser, HIGH);
}
//check out writeMicroseconds
我的C++代碼
// Program for sending data to serial
#include <iostream>
#include <sstream>
#include <string>
#include <termios.h>
#include <fcntl.h>
#include <math.h>
using namespace std;
//open serial port
int openPort(string path)
{
int fd; //file descriptor for port
fd = open(path.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1)
cerr << "Cannot open port" << endl;
else
fcntl(fd, F_SETFL, 0);
return (fd);
}
//set options for an open serial port
void setOptions(int fd)
{
struct termios options;
tcgetattr(fd, &options);
cfsetispeed(&options, B9600);
cfsetospeed(&options, B9600);
//No parity 8N1
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
//No flow control
options.c_cflag &= ~CRTSCTS;
//Turn off s/w flow control
options.c_iflag &= ~(IXON | IXOFF | IXANY);
//Turn on read and ignore ctrl lines
options.c_cflag |= (CLOCAL | CREAD);
if(tcsetattr(fd, TCSANOW, &options) < 0) {
cerr << "Could not set attributes" << endl;
}
}
//write to serial port
void writePort(int fd, string data)
{
int n = write(fd, data.c_str(), 9);
if (n < 0)
cerr << "Cannot write to port" << endl;
}
int main() {
string path = "/dev/tty.usbmodemfd131";
//string path = "/dev/tty.usbmodemfa141";
int fd = openPort(path);
setOptions(fd);
stringstream ss;
string output;
unsigned short vertical = 0;
unsigned short horizontal = 0;
unsigned short freq = 10;
for(int i = 0; i < 360; i++) {
vertical = ((cos(i * freq * ((M_PI)/180))) + 1) * 90;
horizontal = ((sin(i * freq * ((M_PI)/180))) + 1) * 90;
ss << "V" << vertical << "H" << horizontal << endl;
output = ss.str();
ss.str("");
writePort(fd, output);
// cout << output; //DEBUG
}
close(fd);
return 0;
}
這聽起來像一個壞笑話...... *爲什麼串口跳過數據... * – thang
你試過添加終止符（EOP）嗎？ – KMC
將「C++代碼」（我假設Linux？）連接到同一臺計算機上的終端程序時會發生什麼？首先檢查。然後您可以確定發件人或收件人是否是罪魁禍首。 – Lundin