我的伺服不动，只有在尝试写 180 度时

Question

我的伺服器只有在设置为 180 度时才开始“改变”（这就是代码告诉我的）。

我曾尝试搜索该网站以及 Google，但这似乎与以高级不可重复的方式写入 Servo 非常具体有关。

改变舵机的代码是：

#include <SoftwareSerial.h>
#include <Servo.h>

const int rxPin = 12;
const int txPin = 13;
SoftwareSerial bluetooth (rxPin, txPin);

Servo myServo;
boolean canMove = true;

int rotation = 0;
int currentRotation = 0;

void setup() {
  Serial.begin(9600); // Begins Serial communication
  bluetooth.begin(9600);
  myServo.attach(11); // Sets a servo on pin 11  
}

void loop() {
  // put your main code here, to run repeatedly:

  // Checks if Serial has something to read
  if (bluetooth.available() > 0) {
    rotation = bluetooth.read(); // Reads it and sets it to an integer
  }

  currentRotation = myServo.read();

  if (currentRotation != rotation) {
    Serial.println("Current Rotation:");
    Serial.println(currentRotation);
    Serial.println("Set to:");
    Serial.println(rotation);
    for (int i = currentRotation; i < rotation; i++) {
      Serial.println("Writing to servo");
      myServo.write(i);
    }  
  }

}

有一个将数据发送到 Arduino 的处理程序，但我可以完全看到数字正在进入 Arduino 的串行监视器（它们从 0 到 180 不等）

完成此操作后，串行监视器中显示的唯一内容是：

Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0
Current Rotation:
93
Set to:
0

一遍又一遍。伺服器只是来回抽动。它唯一改变的时候（设置的数字来自处理程序）是当它设置为 180 时。然后它来回移动更多，并说：

Current Rotation:
179
Set to:
180
Writing to servo
Current Rotation:
179
Set to:
180
Writing to servo

一遍又一遍。发生了什么事，我该如何解决？干杯，感谢您的帮助！

Answer 1

您的代码存在一些问题：

1. 无需读取当前舵机值，只需保存上次给出的值即可。

2. 逐步移动伺服不是一个好的选择，因为它可能会出现一些移动错误。您需要根据运动阈值找到动态延迟。例如，假设舵机从 0 到 180 完全移动的最大延迟时间为 2 秒，那么如果您需要将舵机移动 90 度，则需要 1 秒的延迟。

3. 您只需要在有新数据时移动伺服器，以便在有新数据时设置伺服器。

记得根据你的舵机设置max_delay。

#include <SoftwareSerial.h>
#include <Servo.h>

const int rxPin = 12;
const int txPin = 13;
SoftwareSerial bluetooth(rxPin, txPin);

Servo myServo;
boolean canMove = true;

int rotation = 0;
int currentRotation = 0;

// how much time takes servo to move
int move_delay = 0;
// maximum time for changing servo state from lowest to highest value
const int max_delay = 2;

void setup()
{
    Serial.begin(9600); // Begins Serial communication
    bluetooth.begin(9600);
    myServo.attach(11); // Sets a servo on pin 11
}

void loop()
{
    // put your main code here, to run repeatedly:

    // Checks if Serial has something to read
    if (bluetooth.available() > 0)
    {
        rotation = bluetooth.read(); // Reads it and sets it to an integer

        Serial.print("New value: ");
        Serial.println(rotation);
        Serial.print("Current Rotation: ");
        Serial.println(rotation);
        if (currentRotation != rotation)
        {
            Serial.println("Setting new value");
            // find a proper delay
            move_delay = (max_delay / 180) * (abs(rotation - currentRotation)) * 1000;
            myServo.write(rotation);
            delay(move_delay);
            currentRotation = rotation;
        }
    }
}