使用处理中的数据控制 Arduino Braccio 手臂

Question

我正在做一个项目，该项目使用处理从文件中读取数据，然后使用串行将这些数据发送到 arduino Uno 板，然后将这些值提供给 arduino braccio Braccio.ServoMovment() 函数以移动机械臂根据他们。但是，每当我运行代码时，我总是在函数中输入错误的值并且手臂以一种奇怪的方式移动，我测试了相同的代码并尝试点亮一个 LED，但由于某种原因它工作正常。

 import processing.serial.*;
 import java.io.*;
 int mySwitch=0;

 int counter=0;

 String [] subtext;

 Serial myPort;



 void setup(){

 //Create a switch that will control the frequency of text file reads.

 //When mySwitch=1, the program is setup to read the text file.

 //This is turned off when mySwitch = 0

 mySwitch=1;


 //Open the serial port for communication with the Arduino

 //Make sure the COM port is correct

 myPort = new Serial(this, "COM5", 9600);
  myPort.bufferUntil('\n');
 }

 void draw() {
  // print(" the switch " + mySwitch);

  if (mySwitch>0){
  /*The readData function can be found later in the code.
  This is the call to read a CSV file on the computer hard-drive. */
  readData("C:/Users/Tareq/Desktop/data.txt");

  /*The following switch prevents continuous reading of the text file,           until
  we are ready to read the file again. */
  mySwitch=0;
  }

  /*Only send new data. This IF statement will allow new data to be sent      to
  the arduino. */
  if(counter<subtext.length){
  /* Write the next number to the Serial port and send it to the Arduino 
  There will be a delay of half a second before the command is
  sent to turn the LED off : myPort.write('0'); */
 // print(subtext[counter]);
  delay(5000);
  myPort.write(subtext[counter]);
  print(subtext[counter]);
  delay(2000);
  //Increment the counter so that the next number is sent to the arduino.
  counter++;
  } else{
  //If the text file has run out of numbers, then read the text file again      in 5 seconds.
  delay(5000);
  mySwitch=1;
  }
 } 


 /* The following function will read from a CSV or TXT file */
 void readData(String myFileName){

  File file=new File(myFileName);
  BufferedReader br=null;

  try{
  br=new BufferedReader(new FileReader(file));
  String text=null;

  /* keep reading each line until you get to the end of the file */
  while((text=br.readLine())!=null){

  /* Spilt each line up into bits and pieces using a comma as a separator */
  subtext = splitTokens(text,",");

  }
  }catch(FileNotFoundException e){
  e.printStackTrace();
  }catch(IOException e){
  e.printStackTrace();
  }finally{
  try {
  if (br != null){
  br.close();
  }
  } catch (IOException e) {
  e.printStackTrace();
  }
  }
 }

Arduino 代码

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

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;

String stringData[6] ;
int intData[6] ;

void setup() {
 Serial.begin(9600);
 Braccio.begin();
 pinMode(1, OUTPUT); // Set pin as OUTPUT
 pinMode(2, OUTPUT); // Set pin as OUTPUT
 pinMode(3, OUTPUT); // Set pin as OUTPUT
 pinMode(4, OUTPUT); // Set pin as OUTPUT
 pinMode(5, OUTPUT); // Set pin as OUTPUT
 pinMode(6, OUTPUT); // Set pin as OUTPUT
 pinMode(7, OUTPUT); // Set pin as OUTPUT
 pinMode(8, OUTPUT); // Set pin as OUTPUT
 pinMode(9, OUTPUT); // Set pin as OUTPUT
}

void loop() {




for(int y=0;y<6;y++){

  while(Serial.available()== 0){}

stringData[y]= Serial.readString();

if(stringData[y]=="90")
intData[y]=90;
else if(stringData[y]=="120")
intData[y]=120;
else if(stringData[y]=="180")
intData[y]=180;
else if(stringData[y]=="45")
intData[y]=45;
else if(stringData[y]=="160")
intData[y]=160;
else if(stringData[y]=="170")
intData[y]=170;
else if(stringData[y]=="165")
intData[y]=165;
else if(stringData[y]=="60")
intData[y]=60;
else if(stringData[y]=="30")
intData[y]=30;
else if(stringData[y]=="110")
intData[y]=110;
else if(stringData[y]=="80")
intData[y]=80;
else if(stringData[y]=="155")
intData[y]=155;
}

Braccio.ServoMovement(20 ,         intData[0], intData[1], intData[2] , intData[3] ,intData[4] , intData[5]);

}

注意：我从中读取的文件是一个记事本，其中包含用“，”分隔的数字，例如 150、30、60 等，对于我使用 6 进行测试的代码 有人可能会说这很奇怪，为什么发送字符串然后将其映射到 int 而不是直接发送 int，我先尝试了 int，但它不起作用然后我尝试了这个。

Answer 1

我会尝试在以下罪魁祸首中找出问题：

您能否让机器人在 arduino 中从静态路径驱动它做可重复的事情（即硬编码 arduino 中的值并检查您是否知道机器人是如何被驱动的以及它是如何工作的）

您是否在 arduino 和处理之间干净利落地传递数据。要对此进行测试，请创建一些数值对象/数组并将它们从处理过程中传输到 arduino 并让 arduino 验证它是否收到了预期的内容。

您的文件读取是否正确。读取文件并将其写入处理控制台或其他东西以验证您是否拥有您认为拥有的东西。