Arduino 多任务处理

Question

我正在尝试查看是否可以将当前由两个单独的 Arduino Unos 处理的任务合并到一个 Uno 上。我在 Arduino (Link)) 上看到了 Adafruit 的“多任务处理”指南，我想我会试一试。

我觉得我遗漏了一些非常明显的东西，但我的代码无法正常工作......

我正在控制一系列螺线管。他们需要根据个人的时间安排每项行动。我创建了一个 Solenoid 类来处理告诉螺线管何时启动，然后监视何时关闭它。在我的一生中，我看不到我的错误在哪里，但我永远不会满足我的最终条件。

class Solenoid {
  //Class Variables
  int solenoidPin;
  long chargeTime;
  long ventTime;
  bool started = false;
  unsigned long startMillis;
  unsigned long endMillis;
  unsigned long previousMillis;
  int solenoidState;

  //Constructor
public:
  Solenoid(int pin, long charge, long vent) {
    solenoidPin = pin;
    pinMode(solenoidPin, OUTPUT);
    chargeTime = charge;
    ventTime = vent;
    solenoidState = LOW;
    previousMillis = 0;
}
  void Start() {
    Serial.println("Start called");
    started = true;
  }

  void Update() {
    //Check to see if it is time to change the state of the solenoid
    unsigned long currentMillis = millis();
    Serial.println("Update");
    if((started == true) && (currentMillis-previousMillis <= chargeTime)) {
      //Run
      Serial.print("Run: Charge Time=");
      Serial.print(chargeTime);
      Serial.print("  current-previous=");
      Serial.println(currentMillis-previousMillis);
      previousMillis = currentMillis;
    } else if ((started == true) && (currentMillis-previousMillis >= chargeTime)){
      //Stop
      Serial.println("Stop");
    }
  }
};

//Setup the solenoids
Solenoid solenoid1(13, 70, 70);

void setup() {
  Serial.begin(115200);
  Serial.println("Ready");

    solenoid1.Start();
    solenoid1.Update();
    solenoid1.Update();
    solenoid1.Update();
    solenoid1.Update();
    solenoid1.Update();
}

我只是在设置中运行所有东西，所以我可以看到一些运行。

你能帮我解决我更清楚的愚蠢错误吗？

Answer 1

有可能整个 setup() void 的执行速度超过 70 毫秒，这意味着在 5 次对螺线管 1.Update() 的调用完成之前，您永远无法到达终点位置。

试试这个：

class Solenoid {
  //Class Variables
  int solenoidPin;
  long chargeTime;
  long ventTime;
  bool started = false;
  unsigned long startMillis;
  unsigned long endMillis;
  unsigned long previousMillis;
  int solenoidState;

  //Constructor
public:
  Solenoid(int pin, long charge, long vent) {
    solenoidPin = pin;
    pinMode(solenoidPin, OUTPUT);
    chargeTime = charge;
    ventTime = vent;
    solenoidState = LOW;
    previousMillis = 0;
}
  void Start() {
    Serial.println("Start called");
    started = true;
  }

  void Update() {
    //Check to see if it is time to change the state of the solenoid
    unsigned long currentMillis = millis();
    Serial.println("Update");
    if((started == true) && (currentMillis-previousMillis <= chargeTime)) {
      //Run
      Serial.print("Run: Charge Time=");
      Serial.print(chargeTime);
      Serial.print("  current-previous=");
      Serial.println(currentMillis-previousMillis);
      previousMillis = currentMillis;
    } else if ((started == true) && (currentMillis-previousMillis >= chargeTime)){
      //Stop
      Serial.println("Stop");
    }
  }
};

//Setup the solenoids
Solenoid solenoid1(13, 70, 70);

void setup() {
  Serial.begin(115200);
  Serial.println("Ready");
  solenoid1.Start();
}

void loop(){
  solenoid1.update()
}

我觉得其余的都不错；如果您仍然遇到问题，请尝试使用显式变量声明而不是构造函数来解决问题。

Answer 2

原来我通过设置 previousMillis = currentMillis 来擦除我自己的计数器。一旦我杀了它，它就开始工作了。从那以后我添加了一些其他功能，比如延迟启动，但这主要是相同的代码。

void Update() {
//Check to see if it is time to change the state of the solenoid
unsigned long currentMillis = millis();

 if((started == true) && (currentMillis - startMillis <= startDelay)) {
  //keep waiting
  Serial.println("Waiting");
 } else if((started == true) && (currentMillis - startMillis < (chargeTime + startDelay) )) {
  //Run
  Serial.print("Run ");
  Serial.println(currentMillis - startMillis);
  digitalWrite(solenoidPin, HIGH);
} else if ((started == true) && (currentMillis - startMillis >= (chargeTime + startDelay) )){
  //Stop
  Serial.print("Stop ");
  Serial.println(currentMillis - startMillis);
  digitalWrite(solenoidPin, LOW);
  started = false;
}

}