求助各位大佬帮我解释一下代码，有偿 DF创客社区

好学小白 发表于 2024-3-23 12:36:01

求助各位大佬帮我解释一下代码，有偿

#include <SPI.h>#include <nRF24L01.h>#include <RF24.h>#include <Servo.h> Servo myServo;int In1 = 2;int In2 = 3;int ENA = 5;int In3 = 4;int In4 = 7;int ENB = 6; RF24 radio(8,9); const byte address = "00001"; char receivedData = "";int LXJ, LYJ, RYJ; int motorSpeedA, motorSpeedB = 0, diff = 0; void setup() {myServo.attach(10); pinMode(In1, OUTPUT);pinMode(In2, OUTPUT);pinMode(ENA, OUTPUT);pinMode(In3, OUTPUT);pinMode(In4, OUTPUT);pinMode(ENB, OUTPUT);Serial.begin(9600);radio.begin();radio.openReadingPipe(0, address);radio.setPALevel(RF24_PA_MIN);radio.startListening(); } void loop() {if (radio.available()){ radio.read(&receivedData, sizeof(receivedData)); LXJ = atoi(&receivedData); delay(10); radio.read(&receivedData, sizeof(receivedData)); LYJ = atoi(&receivedData); delay(10); radio.read(&receivedData, sizeof(receivedData)); RYJ = atoi(&receivedData); delay(10); } int angelV = map(RYJ, 0, 1023, 5, 170);myServo.write(angelV); if (LXJ < 470) { digitalWrite(In1, HIGH); digitalWrite(In2, LOW); digitalWrite(In3, LOW); digitalWrite(In4, HIGH); motorSpeedA = motorSpeedB = map(LXJ, 470, 0, 0, 255);}else if (LXJ > 550) { digitalWrite(In1, LOW); digitalWrite(In2, HIGH); digitalWrite(In3, HIGH); digitalWrite(In4, LOW); motorSpeedA = motorSpeedB = map(LXJ, 550, 1023, 0, 255); } else { motorSpeedA = motorSpeedB = diff = 0;} if (LYJ < 470) { diff = map(LYJ, 470, 0, 0, 255); motorSpeedA = motorSpeedA + diff; motorSpeedB = motorSpeedB - diff; if (motorSpeedA > 255) { motorSpeedA = 180; } if (motorSpeedB < 0) { motorSpeedB = 0; } } //Make Tank turn Left by differentialif (LYJ > 550) { diff = map(LYJ, 550, 1023, 0, 255); motorSpeedB = motorSpeedB + diff; motorSpeedA = motorSpeedA - diff; if (motorSpeedB > 255) { motorSpeedB = 180; } if (motorSpeedA < 0) { motorSpeedA = 0; } }//Make Tank turn Right on its own centerif (LYJ < 470 && 470 < LXJ && LXJ < 550) { digitalWrite(In1, HIGH); digitalWrite(In2, LOW); digitalWrite(In3, HIGH); digitalWrite(In4, LOW); motorSpeedA = motorSpeedB = map(LYJ, 470, 0, 0, 255); } //Make Tank turn Left on its own centerif (LYJ > 550 && 470 < LXJ && LXJ < 550) { digitalWrite(In1, LOW); digitalWrite(In2, HIGH); digitalWrite(In3, LOW); digitalWrite(In4, HIGH); motorSpeedA = motorSpeedB = map(LYJ, 550, 1023, 0, 255); } if (motorSpeedA < 140) { motorSpeedA = 0;}if (motorSpeedB < 140) { motorSpeedB = 0;}analogWrite(ENA, motorSpeedA);analogWrite(ENB, motorSpeedB); Serial.print("LXJ: ");Serial.print(LXJ);Serial.print(" | LYJ: ");Serial.print(LYJ);Serial.print(" | RYJ: ");Serial.print(RYJ);Serial.print(" || motorSpeedA: ");Serial.print(motorSpeedA);Serial.print(" | motorSpeedB: ");Serial.print(motorSpeedB);Serial.print(" | diff: ");Serial.println(diff); }

hnyzcj 发表于 2024-3-23 17:50:22

这段代码是一个基于Arduino的遥控坦克控制系统。它使用了RF24库进行无线通信，通过接收器接收遥控器的信号来控制坦克的运动。代码的主要功能如下：初始化引脚和无线模块。设置无线模块的地址和通信参数。在主循环中不断监听无线信号。当接收到信号时，解析数据并更新坦克的控制变量。根据接收到的数据，控制电机的速度和方向，实现坦克的运动控制。使用舵机控制坦克的转向。通过串口输出接收到的数据和电机速度等信息。

hnyzcj 发表于 2024-3-23 17:51:23

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

// 定义舵机对象和引脚
Servo myServo;
int In1 = 2;
int In2 = 3;
int ENA = 5;
int In3 = 4;
int In4 = 7;
int ENB = 6;

// 定义无线模块对象和地址
RF24 radio(8,9);
const byte address = "00001";

// 定义接收数据的缓冲区和变量
char receivedData = "";
int LXJ, LYJ, RYJ;
int motorSpeedA, motorSpeedB = 0, diff = 0;

void setup() {
// 初始化舵机、引脚和无线模块
myServo.attach(10);
pinMode(In1, OUTPUT);
pinMode(In2, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(In3, OUTPUT);
pinMode(In4, OUTPUT);
pinMode(ENB, OUTPUT);

Serial.begin(9600);
radio.begin();
radio.openReadingPipe(0, address);
radio.setPALevel(RF24_PA_MIN);
radio.startListening();
}

void loop() {
// 检查是否有无线信号接收到
if (radio.available()){
// 读取接收到的数据并解析
radio.read(&receivedData, sizeof(receivedData));
LXJ = atoi(&receivedData);
delay(10);
radio.read(&receivedData, sizeof(receivedData));
LYJ = atoi(&receivedData);
delay(10);
radio.read(&receivedData, sizeof(receivedData));
RYJ = atoi(&receivedData);
delay(10);
}

// 根据接收到的数据控制舵机的角度
int angelV = map(RYJ, 0, 1023, 5, 170);
myServo.write(angelV);

// 根据接收到的数据控制电机的速度和方向
if (LXJ < 470) {
digitalWrite(In1, HIGH);
digitalWrite(In2, LOW);
digitalWrite(In3, LOW);
digitalWrite(In4, HIGH);
motorSpeedA = motorSpeedB = map(LXJ, 470, 0, 0, 255);
} else if (LXJ > 550) {
digitalWrite(In1, LOW);
digitalWrite(In2, HIGH);
digitalWrite(In3, HIGH);
digitalWrite(In4, LOW);
motorSpeedA = motorSpeedB = map(LXJ, 550, 1023, 0, 255);
} else {
motorSpeedA = motorSpeedB = diff = 0;
}

// 根据接收到的数据调整电机速度的差异
if (LYJ < 470) {
diff = map(LYJ, 470, 0, 0, 255);
motorSpeedA = motorSpeedA + diff;
motorSpeedB = motorSpeedB - diff;
if (motorSpeedA > 255) {
   motorSpeedA = 180;
}
if (motorSpeedB < 0) {
   motorSpeedB = 0;
}
} else if (LYJ > 550) {
diff = map(LYJ, 550, 1023, 0, 255);
motorSpeedB = motorSpeedB + diff;
motorSpeedA = motorSpeedA - diff;
if (motorSpeedB > 255) {
   motorSpeedB = 180;
}
if (motorSpeedA < 0) {
   motorSpeedA = 0;
}
}

// 根据接收到的数据控制坦克的转向
if (LYJ < 470 && 470 < LXJ && LXJ < 550) {
digitalWrite(In1, HIGH);
digitalWrite(In2, LOW);
digitalWrite(In3, HIGH);
digitalWrite(In4, LOW);
motorSpeedA = motorSpeedB = map(LYJ, 470, 0, 0, 255);
} else if (LYJ > 550 && 470 < LXJ && LXJ < 550) {
digitalWrite(In1, LOW);
digitalWrite(In2, HIGH);
digitalWrite(In3, LOW);
digitalWrite(In4, HIGH);
motorSpeedA = motorSpeedB = map(LYJ, 550, 1023, 0, 255);
}
if (motorSpeedA < 140) {
motorSpeedA = 0;
}
if (motorSpeedB < 140) {
motorSpeedB = 0;
}

// 控制电机的速度和方向
analogWrite(ENA, motorSpeedA);
analogWrite(ENB, motorSpeedB);

// 通过串口输出接收到的数据和电机速度等信息
Serial.print("LXJ: ");
Serial.print(LXJ);
Serial.print(" | LYJ: ");
Serial.print(LYJ);
Serial.print(" | RYJ: ");
Serial.print(RYJ);
Serial.print(" || motorSpeedA: ");
Serial.print(motorSpeedA);
Serial.print(" | motorSpeedB: ");
Serial.print(motorSpeedB);
Serial.print(" | diff: ");
Serial.println(diff);
}

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求助各位大佬帮我解释一下代码，有偿