向大佬们求助~！步进电机与超声波传感器如何同时使用
我的步进电机用的是42步进电机FIT0349，型号为42BYGH40-18-22A-C5.18。使用了步进电机驱动扩展板DRI0023。超声波传感器使用的是SRF05。
想要的效果是超声波测得的距离值，控制灯带亮度与步进电机转速。但发现无法将步进电机程序与超声波传感器编入一个文件中:'(向大佬们求助，看看我哪里代码错了。
超声波测距仪程序：（使用的是MODE2，trig与echo同pin）
//import
#include <NewPing.h> //sonar
#include <Adafruit_NeoPixel.h> //LED
//define pins
#define N_TRIG_PIN9 // Arduino pin tied to trigger pin on the ultrasonic sensor.
#define N_ECHO_PIN9 // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 400 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
#define SONAR_NUM 1
#define PING_INTERVAL 33
#define LED_PIN 3 // Pin tied to LED
boolean human = 0;
int pingTimer; // Holds the times when the next ping should happen for each sensor.
int cm; // Where the ping distances are stored.
uint8_t currentSensor = 0; // Keeps track of which sensor is active.
//set
NewPing sonar =
NewPing(N_TRIG_PIN, N_ECHO_PIN, MAX_DISTANCE);// NewPing setup of pins and maximum distance.
Adafruit_NeoPixel strip = Adafruit_NeoPixel(20, LED_PIN, NEO_GRB + NEO_KHZ800);
void setup(){
Serial.begin(115200);
pinMode(LED_PIN, OUTPUT);
pingTimer = millis() + 75; // First ping starts at 75ms, gives time for the Arduino to chill before starting.
strip.begin();
strip.show();
}
void loop(){
if (millis() >= pingTimer) { // Is it this sensor's time to ping?
pingTimer += PING_INTERVAL * SONAR_NUM;// Set next time this sensor will be pinged.
sonar.timer_stop(); // Make sure previous timer is canceled before starting a new ping (insurance).
cm = 0; // Make distance zero in case there's no ping echo for this sensor.
sonar.ping_timer(echoCheck); // Do the ping (processing continues, interrupt will call echoCheck to look for echo).
}
}
//handle functions
void echoCheck() { // If ping received, set the sensor distance to array.
if (sonar.check_timer()) {
cm = sonar.ping_result / US_ROUNDTRIP_CM;
pingResult();
}
}
void pingResult() { // Sensor got a ping, do something with the result.
// The following code would be replaced with your code that does something with the ping result.
if(cm > 100){
cm = 0;
}
human = cm;
Serial.println(human);
if(human == 0) {
for(int i=0;i<20;i++){
strip.setPixelColor(i, 100, 100, 100);
strip.show();
}
}
else{
for(int i=0;i<5;i++){
int d = int(255 - cm*1.55);
strip.setPixelColor(i, d, d, d);
strip.show();
}
for(int j=5;j<20;j++){
if(cm < 3){
cm = 0;
}
strip.setPixelColor(j, cm, cm, cm);
strip.show();
}
}
Serial.println(cm);
}
步进电机程序：
int Mdirpin = 7; //电机Y方向引脚
int Msteppin = 6;//电机Y驱动引脚
int Men= 8; //电机Y使能引脚
void setup()
{
pinMode(Mdirpin,OUTPUT);
pinMode(Msteppin,OUTPUT);
pinMode(Men,OUTPUT);
digitalWrite(Men, 0); //低电平使能
}
void loop()
{
stepper();
}
void stepper(){
digitalWrite(Mdirpin, 1);
for(int j=0;j<=10000;j++){
digitalWrite(Msteppin, 1);//上升沿步进
digitalWrite(Msteppin, 0);
delay(1);
}
}
将两个程序放在一起时，就会有个不运行。估计是因为delay的缘故，但不知道怎么改:'(再次求助大佬们！！多谢~~
这几个引脚应该是X轴的，你看看连接图，有没有插错口？ Grey 发表于 2018-4-28 16:59
这几个引脚应该是X轴的，你看看连接图，有没有插错口？
应该没错，这个两个程序单独运行都是对的 在一个群里问的，有人说用状态机，是能把两个程序勉强放在一起。但是会出现步进电机噪音很大，会失步，有时还会跳过传感器的程序 metro库了解一下 凭直觉感觉不能用胶水粘起来，涉及优先级、抢占啊什么的，像楼上说的，参考以下多线程或者中断：
https://blog.csdn.net/ling3ye/article/details/73478534
Arduino 使用Metor库 简单实现多线程编程
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