🔍 解决红外遥控信号接收后程序不运行的问题！🚀

使用红外遥控作为开关以及部分功能的遥控，在启动自动跟随后程序无法运行，并且其他动作在通过遥控执行一次后就无法在重复执行，并且自动跟随也无法使用，各位大佬帮忙看看是什么问题则么解决，谢谢！单独在主程序中去掉函数（距离）就没问题。。
代码
*!
* MindPlus
* mega2560
*
*/
#include <DFRobot_IRremote.h>
#include <DFRobot_Libraries.h>

// 动态变量
String       mind_s_HongWai;
volatile float mind_n_Men, mind_n_index_L, mind_n_index_R, mind_n_switch;
// 函数声明
void DF_JuLi();
void DF_ZuoZhengZhuan(float mind_n_ZuoSu);
void DF_KaiMen();
void DF_ZuoFanZhuan(float mind_n_ZuoSu);
void DF_GuanMen();
void DF_ZuoTing();
void DF_YouZhengZhuan(float mind_n_YouSu);
void DF_YouFanZhuan(float mind_n_YouSu);
void DF_YouTing();
// 创建对象
IRremote_Receive remoteReceive_2;
DFRobot_Servo360 servo360_22;
DFRobot_Servo360 servo360_23;

  byte comdataL[3] = {}; //接受左边传感器的数据
int mind_n_DistanceL = 6800; //左边小车的距离发送模块的距离
byte comdataR[3] = {}; //接受右边传感器的数据
int mind_n_DistanceR = 6800; //右边小车的距离发送模块的距离

// 主程序开始
void setup() {
      Serial.begin(9600);
      Serial1.begin(115200);
  Serial2.begin(115200);
      servo360_22.attach(22);
      servo360_23.attach(23);
}

void loop() {
      mind_s_HongWai = (remoteReceive_2.getIrCommand(2));
      if ((mind_s_HongWai==String("FFA857"))) {
            mind_n_switch = 0;
      }
      if ((mind_s_HongWai==String("FFE01F"))) {
            mind_n_switch = 1;
      }
      if (((mind_s_HongWai==String("FF30CF")) && (mind_n_switch==1))) {
            DF_KaiMen();
      }
      if (((mind_s_HongWai==String("FF18E7")) && (mind_n_switch==1))) {
            DF_GuanMen();
      }
      if (((mind_n_Men==0) && (mind_n_switch==1))) {
            delay(10);
            DF_JuLi();
            Serial.print(mind_n_DistanceL);
            Serial.print("    ");
            Serial.println(mind_n_DistanceR);
            if (((mind_n_DistanceR + mind_n_DistanceL)>=13400)) {
                     DF_YouTing();
                     DF_ZuoTing();
            }
            else {
                     if (((abs((mind_n_DistanceL - mind_n_DistanceR)))<=50)) {
                              DF_ZuoZhengZhuan(150);
                              DF_YouZhengZhuan(150);
                     }
                     else {
                              if (((mind_n_DistanceL - mind_n_DistanceR)>0)) {
                                    DF_ZuoZhengZhuan(150);
                                    DF_YouFanZhuan(150);
                              }
                              else {
                                    DF_YouZhengZhuan(150);
                                    DF_ZuoFanZhuan(150);
                              }
                     }
            }
      }
      Serial.print("switch：");
      Serial.print(mind_n_switch);
      Serial.print("\"门\"");
      Serial.println(mind_n_Men);
}

void DF_JuLi() {
mind_n_DistanceL =6800;
  mind_n_DistanceR =6800;
static byte mind_n_index_L = 0, mind_n_index_R = 0;
  while (Serial1.available()) //如果串口数据可用
  {
if (mind_n_index_L == 0)
{
   comdataL[mind_n_index_L] = Serial1.read();//把获取传感器的数据存放到数组里面
   if (comdataL[mind_n_index_L] == 0xA5) //判断数据的头文件
      mind_n_index_L++;
}
else
{
   comdataL[mind_n_index_L++] = Serial1.read();
}
if (mind_n_index_L >= 3)
{
   mind_n_index_L = 0;
   mind_n_DistanceL = comdataL[1] << 8 | comdataL[2]; //把收到的数据合成为距离值
}
  }

  while (Serial2.available()) //如果串口数据可用
  {
if (mind_n_index_R == 0)
{
   comdataR[mind_n_index_R] = Serial2.read();//把获取传感器的数据存放到数组里面
   if (comdataR[mind_n_index_R] == 0xA5) //判断数据的头文件
      mind_n_index_R++;
}
else
{
   comdataR[mind_n_index_R++] = Serial2.read();
}
  }
  if (mind_n_index_R >= 3)
  {
mind_n_index_R= 0;
mind_n_DistanceR = comdataR[1] << 8 | comdataR[2]; //把收到的数据合成为距离值
  }
}
void DF_ZuoTing() {
      analogWrite(13, 0);
      analogWrite(12, 0);
}
void DF_ZuoZhengZhuan(float mind_n_ZuoSu) {
      analogWrite(12, mind_n_ZuoSu);
      analogWrite(13, mind_n_ZuoSu);
      digitalWrite(50, LOW);
      digitalWrite(51, HIGH);
      digitalWrite(52, LOW);
      digitalWrite(53, HIGH);
}

void DF_GuanMen() {
      // 22右
      // 23左
delay(10);
      servo360_22.speed(90);
      servo360_23.speed(-90);
      delay(600);
      servo360_22.speed(0);
      servo360_23.speed(0);
      mind_n_Men = 0;
}
void DF_ZuoFanZhuan(float mind_n_ZuoSu) {
      analogWrite(12, mind_n_ZuoSu);
      analogWrite(13, mind_n_ZuoSu);
      digitalWrite(50, HIGH);
      digitalWrite(51, LOW);
      digitalWrite(52, HIGH);
      digitalWrite(52, LOW);
}
void DF_KaiMen() {
  delay(10);
      servo360_22.speed(-90);
      servo360_23.speed(90);
      delay(600);
      servo360_22.speed(0);
      servo360_23.speed(0);
      mind_n_Men = 1;
}
void DF_YouTing() {
      analogWrite(10, 0);
      analogWrite(11, 0);
}
void DF_YouZhengZhuan(float mind_n_YouSu) {
      analogWrite(11, mind_n_YouSu);
      analogWrite(10, mind_n_YouSu);
      digitalWrite(46, LOW);
      digitalWrite(47, HIGH);
      digitalWrite(48, LOW);
      digitalWrite(49, HIGH);
}
void DF_YouFanZhuan(float mind_n_YouSu) {
      analogWrite(11, mind_n_YouSu);
      analogWrite(10, mind_n_YouSu);
      digitalWrite(46, HIGH);
      digitalWrite(47, LOW);
      digitalWrite(48, HIGH);
      digitalWrite(49, LOW);
}

G@4(3A7P2(_BCR466E$J)9I.png (157.95 KB, 下载次数: 1682)