Arduino电机的速度和方向

问题描述：

我想制作一个程序来控制我的Arduino蓝牙车。
我有很多麻烦使它在所需的方向和以所需的速度。到目前为止，我想这一点，但由于某种原因它不工作：Arduino电机的速度和方向

int motor1clock = 7, motor1clockc = 8, pwm1 = 3, pwm2 = 9, motor2clock = 10, motor2clocko = 16, speed; 
String inputString = "", junk; 

void setup() 
{ 
    pinMode(motor1clock, OUTPUT); 
    pinMode(motor1clockc, OUTPUT); 
    pinMode(pwm1, OUTPUT); 
    pinMode(motor2clocko, OUTPUT); 
    pinMode(motor2clock, OUTPUT); 
    pinMode(pwm2, OUTPUT); 
    Serial1.begin(9600); 
} 
void Forwards(int spee) 
{ 
    analogWrite(pwm2, spee); 
    analogWrite(pwm1, spee); 
    digitalWrite(motor1clock, LOW); 
    digitalWrite(motor1clockc, HIGH); 
    digitalWrite(motor2clocko, HIGH); 
    digitalWrite(motor2clock, LOW); 
} 
void Backwards(int spee) 
{ 
    analogWrite(pwm2, spee); 
    analogWrite(pwm1, spee); 
    digitalWrite(motor1clock, HIGH); 
    digitalWrite(motor1clockc, LOW); 
    digitalWrite(motor2clocko, LOW); 
    digitalWrite(motor2clock, HIGH); 
} 
void Steer_Left(int spee) 
{ 
    analogWrite(pwm2, spee - 20); 
    analogWrite(pwm1, spee); 
    digitalWrite(motor1clock, LOW); 
    digitalWrite(motor1clockc, HIGH); 
    digitalWrite(motor2clocko, LOW); 
    digitalWrite(motor2clock, HIGH); 
} 
void Steer_Right(int spee) 
{ 
    analogWrite(pwm2, spee); 
    analogWrite(pwm1, spee - 20); 
    digitalWrite(motor1clock, HIGH); 
    digitalWrite(motor1clockc, LOW); 
    digitalWrite(motor2clocko, HIGH); 
    digitalWrite(motor2clock, LOW); 
} 
void loop() 
{ 
    if (Serial1.available() > 0) { 
     String str = Serial1.readString(); 
     char inChar[3]; 
     str.toCharArray(inChar, 3); 

     while (Serial1.available() > 0) { 
      junk = Serial1.readString(); 
     } 
     int num = atoi(&inChar[1]); 
     speed = num; 
     Serial1.println(speed); 
     if (inChar[0] == 'A') { 
      Serial1.println(inChar[0]); 
      Forwards(speed); 
     } 

     if (inChar[0] == 'B') { 

      Backwards(speed); 
     } 

     if (inChar[0] == 'C') { 
      Steer_Left(speed); 
     } 

     if (inChar[0] == 'D') { 

      Steer_Right(speed); 
     } 
     if (inChar[0] != 'A' || inChar[0] != 'B' || inChar[0] != 'C' || inChar[0] != 'D') { 
      digitalWrite(motor1clock, LOW); 
      digitalWrite(motor1clockc, LOW); 
      digitalWrite(motor2clocko, LOW); 
      digitalWrite(motor2clock, LOW); 
     } 
     inputString = ""; 
    } 
}

输入代码格式将是“速度指令”，例如：“A255”。

除了尝试将可能的5个字符（字符串长度+空终止符）放入一个由3个字符组成的数组中，['Serial1.readString（）']（https://www.arduino.cc/en/Serial/ReadString ）有1秒的延迟。通过发送行并使用['Serial1.readStringUntil（'\ n'）']（https://www.arduino.cc/en/Reference/StreamReadStringUntil）来修复它。 –

此外，“* not working *”并不是真正的问题描述。 –

答

字符串“A255”中有超过3个字节，所以我建议你定义inChar [6]。而且，做了“Serial1.println（速度）;”打印所需的速度？

修复了它，它现在可以工作，但速度很慢 –

Arduino电机的速度和方向

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