C＆＃x2B;＆＃x2B; Mearm Arduino机器人的代码不工作

Question

我对Mearm Arduino机器人的代码有一些问题。 它应该要求用户输入伺服电动机角度的值并旋转它们，但是只能在前2次这样做，然后停止工作。
代码中有错误吗？

#include <Servo.h>

int angle1;
int angle2;
int angle3;

Servo s1;
Servo s2;
Servo s3;
Servo s4;

const int BUFFER_SIZE = 100;
char buf[BUFFER_SIZE];

void setup() {
  Serial.begin(9600);
  
  s1.attach(10);
  s2.attach(9);
  s3.attach(8);

  s1.write(90);
  s2.write(0);
  s3.write(0);
}

void loop() {
  Serial.println("Set the angle for s1 servo");
  while (Serial.available() == 0) {};
  angle1 = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);

  Serial.println("Set the angle for s2 servo");
  while (Serial.available() == 0) {};
  angle2 = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);

  Serial.println("Set the angle for s3 servo");
  while (Serial.available() == 0) {};
  angle3 = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);

  ForwardKinematics(angle1, angle2, angle3);
}

/**
 * Rotates the servo motors by the given angles.
 * 
 * @param angle1 The angle by which the servo s1 is rotated.
 * @param angle2 The angle by which the servo s2 is rotated.
 * @param angle3 The angle by which the servo s3 is rotated.
 */
void ForwardKinematics(int angle1, int angle2, int angle3) {
  s1.write(angle1);
  s2.write(angle2);
  s3.write(angle3);
  delay(500);
}

Answer 1

您最大的问题是

serial.ReadByTesuntil（'\ n'，buf，buffer_size）;

仅将读取的字符数返回到缓冲区，而不是数据。不确定您的意思是前两次起作用。您是说它循环2次，还是仅获取前两个伺服器的数据，而不是第三次伺服器。无论如何，以下是在UNO上测试的工作代码。

#include <Servo.h>

int angle1;
int angle2;
int angle3;

Servo s1;
Servo s2;
Servo s3;
Servo s4;

String data = "";

const int BUFFER_SIZE = 100;
char buf[BUFFER_SIZE];

void setup() {
  Serial.begin(9600);
  
  s1.attach(10);
  s2.attach(9);
  s3.attach(8);

  s1.write(90);
  s2.write(0);
  s3.write(0);
}

void loop() {
  angle1 = 0;
  angle2 = 0;
  angle3 = 0;
  
  Serial.println("Set the angle for s1 servo");
  while (Serial.available() == 0) {};
  int rlen = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);
  for(int i = 0; i < rlen; i++){
    data += buf[i];
  }
  angle1 = data.toInt();
  data = "";
  
  Serial.println("Set the angle for s2 servo");
  while (Serial.available() == 0) {};
  rlen = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);
  for(int i = 0; i < rlen; i++){
    data += buf[i];
  }
  angle2 = data.toInt();
  data = "";
  
  Serial.println("Set the angle for s3 servo");
  while (Serial.available() == 0) {};
  rlen = Serial.readBytesUntil('\n', buf, BUFFER_SIZE);
  for(int i = 0; i < rlen; i++){
    data += buf[i];
  }
  angle3 = data.toInt();
  data = "";
  

  ForwardKinematics(angle1, angle2, angle3);
}

/**
 * Rotates the servo motors by the given angles.
 * 
 * @param angle1 The angle by which the servo s1 is rotated.
 * @param angle2 The angle by which the servo s2 is rotated.
 * @param angle3 The angle by which the servo s3 is rotated.
 */
void ForwardKinematics(int angle1, int angle2, int angle3) {
  s1.write(angle1);
  s2.write(angle2);
  s3.write(angle3);
  delay(500);
}