将3个程序合并为一个Arduino机器人项目

Question

我目前正在建造一个具有3个功能的机器人，到目前为止，有3个不同的程序用于3个功能：

1. 程序One允许机器人在光面表面上检测黑线并遵循它。
2. 程序2允许用户按下IR遥控器上的按钮，然后机器人将旋转一个移动ARMS
3. 程序3的伺服器，允许用户按另一个按钮播放音频文件

注意：所有这些程序都可以正常工作，并且单独测试正常。

我将程序1和2合并在一起，没有问题，并在机器人上进行了测试，并且可以正常运行。当我合并第三个程序时，我会遇到一个错误：“ rotatemotor”不在此范围中。在我看来，这肯定在范围内。从我看时。经过一些故障排除后，我确实找到了删除行const const unsigned char voice1 [] progmem = {audio file}和#include＆lt; pcm.h＆gt;使程序再次功能正常。任何人都可以在这里的墙上提供各种帮助。

#include <IRremote.h> //include IR remote library
#include <Servo.h>
#include <PCM.h>

const unsigned char voice1[] PROGMEM = {
  audio file here
  };
  
#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_LEFT 12
#define MOTOR_SPEED 165

int IRpin = 11;  // pin for the IR sensor
uint32_t Previous;
IRrecv irrecv(IRpin); //IR sensor gets IR pin input to arduino
decode_results results; //results of IR remote button press
Servo armservo; //create servo objects

//Right motor
int enableRightMotor = 6;
int rightMotorPin1 = 7;
int rightMotorPin2 = 8;

//Left motor
int enableLeftMotor = 5;
int leftMotorPin1 = 9;
int leftMotorPin2 = 10;

void setup()
{
  Serial.begin(9600); //begin IR function
 irrecv.enableIRIn(); // Start receiver
 armservo.attach(9);  // attaches the servo to pin on arduino
 pinMode (12,OUTPUT);
 TCCR0B = TCCR0B & B11111000 | B00000011 ;
  
  // put your setup code here, to run once:
  pinMode(enableRightMotor, OUTPUT);
  pinMode(rightMotorPin1, OUTPUT);
  pinMode(rightMotorPin2, OUTPUT);
  
  pinMode(enableLeftMotor, OUTPUT);
  pinMode(leftMotorPin1, OUTPUT);
  pinMode(leftMotorPin2, OUTPUT);

  pinMode(IR_SENSOR_RIGHT, INPUT);
  pinMode(IR_SENSOR_LEFT, INPUT);
  rotateMotor(0,0);   
}


void loop()
{

  int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);
  int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);

  //If none of the sensors detects black line, then go straight
  if (rightIRSensorValue == LOW && leftIRSensorValue == LOW)
  {
    rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
  }
  
  //If right sensor detects black line, then turn right
  else if (rightIRSensorValue == HIGH && leftIRSensorValue == LOW )
  {
      rotateMotor(-MOTOR_SPEED, MOTOR_SPEED); 
  }
  
  //If left sensor detects black line, then turn left  
  else if (rightIRSensorValue == LOW && leftIRSensorValue == HIGH )
  {
      rotateMotor(MOTOR_SPEED, -MOTOR_SPEED); 
  } 
  
  //If both the sensors detect black line, then stop 
  else 
  {
    rotateMotor(0, 0);
  }

  if (irrecv.decode(&results)) //if statement recieving result of button press
   {
     irrecv.resume();   // Receive next value
   }
   
  if (results.value == 16736925)  // if recieve button press 2 function will initialize code specific to my controller change via decoder program
    {
      armservo.write(0); //input 0 position on servo
      delay(1500); //delay next function 1.5 secs

      armservo.write(75); //input 75 degree position on servo
      delay(1500);

      armservo.write(0);
      delay(1500);

      armservo.write(90); //input 90 degree position on servo
      delay(1500);
    } 
}

void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)
{
  if (rightMotorSpeed < 0)
  {
    digitalWrite(rightMotorPin1,LOW);
    digitalWrite(rightMotorPin2,HIGH);    
  }
  
  else if (rightMotorSpeed > 0)
  {
    digitalWrite(rightMotorPin1,HIGH);
    digitalWrite(rightMotorPin2,LOW);      
  }
  
  else
  {
    digitalWrite(rightMotorPin1,LOW);
    digitalWrite(rightMotorPin2,LOW);      
  }

  if (leftMotorSpeed < 0)
  {
    digitalWrite(leftMotorPin1,LOW);
    digitalWrite(leftMotorPin2,HIGH);    
  }
  
  else if (leftMotorSpeed > 0)
  {
    digitalWrite(leftMotorPin1,HIGH);
    digitalWrite(leftMotorPin2,LOW);      
  }
  
  else 
  {
    digitalWrite(leftMotorPin1,LOW);
    digitalWrite(leftMotorPin2,LOW);      
  }
  
  analogWrite(enableRightMotor, abs(rightMotorSpeed));
  analogWrite(enableLeftMotor, abs(leftMotorSpeed));    
}

Answer 1

您可以：

• 在rotatemotor的rotatemotor首先使用rotatemotor之前，请将向前声明首先使用。那将在设置函数上方，该功能调用rotatemotor（0,0）;。如果编译器到达该行时没有看到rotatemotor的匹配声明，则将失败。正向声明看起来应该像函数的定义一样大好：

    //仅声明，没有定义：
  void rotatemotor（int rightmotorspeed，int左右peed）;
   

或

• 将rotatemotor的整个定义移动到设置函数之前。