绘制时发送arduino序列命令

Question

我有一个简单的PD Arduino控制器来旋转电动机。我想用它以图形方式演示系统响应。我可以使用它，因此我可以使用串行监视器给目标位置，但是我希望能够同时看到串行图输出。串行绘图仪中似乎有一个类似的对话框，但是从那里发送的命令似乎没有得到认可。是否有一种方法可以绘制传入的序列数据，同时也如上所述发送命令？我不介意是否需要其他库，但是我看不出为什么它不应该在本地工作，因为我可以在使用串行监视器接收信息时发送命令。也许我误解了这个过程。

任何帮助将不胜感激。请参阅下面的完整代码：

// Clockwise rotation direction.
#define CW 1
// Counter clockwise rotation direction.
#define CCW 0
// Frequency of output PWM signal.
#define PWM_FREQ 25000
// Update rate in microseconds.
#define CYCLE_TIME 1000
// Rate of sending position data to PC.
#define PLOT_RATE 200
#define PLOT_COUNTER CYCLE_TIME/PLOT_RATE

 // IO pins. //
// The pin connected to ENBble A on the driver. 
const int ENB = 14;
// Pins connected to IN3 and IN4 on the driver (for controlling the rotation direction).
const int IN4 = 15;
const int IN3 = 16;
// Signal A wire of the encoder.
const int ENCA = 17;
// Signal B wire of the encoder.
const int ENCB = 18;

// Value of ENCA.
int enca = 0;
// Value of ENCB.
int encb = 0;
// Value of IN3.
int in3 = 0;
// Value of IN4.
int in4 = 0;
// Motors position measure by encoder.
volatile long int motorPos = 0;


  // Communication variables. //
// The byte sent over serial to Teensy.
int incomingByte = 0;
// Input buffer for receiving user input over serial.
char inputBuffer[8];
int bufferCnt = 0;
// Counter for sending position over serial for plotting purposes.
int pltCounter = 0;


  // Controller variables./ /
// Last motor position.
long int lastPos = 0;
// Target motor position.
int targetPos = 0;
// Position at the start of the control loop.
int currentPos = 0;
// Position at the start of the previous control loop.
int prevPos = 0;
// Change in position (for approximating the derivative).
int dP = 0;
// Position error.
int pError = 0;
// P term of the controller.
int pTerm = 0;
// D term of the controller.
int dTerm = 0;
// Speed (= voltage = duty cycle). Controller output mapped to duty cycle range.
int spd = 0;
// Controller output.
int contOut = 0;
// Ratio for transforming counts to degrees (1920 count / 360 deg)
float ratio = static_cast<float>(360)/static_cast<float>(1920);

  // Controller tunable parameters. //
// P gain.
const int kP = 10;
// D gain.
const int kD = 0;
// Error in encoder pulses correponding to the minimum duty cycle.
const int minErr = 0;
// Error in encoder pulses corresponding to the maximum duty cycle.
const int maxErr = 1024;
// minDutyCycle and maxDutyCycle depend on PWM frequency and can be determined in dc_motor_speed_control . For example for frequency of 25k,
// minDutyCycle = 120 (Motor starts to move), 
// maxDutyCycle = 190 (Motor speed reaches its maximum given the supplied voltage).
const int minDutyCycle = 120;
const int maxDutyCycle = 190;

  // Controller update rate variables. //
// Difference in time between desired cycle period and its execution time (without any delay()s).
int cycleDiff;
// Control loop start time.
long int startTime;
// Control loop end time.
long int endTime;

// Plotting
float motorPosDeg = 0;
//Plotter p;

void setup() {
  Serial.begin(9600);
  // Initialize the pins.
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  pinMode(ENB,OUTPUT);
  pinMode(ENCA,INPUT);
  pinMode(ENCB,INPUT);
  analogWriteFrequency(ENB, PWM_FREQ);
  // Set the initial rotation direction.
  setDirection(CCW);
  // Start with the motor at rest.
  analogWrite(ENB,0);
  // Encoder interrupt.
  attachInterrupt(digitalPinToInterrupt(ENCA), encoderAISRising, RISING);
  attachInterrupt(digitalPinToInterrupt(ENCB), encoderBISRising, RISING);
  //p.Begin();
  //p.AddTimeGraph("Position v Time", 1000, "Position", motorPosDeg);
}

// *** Encoder interrupt routines. See "Understanding Quadrature Encoded Signals" here: https://www.pjrc.com/teensy/td_libs_Encoder.html" *** //
void encoderAISRising(){
  if(digitalRead(ENCB) == HIGH)
    motorPos++;
  else
    motorPos--;

  attachInterrupt(digitalPinToInterrupt(ENCA), encoderAISFalling, FALLING);
}

void encoderAISFalling(){
  if(digitalRead(ENCB) == LOW)
    motorPos++;
  else
    motorPos--;

  attachInterrupt(digitalPinToInterrupt(ENCA), encoderAISRising, RISING);
}

void encoderBISRising(){
  if(digitalRead(ENCA) == LOW)
    motorPos++;
  else
    motorPos--;

  attachInterrupt(digitalPinToInterrupt(ENCB), encoderBISFalling, FALLING);
}

void encoderBISFalling(){
  if(digitalRead(ENCA) == HIGH)
    motorPos++;
  else
    motorPos--;

  attachInterrupt(digitalPinToInterrupt(ENCB), encoderBISRising, RISING);
}
// ***          ***//

// Default rotation direction is CCW.
void setDirection(bool dir){
  // CCW
  if (dir == CCW){
    digitalWrite(IN3,HIGH);
    digitalWrite(IN4,LOW);
  }else{
    digitalWrite(IN3,LOW);  
    digitalWrite(IN4,HIGH);  
  }
}

void loop() {
  if (Serial.available() > 0) {
    // Read the incoming bytes, until a next line character (Enter) is encountered.
    while (1){
    incomingByte = Serial.read();
      // We have read all the bytes.
        if (incomingByte == '\n' || incomingByte == '\r'){
          Serial.read();
          break;
        }else{
          // Store the byte in the buffer and move on to the next.
          inputBuffer[bufferCnt] = incomingByte;
          bufferCnt++;    
        }
    }
    // Add a NULL character to the end of the array. Required for using atoi.
    inputBuffer[bufferCnt] = '\0';
    bufferCnt = 0;
    // Convert string to integer.
    targetPos = atoi(inputBuffer);
    targetPos = targetPos / ratio;
  }
//  int i = 0;
//  if (i % 2 == 0){
//    targetPos = 360;
//  } else {
//    targetPos = 0;
//  }
  startTime = micros();
  // Get the latest motor position.
  currentPos = motorPos;
  // Position error.
  //pError = targetPos - motorPos;
  pError = targetPos - currentPos;
  // P term of the controller.
  pTerm = kP * pError;
  dP = currentPos - prevPos;
  // D term of the controller. CYCLE_TIME/1000 normalizes the denominator, otherwise dTerm would always be zero (integer division).
  dTerm = kD * (dP/(CYCLE_TIME/1000));
  
  contOut = pTerm + dTerm; 
  // Set the target duty cycle (i.e. speed (i.e. voltage)).
  // Error (in terms of encoder pulses) in the range minErr-maxErr is mapped to speed range corresponding to minDutyCycle-maxDutyCycle.  
  // 4 parameters to tune here.
  spd = map(abs(contOut),minErr,maxErr,minDutyCycle,maxDutyCycle);
  
  // Set the direction according to sign of position error (CCW is positive), and then speed.
  // One optimization would be calling analogWrite(ENB,abs(spd)) at the start or end of the loop instead
  // (at the expense of readibility).
  if (pError > 0){
      setDirection(CCW);
      analogWrite(ENB,abs(spd));
  }else if (pError < 0){
     setDirection(CW);
     analogWrite(ENB,abs(spd));
  }
  if (pltCounter == PLOT_COUNTER){
    float mtrPos = static_cast<float>(motorPos);
    motorPosDeg = mtrPos * ratio;
    Serial.print(int(motorPosDeg));
    Serial.println();
    pltCounter = 0;
  }
  pltCounter++;
  
  
  prevPos = currentPos;
  cycleDiff = micros() - startTime;
  // Adjust the update rate.
  if (cycleDiff < CYCLE_TIME){
    delayMicroseconds(CYCLE_TIME - cycleDiff);
  }
  //i++;
  
}

Answer 1

据我了解，它利用主要的Arduino连接起作用。根据Arduino UART的工作方式，您每个COM端口只能具有1个COM端口连接。这意味着您可以为每个UART连接打开图或命令行。不同版本的Arduino可以具有多个COM端口。在Arduino Uno上，只有一个com端口“序列”。在巨型上，我认为有3个UART端口。如果您使用外部FTDI UART板，则可以为Serial0打开“绘图窗口”，并将FTDI板连接在Serial1上以使命令行窗口打开。您将不得不更改代码以将命令发送到Serial1。

这是一些可以帮助您的链接。
https://docs.arduino.cc/tutorials/commumunication /communication /communication /communication /twoportreceive

=“ https://docs.arduino.cc/built-in-examples/communication/multiserialmega” rel =“ nofollow noreferrer”> https://docs.arduino.cc/built-in-built-in-built-in-communication/communication/communication/multiserialialmeialmeialmeialmelmega