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我有一个步进电机，我用它来驱动自动扫描仪上的升降机（如果你有兴趣获得关于它的全部功能的更详细的描述，我很乐意效劳）。

无论如何，我目前遇到的问题是，当升降机到达扫描仪顶部时，它会按下一个按钮，触发相机拍照，然后应该降低并重复该过程。

然而，问题在于，一旦电机触发按钮，它似乎就会忘记它的位置，而不是去我为它构建的预设距离，要么保持原位，要么降低预期距离的一小部分。

我对此事的想法是，我认为这要么是我的代码和我控制按钮的方式有问题，要么是需要对按钮进行去抖动以便我将其作为常数值读取的问题。

代码如下：

//Global Variables
//-----------------------------------------------------------------------------
const int BUTTON_PIN = 4;                                // number of the pushbutton pin
const int CAMERA_SHOOT_PIN = 2;                          // Pin that controls the shoot function

const int MOTOR_DIRECTION_PIN = 8;
const int MOTOR_STEP_PIN = 9;

//Function Prototypes
//-----------------------------------------------------------------------------

//If the red button is press, the camera will take a shot
void checkIfButtonIsPressedAndTakePictureWithCamera();

//Moves platform tray down lead screw down to zero???
void moveDown(int clicks);

//Moves platform tray up lead screw up to "maxDistance"
void moveUp(int clicks);

//Presses the camera's shoot button and takes a picture
void shootCamera();

//Steps the motor one click
void stepMotorOneClick();

//Steps the motor N clicks
void stepMotorNClicks(int n);

//Changes the current motor direction clcokwise
void toggleDirectionClockwise();

//Changes the current motor direction counterclockwise
void toggleDirectionCounterClockwise();


//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------

//Called once when the Arduino is powered up or reset button is hit
/*****************************************************************************/
void setup()
/*****************************************************************************/
{
  Serial.begin(9600); //Initializes serial port at baud rate of 9600 bps  
  pinMode(BUTTON_PIN, INPUT);  //set that the button is an input
  pinMode(CAMERA_SHOOT_PIN, OUTPUT);  // set the pin that controls the shoot function

  //Setup motor pins
  pinMode(MOTOR_DIRECTION_PIN, OUTPUT);     
  pinMode(MOTOR_STEP_PIN, OUTPUT);
  digitalWrite(MOTOR_DIRECTION_PIN, LOW);
  digitalWrite(MOTOR_STEP_PIN, LOW);


  //moveUp(3600);
}

int clicks = 0;
int moveDirection = 1;

//Called over and over again after setup() executes
/*****************************************************************************/
void loop()
/*****************************************************************************/
{
  clicks = clicks + 1;
  if(clicks > 7000)
  {
    moveDirection = -moveDirection;
    clicks = 0;
  }

  switch(moveDirection)
  {
    case 1: moveUp(1); break;
    case -1: moveDown(1); break;
    case 0: break;
    default: break;
  };

  checkIfButtonIsPressedAndTakePictureWithCamera();
}

//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------

//Function Implemented
//-----------------------------------------------------------------------------
/*****************************************************************************/
void checkIfButtonIsPressedAndTakePictureWithCamera()
/*****************************************************************************/
{
  if (digitalRead(BUTTON_PIN) == HIGH) //If the button is pressed, run through the my functions
  {
    //START CRAPPY HACK
    if (moveDirection == 0)
      moveDirection = 1;
    else
    {
      moveDirection = 0;
      shootCamera();
      moveDirection=-1;
    }
    //END CRAPPY HACK 
  }
}

/*****************************************************************************/
void toggleDirectionClockwise()
/*****************************************************************************/
{
  digitalWrite(8, LOW);
}

/*****************************************************************************/
void toggleDirectionCounterClockwise()
/*****************************************************************************/
{
  digitalWrite(8, HIGH);
}

/*****************************************************************************/
void stepMotorOneClick()
/*****************************************************************************/
{
  digitalWrite(MOTOR_STEP_PIN, HIGH);
  delayMicroseconds(40);          
  digitalWrite(MOTOR_STEP_PIN, LOW); 
  delayMicroseconds(40);
}

/*****************************************************************************/
void stepMotorNClicks(int n)
/*****************************************************************************/
{
  for(int c = 0; c < n; c++)
    stepMotorOneClick();
}

/*****************************************************************************/
void moveDown(int clicks)
/*****************************************************************************/
{
  //counterclock
  toggleDirectionCounterClockwise();
  stepMotorNClicks(clicks);
}

/*****************************************************************************/
void moveUp(int clicks)
/*****************************************************************************/
{
  //clockwise
  toggleDirectionClockwise();
  stepMotorNClicks(clicks);
}

/*****************************************************************************/
void shootCamera()
/*****************************************************************************/
{ 
  digitalWrite(CAMERA_SHOOT_PIN,HIGH);  //SHOOT
  delay(500);
  digitalWrite(CAMERA_SHOOT_PIN,LOW);
  delay(1);
}
4

1 回答 1

4

当它到达顶部并按下按钮时，您的代码会用相机拍照（0.5 秒），然后将方向设置为向下移动 - 但实际上并没有向下移动。所以在下一个循环中，方向是向下的，所以它向下移动了一步，但是按钮可能仍然被按下，因为一步太小了。所以它需要另一张照片（0.5秒）等等。

它最终在顶部拍摄了几张照片，因为按下了开关。

拍摄照片后，您可能希望将系统向下移动一些步骤。或者不拍照的方向是向下的。

void checkIfButtonIsPressedAndTakePictureWithCamera()
/*****************************************************************************/
{
  if (digitalRead(BUTTON_PIN) == HIGH) //If the button is pressed, run through the my functions
  {
    //START CRAPPY HACK
    if (moveDirection == 0)
      moveDirection = 1;
    else if(moveDirection != -1) //If it's not moving down already
    {
      moveDirection = 0;
      shootCamera();
      moveDirection=-1;
    }
    //END CRAPPY HACK 
  }
}
于 2013-07-10T12:59:31.510 回答