如果按下按钮,我试图使连续旋转伺服顺时针移动,如果按下按钮,pin2
则逆时针移动pin3
。我希望伺服器继续按照按钮设置的方向移动,直到释放按钮。这是我到目前为止的代码(我是arduino的新手):
#include <Servo.h>
Servo myservo; // create servo object to control a servo
// CONSTANTS
// PINS
const int crServo = 12; // sets pin 12 as servo
const int buttonPinCW = 2; // sets pin 2 as button; CW => clockwise => FOCUS FAR
const int buttonPinCC = 3; // sets pin 3 as button; CC => counterclockwise => FOCUS NEAR
const int ledPin = 10; // sets pin 10 as LED
// SERVO PROPERTIES
const int crSpeedDefault = 1500; // 1500 is the stay still position, motor should not turn
const int crSpeedCW = 1300; // 1300 turns the motor full speed clockwise
const int crSpeedCC = 1700; // 1700 turns the motor full speed counter-clockwise
const int crStepDefault = 2;
// SET BUTTON STATES
int buttonStateCW = 0; //sets button 1 as off
int buttonStateCC = 0; // sets button 2 as off
void setup()
{
myservo.attach(crServo); // attaches the servo on pin 12 to the servo object
pinMode (buttonPinCW, INPUT); // sets button as input
pinMode (buttonPinCC, INPUT); // sets button as input
pinMode (ledPin, OUTPUT); // sets led as output
myservo.write(crSpeedDefault); // default servo to crSpeedDefault
}
int slowFocusPull(int x){
int result;
result = abs(x - crSpeedDefault) / crStepDefault;
return result;
}
void loop()
{
buttonStateCW = digitalRead(buttonPinCW);
buttonStateCC = digitalRead(buttonPinCC);
// clockwise rotation
if (buttonStateCW == HIGH) {
digitalWrite(ledPin, HIGH);
myservo.write(slowFocusPull(crSpeedCW));
// counterclockwise rotation
} else if (buttonStateCC == HIGH) {
digitalWrite(ledPin, HIGH);
myservo.write(slowFocusPull(crSpeedCC));
} else {
digitalWrite(ledPin, LOW);
}
}
问题在于功能slowFocusPull
。基本上我只是希望能够通过speed
修改常数来调整。没有这个功能一切正常。
更新:最终循环供参考
void loop()
{
buttonStateCW = digitalRead(buttonPinCW);
buttonStateCC = digitalRead(buttonPinCC);
// clockwise rotation
if (buttonStateCW == HIGH) {
digitalWrite(ledPinR, HIGH);
float speed = crSpeedCW;
Serial.print("CLOCKWISE-ROTATION \n");
for (int i = 0; i < t * 5; i++) {
speed += ((float)crSpeedDefault - speed)/ 10;
Serial.print(speed);
Serial.print("\n");
myservo.write((int)speed);
delay(100);
}
myservo.write(crSpeedCW);
}
else if (buttonStateCC == HIGH) {
digitalWrite(ledPinG, HIGH);
float speed = crSpeedCC;
Serial.print("COUNTER-CLOCKWISE-ROTATION \n");
for (int i = 0; i < t * 5; i++) {
speed += ((float)crSpeedDefault - speed) / 10;
Serial.print(speed);
Serial.print("\n");
myservo.write((int)speed);
delay(100);
}
myservo.write(crSpeedCC);
}
else {
myservo.write(crSpeedDefault);
digitalWrite(ledPinR, LOW);
digitalWrite(ledPinG, LOW); // turn the LED off by making the voltage LOW
}
}