我有一个通过 android 在 arduino 中控制机器人的项目。问题是当我按下引脚 6（Maju）的按钮时，它打开了。但是当我再次按下它时它总是打开，不能关闭。
这是我的代码：
int kananMaju;
int kiriMundur;
int kananMundur;
int kiriMaju;
#define Kanan A4
#define Kiri 13
#define Maju 6
#define Mundur A5
#define STBY 12
#define PWMA 11 //left
#define PWMB 10 //right
#define AIN2 8
#define AIN1 7
#define BIN1 3
#define BIN2 2
#include <SoftwareSerial.h>
#define DEBUG true
SoftwareSerial esp8266(4,5); // make RX Arduino line is pin 2, make TX Arduino line is pin 3.
// This means that you need to connect the TX line from the esp to the Arduino's pin 2
// and the RX line from the esp to the Arduino's pin 3
void setup()
{
Serial.begin(9600);
esp8266.begin(9600); // your esp's baud rate might be different
pinMode(STBY,OUTPUT);
pinMode(BIN2,OUTPUT);
pinMode(BIN1,OUTPUT);
pinMode(AIN2,OUTPUT);
pinMode(AIN1,OUTPUT);
pinMode(PWMB,OUTPUT);
pinMode(PWMA,OUTPUT);
digitalWrite(STBY, HIGH); //standby
digitalWrite(BIN1, HIGH);
digitalWrite(BIN2, HIGH);
digitalWrite(AIN1, HIGH);
digitalWrite(AIN2, HIGH);
analogWrite(PWMB, 100); //490 Hz
analogWrite(PWMA, 100); //490 Hz
pinMode(Maju,OUTPUT);
digitalWrite(Maju,LOW);
sendCommand("AT+RST\r\n",2000,DEBUG); // reset module
sendCommand("AT+CWMODE=1\r\n",1000,DEBUG); // configure as access point
sendCommand("AT+CWJAP=\"PanduGanteng\",\"akhirpekan666\"\r\n",3000,DEBUG);
delay(10000);
sendCommand("AT+CIFSR\r\n",1000,DEBUG); // get ip address
sendCommand("AT+CIPMUX=1\r\n",1000,DEBUG); // configure for multiple connections
sendCommand("AT+CIPSERVER=1,8080\r\n",1000,DEBUG); // turn on server on port 80
Serial.println("Server Ready");
}
void loop()
{
if(esp8266.available()) // check if the esp is sending a message
{
if(esp8266.find("+IPD,"))
{
delay(1000); // wait for the serial buffer to fill up (read all the serial data)
// get the connection id so that we can then disconnect
int connectionId = esp8266.read()-48; // subtract 48 because the read() function returns
// the ASCII decimal value and 0 (the first decimal number) starts at 48
esp8266.find("pin="); // advance cursor to "pin="
int pinNumber = (esp8266.read()-48); // get first number i.e. if the pin 13 then the 1st number is 1
int secondNumber = (esp8266.read()-48);
if(secondNumber>=0 && secondNumber<=9)
{
pinNumber*=10;
pinNumber +=secondNumber; // get second number, i.e. if the pin number is 13 then the 2nd number is 3, then add to the first number
}
digitalWrite(pinNumber, !digitalRead(pinNumber)); // toggle pin
// build string that is send back to device that is requesting pin toggle
String content;
content = "Pin ";
content += pinNumber;
content += " is ";
if(digitalRead(Maju))
{
content += "ON";
kiriMaju;{
digitalWrite(STBY,HIGH);
analogWrite(PWMA, 100);
digitalWrite(AIN1,HIGH);
digitalWrite(AIN2,LOW);
}
kananMaju;{
digitalWrite(STBY,HIGH);
analogWrite(PWMB, 100);
digitalWrite(BIN1, LOW);
digitalWrite(BIN2, HIGH);
}
}
else
{
content += "OFF";
}
sendHTTPResponse(connectionId,content);
// make close command
String closeCommand = "AT+CIPCLOSE=";
closeCommand+=connectionId; // append connection id
closeCommand+="\r\n";
sendCommand(closeCommand,1000,DEBUG); // close connection
}
}
}
/*
* Name: sendData
* Description: Function used to send data to ESP8266.
* Params: command - the data/command to send; timeout - the time to wait for a response; debug - print to Serial window?(true = yes, false = no)
* Returns: The response from the esp8266 (if there is a reponse)
*/
String sendData(String command, const int timeout, boolean debug)
{
String response = "";
int dataSize = command.length();
char data[dataSize];
command.toCharArray(data,dataSize);
esp8266.write(data,dataSize); // send the read character to the esp8266
if(debug)
{
Serial.println("\r\n====== HTTP Response From Arduino ======");
Serial.write(data,dataSize);
Serial.println("\r\n========================================");
}
long int time = millis();
while( (time+timeout) > millis())
{
while(esp8266.available())
{
// The esp has data so display its output to the serial window
char c = esp8266.read(); // read the next character.
response+=c;
}
}
if(debug)
{
Serial.print(response);
}
return response;
}
/*
* Name: sendHTTPResponse
* Description: Function that sends HTTP 200, HTML UTF-8 response
*/
void sendHTTPResponse(int connectionId, String content)
{
// build HTTP response
String httpResponse;
String httpHeader;
// HTTP Header
httpHeader = "HTTP/1.1 200 OK\r\nContent-Type: text/html; charset=UTF-8\r\n";
httpHeader += "Content-Length: ";
httpHeader += content.length();
httpHeader += "\r\n";
httpHeader +="Connection: close\r\n\r\n";
httpResponse = httpHeader + content + " "; // There is a bug in this code: the last character of "content" is not sent, I cheated by adding this extra space
sendCIPData(connectionId,httpResponse);
}
/*
* Name: sendCIPDATA
* Description: sends a CIPSEND=<connectionId>,<data> command
*
*/
void sendCIPData(int connectionId, String data)
{
String cipSend = "AT+CIPSEND=";
cipSend += connectionId;
cipSend += ",";
cipSend +=data.length();
cipSend +="\r\n";
sendCommand(cipSend,1000,DEBUG);
sendData(data,1000,DEBUG);
}
/*
* Name: sendCommand
* Description: Function used to send data to ESP8266.
* Params: command - the data/command to send; timeout - the time to wait for a response; debug - print to Serial window?(true = yes, false = no)
* Returns: The response from the esp8266 (if there is a reponse)
*/
String sendCommand(String command, const int timeout, boolean debug)
{
String response = "";
esp8266.print(command); // send the read character to the esp8266
long int time = millis();
while( (time+timeout) > millis())
{
while(esp8266.available())
{
// The esp has data so display its output to the serial window
char c = esp8266.read(); // read the next character.
response+=c;
}
}
if(debug)
{
Serial.print(response);
}
return response;
}
我想当我按下针 6 的按钮时打开，当我再次按下它时它关闭。但它总是打开，我的错在哪里？