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我想使用 Blynk App 和 NodeMCU/ESP8266 的操纵杆来控制 2 个步进电机来运行机器人。但是当我在网上搜索步进电机实时控制的代码时，我没有得到很多代码，而且大部分都不是实时的。

这是我目前正在处理的代码：-

#include <ESP8266WiFi.h>
#include <BlynkSimpleEsp8266.h>

#define RightMotorSpeed D7
#define RightMotorDir   D8  

const int enPin = D2;
const int enPin2 = D3;

#define LeftMotorSpeed  D6  
#define LeftMotorDir    D5


// You should get Auth Token in the Blynk App.
// Go to the Project Settings (nut icon).
// Use your own WiFi settings
char auth[] = "LRTCZUnCI06P-pqh5rlPXRbuOUgQ_uGH";
char ssid[] = "Airtel_7599998800";
char pass[] = "air71454";

// neutral zone settings for x and y
// joystick must move outside these boundary numbers to activate the motors
// makes it a little easier to control the wifi car
int minRange = 312;
int maxRange = 712;

// analog speeds from 0 (lowest) - 1023 (highest)
// 3 speeds used -- 0 (noSpeed), 350 (minSpeed), 850 (maxSpeed).
// use whatever speeds you want...too fast made it a pain in the ass to control
int minSpeed = 450;
int maxSpeed = 1023;
int noSpeed = 0;


void moveControl(int x, int y)
{
  // movement logic
  // move forward

   // y je vetsi jak maxrange a současně x je vetsi jak minRange a současne mensi jak max range 
  while(y >= maxRange && x >= minRange && x <= maxRange) //zataci R
  {
    digitalWrite(RightMotorDir,HIGH);  
    digitalWrite(LeftMotorDir,HIGH);

    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);

    delayMicroseconds(500);

    digitalWrite(RightMotorSpeed,0); 
    digitalWrite(LeftMotorSpeed,0);

    delayMicroseconds(500);
  }

  // move forward right
  while(x >= maxRange && y >= maxRange)   //zataci R
  {
    digitalWrite(RightMotorDir,HIGH);
    digitalWrite(LeftMotorDir,HIGH);
   analogWrite(RightMotorSpeed,minSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);
  }

  // move forward left
  while(x <= minRange && y >= maxRange)
  {
    digitalWrite(RightMotorDir,HIGH);
    digitalWrite(LeftMotorDir,HIGH);
    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,minSpeed);
  }

  // neutral zone
  while(y < maxRange && y > minRange && x < maxRange && x > minRange)
  {
    analogWrite(RightMotorSpeed,noSpeed); 
    analogWrite(LeftMotorSpeed,noSpeed);
  }

 // move back
  while(y <= minRange && x >= minRange && x <= maxRange)
  {
    digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
   analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);
  }

  // move back and right
 while(y <= minRange && x <= minRange)
  {
   digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
    analogWrite(RightMotorSpeed,minSpeed); 
    analogWrite(LeftMotorSpeed,maxSpeed);  
  }

  // move back and left
  while(y <= minRange && x >= maxRange)
  {
    digitalWrite(RightMotorDir,LOW);
    digitalWrite(LeftMotorDir,LOW);
    analogWrite(RightMotorSpeed,maxSpeed); 
    analogWrite(LeftMotorSpeed,minSpeed);
  }
}

void setup()
{
  // initial settings for motors off and direction forward
  pinMode(RightMotorSpeed, OUTPUT);
  pinMode(LeftMotorSpeed, OUTPUT);
  pinMode(RightMotorDir, OUTPUT);
  pinMode(LeftMotorDir, OUTPUT);
  digitalWrite(RightMotorSpeed, LOW);
  digitalWrite(LeftMotorSpeed, LOW);
  digitalWrite(RightMotorDir, HIGH);
  digitalWrite(LeftMotorDir,HIGH);



    Serial.begin(9600);

    pinMode(enPin,OUTPUT);
    digitalWrite(enPin,LOW);

    pinMode(enPin2,OUTPUT);
    digitalWrite(enPin2,LOW);



  Blynk.begin(auth, ssid, pass);
 }


void loop()
{
  Blynk.run();
}


BLYNK_WRITE(V1)
{
  int x = param[0].asInt();
  int y = param[1].asInt();
  moveControl(x,y); 
}

在这里，我将 2 个步进电机定义为左右，由于我使用的是 TB6600 电机驱动器，因此它们的脉冲和方向引脚也被定义。这是我无法将步进电机库用于代码的主要原因。

运行代码我看到两个电机都运行良好一次 3 到 5 秒，并且 Blynk 服务器再次断开连接并重新连接，导致电机停止并且没有创建实时通信。有人请帮我为这两个步进电机创建一个实时运行的代码。

我认为Blink.run()会导致服务器重新连接并停止电机。

我也搜索了这个原因，发现我应该使用 AccelStepper 库而不是步进电机库，但这也没有实现。请帮我解决一下这个。任何正确的参考也是可观的。提前致谢。

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1 回答 1

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Blynk 需要常量 ping 以保持连接处于活动状态。while 循环可防止您的设备与 Blynk 服务器之间进行任何形式的通信。首选选项是使用 Timers 以交互方式调用您的函数并推进代码。另一种方法是强制执行服务器 ping。

例如，您可以在每个 while 循环中添加以下内容并调用 softDelay(1)。

void softDelay(uint32_t t) {
  unsigned long currentTime = millis();`
  unsigned long newTime = currentTime + t;
  while (currentTime <= newTime)
  {
     Blynk.run();
     timer.run();
     currentTime = millis();
  }
}
于 2021-07-26T15:21:17.963 回答