使用来自处理的数据控制Arduino Braccio臂

Question

我正在从事一个项目，该项目使用处理从文件中读取数据，然后使用串行将这些数据发送到arduino Uno板，然后将这些值提供给arduino braccio braccio。ServoMovement（）函数，根据它们移动机械臂。然而，每当我运行代码时，我总是在函数中输入错误的值，并且手臂以一种奇怪的方式移动，我测试了相同的代码，并试图点亮一个led，但出于某种原因，它工作正常。

 import processing.serial.*;
 import java.io.*;
 int mySwitch=0;

 int counter=0;

 String [] subtext;

 Serial myPort;



 void setup(){

 //Create a switch that will control the frequency of text file reads.

 //When mySwitch=1, the program is setup to read the text file.

 //This is turned off when mySwitch = 0

 mySwitch=1;


 //Open the serial port for communication with the Arduino

 //Make sure the COM port is correct

 myPort = new Serial(this, "COM5", 9600);
  myPort.bufferUntil('\n');
 }

 void draw() {
  // print(" the switch " + mySwitch);

  if (mySwitch>0){
  /*The readData function can be found later in the code.
  This is the call to read a CSV file on the computer hard-drive. */
  readData("C:/Users/Tareq/Desktop/data.txt");

  /*The following switch prevents continuous reading of the text file,           until
  we are ready to read the file again. */
  mySwitch=0;
  }

  /*Only send new data. This IF statement will allow new data to be sent      to
  the arduino. */
  if(counter<subtext.length){
  /* Write the next number to the Serial port and send it to the Arduino 
  There will be a delay of half a second before the command is
  sent to turn the LED off : myPort.write('0'); */
 // print(subtext[counter]);
  delay(5000);
  myPort.write(subtext[counter]);
  print(subtext[counter]);
  delay(2000);
  //Increment the counter so that the next number is sent to the arduino.
  counter++;
  } else{
  //If the text file has run out of numbers, then read the text file again      in 5 seconds.
  delay(5000);
  mySwitch=1;
  }
 } 


 /* The following function will read from a CSV or TXT file */
 void readData(String myFileName){

  File file=new File(myFileName);
  BufferedReader br=null;

  try{
  br=new BufferedReader(new FileReader(file));
  String text=null;

  /* keep reading each line until you get to the end of the file */
  while((text=br.readLine())!=null){

  /* Spilt each line up into bits and pieces using a comma as a separator */
  subtext = splitTokens(text,",");

  }
  }catch(FileNotFoundException e){
  e.printStackTrace();
  }catch(IOException e){
  e.printStackTrace();
  }finally{
  try {
  if (br != null){
  br.close();
  }
  } catch (IOException e) {
  e.printStackTrace();
  }
  }
 }

Arduino代码

#include <Braccio.h>
#include <Servo.h>
#include<SoftwareSerial.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;

String stringData[6] ;
int intData[6] ;

void setup() {
 Serial.begin(9600);
 Braccio.begin();
 pinMode(1, OUTPUT); // Set pin as OUTPUT
 pinMode(2, OUTPUT); // Set pin as OUTPUT
 pinMode(3, OUTPUT); // Set pin as OUTPUT
 pinMode(4, OUTPUT); // Set pin as OUTPUT
 pinMode(5, OUTPUT); // Set pin as OUTPUT
 pinMode(6, OUTPUT); // Set pin as OUTPUT
 pinMode(7, OUTPUT); // Set pin as OUTPUT
 pinMode(8, OUTPUT); // Set pin as OUTPUT
 pinMode(9, OUTPUT); // Set pin as OUTPUT
}

void loop() {




for(int y=0;y<6;y++){

  while(Serial.available()== 0){}

stringData[y]= Serial.readString();

if(stringData[y]=="90")
intData[y]=90;
else if(stringData[y]=="120")
intData[y]=120;
else if(stringData[y]=="180")
intData[y]=180;
else if(stringData[y]=="45")
intData[y]=45;
else if(stringData[y]=="160")
intData[y]=160;
else if(stringData[y]=="170")
intData[y]=170;
else if(stringData[y]=="165")
intData[y]=165;
else if(stringData[y]=="60")
intData[y]=60;
else if(stringData[y]=="30")
intData[y]=30;
else if(stringData[y]=="110")
intData[y]=110;
else if(stringData[y]=="80")
intData[y]=80;
else if(stringData[y]=="155")
intData[y]=155;
}

Braccio.ServoMovement(20 ,         intData[0], intData[1], intData[2] , intData[3] ,intData[4] , intData[5]);

}

注意：我读取的文件是一个记事本，其中包含以“，”分隔的数字，比如150、30、60等。我用6来测试代码，有人可能会说这很奇怪，为什么发送字符串，然后将其映射为int，而不是直接发送int，我先尝试了int，但它不起作用，然后我尝试了这个。

Answer 1

我会尝试将这个问题与以下罪魁祸首分开：

你能让机器人从arduino中的静态路径驱动它做可重复的事情吗（即硬编码arduino中的值，并检查你是否知道机器人是如何驱动和工作的）

您是否在arduino和processing之间干净地传递数据。为了测试这一点，创建一些数值对象/数组，并将它们从处理转移到arduino，让arduino验证它是否收到了预期的结果。

你的文件读对了吗。读取文件并将其写入处理控制台或其他东西，以验证您是否拥有您认为拥有的内容。