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程序如下
#include <SoftwareSerial.h> //From https://github.com/kroimon/Arduino-SerialCommand
#include <SerialCommand.h> //From https://github.com/kroimon/Arduino-SerialCommand
#include <AccelStepper.h> //From http://www.airspayce.com/mikem/arduino/AccelStepper/
#include <Servo.h>
#include "Inventory.h" //Little class I made just for practice.
Servo myServo; // create servo object to control a servo
///COLOR
#define S0 6
#define S1 7
#define S2 8
#define S3 9
#define sensorOut 10
SerialCommand SCmd; // The demo SerialCommand object (from the example file).
AccelStepper stepper_MyStepper(4, 2, 4, 3, 5 );
bool autoMode = HIGH; //Does the arduino works in auto mode or in
int numStepsAutoMode = -171; //Number of steps to go until next slot. NOTE: Since the stepper motor
//Have 2048 for one rotation, this is the closest number so that numStempsAutoMode*12 is close to 2048.
//It does not fall exactly at 2048, so I had to implement some corrections in the function MoveStepperToNextSlot
int frequency;
//For rotation correction
int lastAmountOfRotation = 0 ; //See function MoveStepperToNextSlot()
// Stored value for every color. Note : This reading is strongly affected by ambiant light.
float orange[3] = { 11017,22602, 18189};
float yellow[3] = {10823, 16072, 15191};
float green[3] = { 11458, 17365, 17279};
float red[3] = { 13893, 27045, 19511};
float purple[3] = { 16384, 26586, 19053};
float none[3] = {16036, 30211, 21701};
float none2[3] = {16036, 30211, 21701};
//Object to store the colors of the skittles in the incoming slots.
Inventory inventory;
void setup()
{
//SERVO MOTOR
myServo.attach(11);
myServo.write(0);
stepper_MyStepper.setMaxSpeed(800);
stepper_MyStepper.setAcceleration(800);
//COLOR SENSOR (https://www.osepp.com/electronic-modules/sensor-modules/58-color-sensor-module)
// Setting frequency-scaling to 20%
pinMode(S0,OUTPUT);
pinMode(S1,OUTPUT);
pinMode(A0,OUTPUT);
digitalWrite(S0,LOW);
digitalWrite(S1,HIGH);
digitalWrite(A0,LOW);
pinMode(S2,OUTPUT);
pinMode(S3,OUTPUT);
pinMode(sensorOut,INPUT);
//SERIAL COMMUNICATION
Serial.begin(9600);
// Setup callbacks for SerialCommand commands
SCmd.addCommand("MoveStepper",MoveStepper);
SCmd.addCommand("NextSlot",MoveStepperToNextSlot);
SCmd.addCommand("MoveServo",MoveServo);
SCmd.addCommand("ToggleAuto",ToggleAuto);
SCmd.addCommand("AjustNumStepsAuto",AjustNumStepsAuto);
SCmd.addCommand("RC",ReadColorSerial);
SCmd.addDefaultHandler(unrecognized); // Handler for command that isn't matched (says "What?")
//Initial calibration (gives the user some time to make sure the stepper finishes
// so that the slots are aligned).
int counter = 5;
while(counter >1) {
MoveStepperToNextSlot();
delay(1000);
counter+= -1;
}
Serial.println("Ready");
}
void loop(){
if (autoMode) {//Auto mode, the machine is sorting the incoming skittles
inventory.MeasureAndPush(ReadColor());
DecideServoLocation(inventory.items[1]);
MoveStepperToNextSlot();
}
//If autoMode == LOW (
SCmd.readSerial(); //Processing serial commands (if sent)
}
void DecideServoLocation(String input) {// Input a color to decide where to align the servo
if (input == "Red") {
myServo.write(0);
}
else if (input == "Yellow") {
myServo.write(28);
}
else if (input == "Green") {
myServo.write(55);
}
else if (input == "Purple") {
myServo.write(82);
}
else if (input == "Orange") {
myServo.write(100);
}
else {
myServo.write(0);
}
}
void MoveStepperToNextSlot() {//Trivial
//First part of is to see if a correction is needed in order to make sure that after one
//full rotation of the skittles wheel, it comes back to the same place.
int amountOfRotation = stepper_MyStepper.currentPosition()/2048;
if (amountOfRotation != lastAmountOfRotation) {
stepper_MyStepper.runToNewPosition(stepper_MyStepper.currentPosition()+4);
lastAmountOfRotation = amountOfRotation;
}
Serial.print("Amount of rotations since beginning = ");
Serial.println(amountOfRotation);
stepper_MyStepper.runToNewPosition(stepper_MyStepper.currentPosition() + numStepsAutoMode);
}
void MoveStepper() {//For Serial Debugging.
int numSteps = 170;
char *arg;
arg = SCmd.next(); // Get the next argument from the SerialCommand object buffer
if (arg != NULL) // As long as it existed, take it
{
numSteps = atoi(arg);
}
Serial.println(numSteps);
stepper_MyStepper.runToNewPosition(stepper_MyStepper.currentPosition() + numSteps);
}
void AjustNumStepsAuto() {// For fine tuning the number of steps necessary to get to next slot
char *arg;
arg = SCmd.next(); // Get the next argument from the SerialCommand object buffer
if (arg != NULL) // As long as it existed, take it
{
numStepsAutoMode = atoi(arg);
}
Serial.println(numStepsAutoMode);
}
void MoveServo() {// Useffull for debugging with serial monitor
char *arg;
arg = SCmd.next(); // Get the next argument from the SerialCommand object buffer
if (arg != NULL) // As long as it existed, take it
{
int pos = atoi(arg);
Serial.print("Servo at : ");
Serial.println(pos);
myServo.write(pos);
inventory.MeasureAndPush(String(pos));
}
else {
Serial.println("Invalid command");
}
}
String FindClosestColor(float detect[3]) { //Apply a normalized scalar product between the
//RGB reading from the color sensor and the stored value for each possible skittles colors.
//find wich one return the biggest value.
String colorResult = "None";
float value = 0;
float test;
test = CompareColors(detect, none);
if (test >value ){
value = test;
colorResult = "None";
}
test = CompareColors(detect,yellow);
if (test >value ){
value = test;
colorResult = "Yellow";
}
test = CompareColors(detect,red);
if (test >value ){
value = test;
colorResult = "Red";
}
test = CompareColors(detect,orange);
if (test >value ){
value = test;
colorResult = "Orange";
}
test = CompareColors(detect,purple);
if (test >value ){
value = test;
colorResult = "Purple";
}
test = CompareColors(detect,green);
if (test >value ){
value = test;
colorResult = "Green";
}
Serial.println(value);
return colorResult;
}
String ReadColor() { //Read color with the color sensor.
int R = ReadR();
int G = ReadG();
int B = ReadB();
Serial.print(" R : ");
Serial.print(R);
Serial.print(" G : ");
Serial.print(G);
Serial.print(" B : ");
Serial.print(B);
Serial.println("");
float det[3] = { (float)R, (float)G, (float)B };
String result = FindClosestColor(det);
Serial.println(result);
return result;
}
void ReadColorSerial() { // Same function thant previous one, but return void (for Serial debugging).
int R = ReadR();
int G = ReadG();
int B = ReadB();
Serial.print(" RGB : ");
Serial.print(R);
Serial.print(", ");
Serial.print(G);
Serial.print(", ");
Serial.print(B);
Serial.println("");
float det[3] = { (float)R, (float)G, (float)B };
String result = FindClosestColor(det);
Serial.println(result);
}
int ReadR() {
int color;
// Setting red filtered photodiodes to be read
digitalWrite(S2, LOW);
digitalWrite(S3, LOW);
// Reading the output frequency
frequency = 0;
for (int i = 0;i<10;i++) {
frequency += pulseIn(sensorOut, LOW);
}
return frequency;
delay(50);
}
int ReadG() {
int color;
// Setting Green filtered photodiodes to be read
digitalWrite(S2, HIGH);
digitalWrite(S3, HIGH);
// Reading the output frequency
frequency = 0;
for (int i = 0;i<10;i++) {
frequency += pulseIn(sensorOut, LOW);
}
return frequency;
delay(50);
}
int ReadB() {
int color;
// Setting Blue filtered photodiodes to be read
digitalWrite(S2, LOW);
digitalWrite(S3, HIGH);
// Reading the output frequency
frequency = 0;
for (int i = 0;i<10;i++) {
frequency += pulseIn(sensorOut, LOW);
}
return frequency;
delay(50);
}
int ReadW() {//Unused in current project.
int color;
// Setting Blue filtered photodiodes to be read
digitalWrite(S2, HIGH);
digitalWrite(S3, LOW);
// Reading the output frequency
frequency = 0;
for (int i = 0;i<10;i++) {
frequency += pulseIn(sensorOut, LOW);
}
return frequency;
delay(50);
}
float scalar( float col1[3], float col2[3]) { //Vector 3 scalar product.
float result =(col1[0]*col2[0]+col1[1]*col2[1]+col1[2]*col2[2]);
return result;
}
float CompareColors( float c1[3], float c2[3]) { //Comparing colors with the scalar product.
return scalar(c1,c2)*pow(scalar(c2,c2)*scalar(c1,c1),-0.5);
}
void ToggleAuto() {// For Serial Debugging.
autoMode = !autoMode;
if (autoMode) {
Serial.println("Auto mode on");
}
else {
Serial.println("Auto mode off");
}
}
// This gets set as the default handler, and gets called when no other command matches.
void unrecognized()
{
Serial.println("What?");
}
上传是出错，显示如下
Arduino:1.6.5 (Windows 8.1), 板："Arduino Uno"
sketch_jul21a.ino: In function 'void setup()':
sketch_jul21a:73: error: no matching function for call to 'SerialCommand::addCommand(const char [12], void (&)())'
sketch_jul21a.ino:73:44: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:74: error: no matching function for call to 'SerialCommand::addCommand(const char [9], void (&)())'
sketch_jul21a.ino:74:51: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:75: error: no matching function for call to 'SerialCommand::addCommand(const char [10], void (&)())'
sketch_jul21a.ino:75:40: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:76: error: no matching function for call to 'SerialCommand::addCommand(const char [11], void (&)())'
sketch_jul21a.ino:76:42: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:77: error: no matching function for call to 'SerialCommand::addCommand(const char [18], void (&)())'
sketch_jul21a.ino:77:56: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:78: error: no matching function for call to 'SerialCommand::addCommand(const char [3], void (&)())'
sketch_jul21a.ino:78:39: note: candidate is:
In file included from sketch_jul21a.ino:4:0:
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: void SerialCommand::addCommand(char*, void (*)(), void (*)(), void (*)(), void (*)())
void addCommand(char *cmd, void (*test)(), void (*read)(), void (*write)(), void (*execute)());
^
C:\Users\admin\Documents\Arduino\libraries\SerialCommand\src/SerialCommand.h:67:10: note: candidate expects 5 arguments, 2 provided
sketch_jul21a:79: error: 'class SerialCommand' has no member named 'addDefaultHandler'
sketch_jul21a.ino: In function 'void loop()':
sketch_jul21a:102: error: 'class SerialCommand' has no member named 'readSerial'
no matching function for call to 'SerialCommand::addCommand(const char [12], void (&)())'
报告将会包含更多的信息
"在编译时，输出详细信息"
在 文件>首选项 中启用
请问哪里出问题了
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发表于 2021-7-21 11:50