爆震伺服電機控制

Question

我正在與arduino進行一個項目。 基本上我想要的是通過識別人的敲門方式來打開門，即只有當人的敲門與arduino中存儲的敲門相匹配時，門才會解鎖。 現在要解鎖門，我正在使用伺服電機。 我只想在有人輸入正確的敲擊聲時才運行電動機，否則我就不想運行。但是，當我運行代碼時，只要代碼執行完畢，伺服電動機就開始運行，而無需等待正確的敲擊聲。 任何人都可以幫助我解決我在代碼中犯的錯誤。以下是代碼：

const int knockSensor = 0;         // Piezo sensor on pin 0.
const int programSwitch = 2;       // If this is high we program a new code.        
const int lockMotor = 3;           // Gear motor used to turn the lock.
const int redLED = 4;              // Status LED
const int greenLED = 5;            // Status LED

// Tuning constants.  Could be made vars and hoooked to potentiometers for soft      configuration, etc.
const int threshold = 10;           // Minimum signal from the piezo to register as a      knock
const int rejectValue = 25;        // If an individual knock is off by this percentage  of a knock we don't unlock..
const int averageRejectValue = 15; // If the average timing of the knocks is off by this percent we don't unlock.
const int knockFadeTime = 150;     // milliseconds we allow a knock to fade before we  listen for another one. (Debounce timer.)
const int lockTurnTime = 500;      // milliseconds that we run the motor to get it to go a half turn.

const int maximumKnocks = 50;       // Maximum number of knocks to listen for.
const int knockComplete = 1200;     // Longest time to wait for a knock before we assume that it's finished.


// Variables.
 int secretCode[maximumKnocks] = {50, 25, 25, 50, 100, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,    0, 0, 0, 0};  // Initial setup: "Shave and a Hair Cut, two bits."
 int knockReadings[maximumKnocks];   // When someone knocks this array fills with delays  between knocks.
 int knockSensorValue = 0;           // Last reading of the knock sensor.
 int programButtonPressed = false;   // Flag so we remember the programming button setting at the end of the cycle.

#include <Servo.h>
Servo myservo;  // create servo object to control a servo 
            // a maximum of eight servo objects can be created 


int pos = 0; 
void setup() {
pinMode(lockMotor, OUTPUT);
pinMode(redLED, OUTPUT);
pinMode(greenLED, OUTPUT);
pinMode(programSwitch, INPUT);
myservo.attach(8);  // attaches the servo on pin 9 to the servo object 

Serial.begin(9600);                         // Uncomment the Serial.bla lines for debugging.
Serial.println("Program start.");           // but feel free to comment them out after it's working right.

digitalWrite(greenLED, HIGH);      // Green LED on, everything is go.
}

void loop() {
// Listen for any knock at all.
knockSensorValue = analogRead(knockSensor);

if (digitalRead(programSwitch)==HIGH){  // is the program button pressed?
programButtonPressed = true;          // Yes, so lets save that state
digitalWrite(redLED, HIGH);           // and turn on the red light too so we know we're programming.
} else {
programButtonPressed = false;
digitalWrite(redLED, LOW);
} 

if (knockSensorValue >=threshold){
listenToSecretKnock();
} 
 } 

// Records the timing of knocks.
void listenToSecretKnock(){
Serial.println("knock starting");   

int i = 0;
 // First lets reset the listening array.
for (i=0;i<maximumKnocks;i++){
knockReadings[i]=0;
} 

int currentKnockNumber=0;                   // Incrementer for the array.
int startTime=millis();                     // Reference for when this knock started.
int now=millis();

digitalWrite(greenLED, LOW);                // we blink the LED for a bit as a visual indicator of the knock.
if (programButtonPressed==true){
 digitalWrite(redLED, LOW);                         // and the red one too if we're programming a new knock.
}
delay(knockFadeTime);                                   // wait for this peak to fade before we listen to the next one.
digitalWrite(greenLED, HIGH);  
if (programButtonPressed==true){
 digitalWrite(redLED, HIGH);                        
}
do {
//listen for the next knock or wait for it to timeout. 
knockSensorValue = analogRead(knockSensor);
if (knockSensorValue >=threshold){                   //got another knock...
  //record the delay time.
  Serial.println("knock.");
  now=millis();
  knockReadings[currentKnockNumber] = now-startTime;
  currentKnockNumber ++;                             //increment the counter
  startTime=now;          
  // and reset our timer for the next knock
  digitalWrite(greenLED, LOW);  
  if (programButtonPressed==true){
    digitalWrite(redLED, LOW);                       // and the red one too if we're programming a new knock.
  }
  delay(knockFadeTime);                              // again, a little delay to let the knock decay.
  digitalWrite(greenLED, HIGH);
  if (programButtonPressed==true){
    digitalWrite(redLED, HIGH);                         
  }
  }

 now=millis();

//did we timeout or run out of knocks?
} while ((now-startTime < knockComplete) && (currentKnockNumber < maximumKnocks));

 //we've got our knock recorded, lets see if it's valid
if (programButtonPressed==false){             // only if we're not in progrmaing mode.
 if (validateKnock() == true){
  triggerDoorUnlock(); 
 } else {
  Serial.println("Secret knock failed.");
  digitalWrite(greenLED, LOW);          // We didn't unlock, so blink the red LED as visual feedback.
  for (i=0;i<4;i++){                    
    digitalWrite(redLED, HIGH);
    delay(100);
    digitalWrite(redLED, LOW);
    delay(100);
  }
  digitalWrite(greenLED, HIGH);
  }
  } else { // if we're in programming mode we still validate the lock, we just don't do anything with the lock
validateKnock();
// and we blink the green and red alternately to show that program is complete.
 Serial.println("New lock stored.");
 digitalWrite(redLED, LOW);
 digitalWrite(greenLED, HIGH);
 for (i=0;i<3;i++){
  delay(100);
  digitalWrite(redLED, HIGH);
  digitalWrite(greenLED, LOW);
  delay(100);
  digitalWrite(redLED, LOW);
  digitalWrite(greenLED, HIGH);      
  }
   }
     }


 // Runs the motor (or whatever) to unlock the door.
 void triggerDoorUnlock(){
 Serial.println("Door unlocked!");
  int i=0;

 // turn the motor on for a bit.
  for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees 
 {                                  // in steps of 1 degree 
  myservo.write(pos);              // tell servo to go to position in variable 'pos' 
  delay (5000);                    // Wait a bit.

  }  

 digitalWrite(greenLED, HIGH);            // And the green LED too.


 for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees 
 {                                
 myservo.write(pos);              // tell servo to go to position in variable 'pos' 
 delay(5000);                       // waits 15ms for the servo to reach the position 
 }            // Turn the motor off.

  // Blink the green LED a few times for more visual feedback.
  for (i=0; i < 5; i++){   
  digitalWrite(greenLED, LOW);
  delay(100);
  digitalWrite(greenLED, HIGH);
  delay(100);
   }

   }

Answer 1

不熟悉Arduino，我不能肯定地說您是否缺少API特有的任何東西，但是我看到有可能將電壓施加到伺服器的唯一方法是，如果敲擊驗證返回true，或者伺服對象未完全正確設置。

伺服器文檔建議設置相當簡單。

我還將驗證validateKnock（）方法，並確保它並不總是返回true-也許通過一些示例代碼手動完成它。 我看到您的validateKnock方法沒有發布，因此無法說出問題所在為什么它可能不起作用。

將對象綁定到引腳后，是否確定沒有向伺服器施加電壓？ 伺服對象是否具有一些您忘記在init上設置的屬性？

Answer 2

將0度更改為1度，將180度更改為179度。 它應該停止運行。 如果您使用180度伺服。 它不能達到最大/最小限制。

Answer 3

您是否嘗試過校准壓電傳感器？ 因為，大多數arduino板都使用10位ADC，這意味着1024個電壓范圍（0-5000mV）並查看您的代碼，當電平超過10（即約50 mV）時，您似乎就激活了傳感器。有助於提高傳感器的靈敏度，這也意味着除非使用經過適當校准的壓電傳感器，否則幾乎不會記錄任何噪音。 另外，您需要顯示validateKnock代碼以幫助我們為您提供幫助...