c - 结合使用 Arduino Motor Shield 和 Bluetooth Shield

Question

希望这不会太具体以保证问题结束。

我在校园里与一个研究小组合作，学习机器人技术和自动化。我目前的任务是学习 Arduino 电机扩展板的内部和外部，并将其与蓝牙扩展板结合起来。

我们正在使用 this bluetooth shield和 this motor shield .如有必要，我们还可以访问 this motor shield .

在大多数情况下，我当前的代码分别适用于每个板，但是当我将它们组合在一起时，突然就没有任何效果了。电机部分仅在蓝牙特定代码被注释掉时才工作。这使我得出结论，存在管脚冲突。话虽这么说，有什么办法可以让它发挥作用吗？任何解决方法等。

这是我正在使用的代码，以防我的代码出现问题。

#include <SoftwareSerial.h>   // Necessary to use the bluetooth Software Serial Port
#define RxD 7
#define TxD 6

#define DEBUG_ENABLED  1

SoftwareSerial bts(RxD,TxD);

int drive = 12;                    // Pin definitions
int brake = 9;
int power = 3;


const int DRIVE_F = 1;            // Command options returned from parseCommand
const int DRIVE_B = 2;
const int LEFT = 3;
const int RIGHT = 4;
const int STOP = 5;
const int NONE = 0;

void setup() 
{ 
  pinMode(RxD, INPUT);            // Set up pin modes
  pinMode(TxD, OUTPUT);
  pinMode(drive, OUTPUT);
  pinMode(brake, OUTPUT);
  analogWrite(power, 80);

  digitalWrite(drive, LOW);
  digitalWrite(brake, HIGH);
  setupBlueToothConnection();
} 

void loop() 
{ 
    switch(parseCommand())
    {
        case DRIVE_F:                            // Switch through command returns.
              forward();
              bts.println("Driving forward");
              delay(1000);
              fullStop();                        // Go ahead and stop. Don't want
              break;                             // the car to run infinitely yet.

        case DRIVE_B:
              backward();
              bts.println("Driving backward");
              delay(1000);
              fullStop();
              break;


         case LEFT:
              turnLeft();                        // These do nothing for now. Just here for later.
              break;

         case RIGHT:
              turnRight();
              break;


         case STOP:
             fullStop();
             bts.println("Stopping");            // Stop the car. Will be needed later.
             break;

         default:
             turnLeft();                        // If invalid command returned,
             delay(250);                        // wiggle wheels for an error message.
             turnRight();
             delay(250);
             turnStraight();
             break;
    }
} 

void setupBlueToothConnection()                // Not exactly sure why all this is needed. It was in the sample code, so I kept it all
{
  bts.begin(38400); //Set BluetoothBee BaudRate to default baud rate 38400
  bts.print("\r\n+STWMOD=0\r\n"); //set the bluetooth work in slave mode
  bts.print("\r\n+STNA=SeeedBTSlave\r\n"); //set the bluetooth name as "SeeedBTSlave"
  bts.print("\r\n+STOAUT=1\r\n"); // Permit Paired device to connect me
  bts.print("\r\n+STAUTO=0\r\n"); // Auto-connection should be forbidden here
  delay(2000); // This delay is required.
  bts.print("\r\n+INQ=1\r\n"); //make the slave bluetooth inquirable 
  Serial.println("The slave bluetooth is inquirable!");
  delay(2000); // This delay is required.
  bts.flush();
}

void forward()
{
    digitalWrite(drive, HIGH);
    digitalWrite(brake, LOW);
}

void backward()
{
    digitalWrite(drive, LOW);
    digitalWrite(brake, LOW);
}

void fullStop()
{
    digitalWrite(brake, HIGH);
}

void turnRight()
{

}

void turnLeft()
{

}

void turnStraight()
{

}

int parseCommand()
{
    String command = "";                        // String to hold the command
    char recvChar;                              // Char to hold each character.
    while(true)
    {
        if(bts.available())
        {
            recvChar = bts.read();
            if(recvChar == 13)
                bts.println();                // If char received is an ASCII 13, carriage-return/enter key
            else                              // print new line.
                bts.print(recvChar);          // Else, print received char to serial so user can see his/her input.


            if(recvChar != -1 && recvChar != 13)
                command += recvChar;        // If not -1 (no input received from read()) or 13, concat it with command

            if(recvChar == 13)
            {                               // If enter pressed, check the command variable.
                if( command == "forward" )
                    return DRIVE_F;
                else if( command == "back" || command == "backward")
                    return DRIVE_B;
                else if( command == "stop" )
                    return STOP;
                else
                {
                    bts.println("'" + command + "' is an invalid command.");
                    return NONE;           // If invalid, return NONE and print error.
                }
            }
        }


    }

}

提前致谢。

Answer 1

看看这两个屏蔽，我怀疑引脚 6 有引脚冲突。Arduino 电机屏蔽暴露了“2 个用于两个 Aanlog 输出的 TinkerKit 连接器(中间为橙色)，连接到引脚 D5 和 D6 上的 PWM 输出。”它们可能在 D6 上有一个下拉或上拉电阻，这会干扰您的蓝牙 UART 通信。

有没有办法通过引脚 0 和 1 路由您的蓝牙通信？如果这样做，您必须使用蓝牙而不是 USB。

也许更简单的方法是切换到电机护罩，只是一个电机护罩并且需要更少的引脚。类似 Ardumotor from Sparkfun 的东西只使用引脚 3, 11, 12, and 13 .

现在有一个 dedicated group for robotics .