我有一个解决一个问题，但我不明白的解决方案。 这可能是类似的Arduino：在构造函数初始化自定义对象 ，但我不认为这是同一个问题。
上下文如下。 我控制与Arduino板小足机器人。 每个腿部都是对象“MChLeg”，其包括两个伺服系统。 舵机使用库控制。
这个问题是这样的：如果我分配在构造函数中的伺服系统，程序编译罚款，但舵机在一个疯狂的方式（我想，我打破伺服调度）的行为; 如果我给你的构造之外的伺服系统，一切都很好。
我只列出了C ++类的一部分，下面是它是工作版本和非工作版本之间更改的唯一一个。
初步方案（在构造函数中分配伺服），代码有问题：
#include <Arduino.h>
#include <Servo.h>
class MChLeg{
int kneeIndex, hipIndex;
int kneeAngle, hipAngle;
Servo kneeServo;
Servo hipServo;
public:
MChLeg(int, int); // (knee servo index, hip servo index); use 0 if no servo
~MChLeg();
void setLeg(int, int); // (knee angle, hip angle); in degrees, 0-180, 90 is straight
void rollLeg();
};
MChLeg::MChLeg(int x, int y){
this->kneeIndex = x;
this->hipIndex = y;
if (this->kneeIndex != 0) {
this->kneeServo.attach(this->kneeIndex);
this->kneeServo.write(90); // this line can be removed with no impact on issue
}
if (this->hipIndex != 0) {
this->hipServo.attach(this->hipIndex);
this->hipServo.write(90); // this line can be removed with no impact on issue
}
}
新的代码（伺服分配使用的方法），代码运行良好：
#include <Arduino.h>
#include <Servo.h>
class MChLeg{
int kneeIndex, hipIndex;
int kneeAngle, hipAngle;
Servo kneeServo;
Servo hipServo;
public:
MChLeg();
~MChLeg();
void assignLeg(int, int); // (knee servo index, hip servo index); use 0 if no servo
void setLeg(int, int); // (knee angle, hip angle); in degrees, 0-180, 90 is straight
void rollLeg();
};
MChLeg::MChLeg(){
this->kneeIndex = 0;
this->hipIndex = 0;
}
void MChLeg::assignLeg(int x, int y){
if (this->kneeIndex != 0) {
this->kneeServo.detach();
}
if (this->hipIndex != 0) {
this->hipServo.detach();
}
this->kneeIndex = x;
this->hipIndex = y;
if (this->kneeIndex != 0) {
this->kneeServo.attach(this->kneeIndex);
}
if (this->hipIndex != 0) {
this->hipServo.attach(this->hipIndex);
}
}
为什么第二个代码比第一个更好？
调用代码：
// Include application, user and local libraries
#include <Servo.h>
#include "MChButton.h"
#include "MChLeg.h"
// pin connections
const int buttonIndex = 2; //pin for button
const int greenLed = 3;//pin for green Led
const int yellowLed = 4;//pin for yellow Led
const int redLed = 5;//pin for red Led
const int servoPin1 = 9;//pin for servo
const int servoPin2 = 10;//pin for servo
const int servoPin3 = 11;//pin for servo
//define persitent objects
MChButton theButton(buttonIndex); // declare the switch pin as an input
MChLeg rightLeg; // declare right leg - was 'MChLeg rightLeg(0, servoPin1);' in first version
MChLeg leftLeg; // declare left leg - was 'MChLeg leftLeg(servoPin2, servoPin3);' in first version
// Setup phase
void setup(){
// declare the LED pins as outputs
pinMode(greenLed,OUTPUT);
pinMode(yellowLed,OUTPUT);
pinMode(redLed,OUTPUT);
leftLeg.assignLeg(0, servoPin1); //right knee - hip - did not exist in first version
rightLeg.assignLeg(servoPin2, servoPin3); //right knee - hip - did not exist in first version
}
// Loop phase
void loop(){
//state machine counter (persistant)
static int machinestate = 0;
const int machinestateMax = 4; //max statemachine
const int machinestateMax1 = machinestateMax+1; //max statemachine for modulo counting
//check if there is an event, if there is one increment state machine counter and mark event done
//statemachine counter is limited for machinestateMac (modulus)
if (theButton.buttonEventGet()==true) {
machinestate = ++machinestate % machinestateMax1;
}
// set LEDs and Legs according to state
switch (machinestate) {
case 0:{
digitalWrite(greenLed, HIGH); // turn the green LED on pin 3 on
digitalWrite(yellowLed, LOW); // turn the red LED on pin 4 off
digitalWrite(redLed, LOW); // turn the red LED on pin 5 off
leftLeg.setLeg(10, 10); // set leg to 0°
rightLeg.setLeg(10, 10); //set leg to 0°
break;
}
case 1:{
digitalWrite(greenLed, HIGH);
digitalWrite(yellowLed, HIGH);
digitalWrite(redLed, LOW);
leftLeg.setLeg(45, 45);
rightLeg.setLeg(45, 45);
break;
}
default:{ // detect if I did it wrong :-)
digitalWrite(greenLed, HIGH);
digitalWrite(yellowLed, HIGH);
digitalWrite(redLed, HIGH);
}
}
delay(10);
}
谢谢你的帮助。
