Arduino添加任务

Arduino addition assignment

本文关键字：任务 添加 Arduino      更新时间：2023-10-16

我使用Arduino进行了一些编程，但我遇到了一个问题。在loop()函数中，每次执行loop()函数时，我都想向变量pwm添加一个值。我从我编写的某个函数中获得了这个值，并用命令pwm += result将其添加到pwm中，但它不起作用。如果我打印pwm，我总是得到零。尽管打印result会给我一些非零值。整个代码是：

float pwm = 0;
float result = 0;
void loop(){
    ....
    errV = w - cm;
    errDtV = errOldV - errV;
    result = flc->cog(errV, errDtV);
    Serial.print("RESULT: ");
    Serial.println(result);
    pwm += result;
    Serial.println(pwm);
}

输出是这样的：

RESULT: 31.98
0.00

可能出了什么问题？

编辑：这是的整个草图

#include "FSet.h"
#include "FRule.h"
#include "Flc.h"
#include <NewPing.h>
#include "MotorControl.h"
MotorControl* m;
Flc* flc;
FRule* rule1,*rule2,*rule3,*rule4,*rule5,*rule6,*rule7,*rule8,*rule9;
NewPing sonar1(32,33,200);
static int dirA = 9;
static int pwmA = 8;
// Setup the FSets
FSet errZ(0,5,0);
FSet errMP(-15,15,0);
FSet errLP(-30,15,-1);
FSet errDtLN(-4,2,-1);
FSet errDtMN(-2,2,0);
FSet errDtZ(0,2,0);
FSet errDtMP(2,2,0);
FSet errDtLP(4,2,1);
FSet cntLN(-40,20,0);
FSet cntMN(-20,20,0);
FSet cntZ(0,20,0);
FSet cntMP(20,20,0);
FSet cntLP(40,20,0);
void setup(){
  Serial.begin(4800); 
  pinMode(dirA,INPUT);
  //Creating FRules for test    
  rule1 = new FRule(&errZ,&errDtMP,&cntMN);
  rule2 = new FRule(&errZ,&errDtZ,&cntZ);
  rule3 = new FRule(&errZ,&errDtMN,&cntMP);
  rule4 = new FRule(&errMP,&errDtLP,&cntMN);
  rule5 = new FRule(&errMP,&errDtMN,&cntMP);
  rule6 = new FRule(&errLP,&errDtMP,&cntMP);
  rule7 = new FRule(&errLP,&errDtZ,&cntLP);  
  rule8 = new FRule(&errLP,&errDtMN,&cntLP);  
  rule9 = new FRule(&errLP,&errDtLN,&cntLP);  
  flc = new Flc(9);
  flc->addRule(rule1);
  flc->addRule(rule2);
  flc->addRule(rule3);
  flc->addRule(rule4);
  flc->addRule(rule5);
  flc->addRule(rule6);
  flc->addRule(rule7); 
  flc->addRule(rule8);
  flc->addRule(rule9); 
}
int errV = 0;
int errOldV = 0;
int errDtV = 0;
int w = 30;
unsigned int uS;
unsigned int cm;
float pwm1 = 0;
float result = 0;
void loop(){   
  uS = sonar1.ping();
  cm = (uS / US_ROUNDTRIP_CM);
  errV = w - cm;
  errDtV = errOldV - errV;    
  result = flc->cog(errV,errDtV);
  Serial.print("RESULT: ");
  Serial.println(result);
  pwm1 = pwm1 + result;  
  Serial.println(pwm1);
  analogWrite(pwmA,pwm1);
  errOldV = errV;
}

FLC类头文件：#如果FLC_H#定义FLC_H#包括"Arduino.h"#包括"FRule.h"

class Flc {
    public:
        Flc(int size);
        ~Flc();
        int addRule(FRule* rule);
        int mom(float x1,float x2);
        float cog(float x1,float x2);
        FRule** rules;
    private:
        int last;
        int size;
        float h;
        float numerator = 0;
        float denominator = 0;
        float result = 0;
};
#endif

FLC类来源：#包括"Arduino.h"#包括"Flc.h"

Flc::Flc(int size){
    this->rules = (FRule**) malloc(sizeof(FRule*) * size);
    this->size = size;
    last = -1;
}
Flc::~Flc(){
    free(rules);
}
int Flc::addRule(FRule* rule){
    this->rules[++last] = rule;
    return last;
}
int Flc::mom(float x1,float x2){
    return 0.0;a
}
float Flc::cog(float x1, float x2){
    for(int i = 0; i < size;i++){
        h = rules[i]->dof(x1,x2);
        float area = rules[i]->widthOfCon() * ( h - h*h/2);
        numerator += rules[i]->cntrOfCon() * area;
        denominator += area;
    }
    result = numerator / denominator;
    return result;

}

函数cog（）中的某些东西正在踩踏变量pwm。一旦float变量损坏，Serial.print（）将只显示零。下面的示例显示，当float设置为0xffffff时，浮点数学库将停止对变量进行任何操作。

运行下面的示例程序，您将看到一次pwm打印正确。在第一个错误调用之后，它会打印零。占用的内存也不再改变。

pwm=0.50 zpwm=0.50
pwm=0.00 zpwm=3.95 result=3.45
255-255-255-255
pwm=0.00 zpwm=4.45
pwm=0.00 zpwm=7.90 result=3.45
255-255-255-255

示例程序显示一个函数写入错误的内存位置。查看链接器输出的内存映射，变量按列出的顺序放置在内存中。所以写过var的末尾，就会损坏pwm。

float zpwm = 0;
byte var = 0;
float pwm = 0;
float result = 0;

float badactor() {
  *((long*)(&var+1)) = -1;
  return 3.45;
}
void setup() {
  Serial.begin(57600);
}
void loop() {
  zpwm += 0.5;
  pwm += 0.5;
  Serial.print("pwm=");
  Serial.print(pwm);
  Serial.print(" zpwm=");
  Serial.println(zpwm);
  result = badactor();
  pwm += result;
  zpwm += result;
  Serial.print("pwm=");
  Serial.print(pwm);
  Serial.print(" zpwm=");
  Serial.print(zpwm);
  Serial.print(" result=");
  Serial.println(result);
  uint8_t* ptr;
  ptr = (uint8_t*)&pwm;
  Serial.print((int)*(ptr));
  Serial.print("-");
  Serial.print((int)*(ptr+1));
  Serial.print("-");
  Serial.print((int)*(ptr+2));
  Serial.print("-");
  Serial.println((int)*(ptr+3));
  delay(1000);
}
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