【发布时间】：2015-12-15 21:15:38
【问题描述】：
我有一个 Arduino Uno 程序，想将它翻译成 Raspberry Pi 2 代码。我正在建造一个机器人厨房储藏室，并编写了一个 LED 状态机来表示它。我计划控制的物理机有两个主要功能。
函数
(1) 电梯移动到以下三个楼层之一： - 0：重置/主页 - 1 : 货架 1 - 2 : 搁置 2
(2) 货架进出电梯。 - 山 - 卸载
我目前正在使用 LED 来表示电机/传感器，以便对我的代码进行单元测试。我知道，为了使我的代码更健壮，我需要更好地处理时间，这是 Raspberry Pi 可以承受的。
这是我当前的代码：
// Sensors for shelves. True if shelf is loaded.
boolean s1 = false;
boolean s2 = false;
// Buttons to ask to shelves.
boolean input1 = false;
boolean input2 = false;
// Elevator level (0, 1, or 2)
int elevator = 0;
// Elevator Level LEDs (Red)
int elevatorReset = 13;
int elevatorOne = 12;
int elevatorTwo = 11;
// Shelve State LEDs (Green) (On if loaded, Off if hidden)
int ShelveOne = 10; // Top Shelve
int ShelveTwo = 9; // Bottom Shelve
// Buttons
int ButtonOne = 2; // Request Shelve One
int ButtonTwo = 3; // Request Shelve Two
int ButtonReset = 4; // Request Reset
// Debouncing
unsigned long lastTime1 = 0;
unsigned long lastTime2 = 0;
const long interval = 300;
void setup() {
pinMode(elevatorReset, OUTPUT); // declare LED as output
pinMode(elevatorOne, OUTPUT); // declare LED as output
pinMode(elevatorTwo, OUTPUT); // declare LED as output
pinMode(ShelveOne, OUTPUT); // declare LED as output
pinMode(ShelveTwo, OUTPUT); // declare LED as output
pinMode(ButtonOne, INPUT); // make button 1 an input
pinMode(ButtonTwo, INPUT); // make button 2 an input
pinMode(ButtonReset, INPUT); // make button 3 an input
}
void loop() {
unsigned long currentTime = millis();
level(0);
// Request Shelf 1
if (digitalRead(ButtonOne) == LOW)
{
pickup(1);
deliver(1);
}
// Request Shelf 2
if (digitalRead(ButtonTwo) == LOW)
{
pickup(2);
deliver(2);
}
// Request Reset
if (digitalRead(ButtonReset) == LOW)
{
reset();
}
}
void pickup(int num){
if (num == 1)
{
level(0);
delay(500);
level(1);
delay(500);
load(1);
}
else if (num == 2)
{
level(0);
delay(500);
level(1);
delay(500);
level(2);
delay(500);
load(2);
}
else if (num == 0)
{
}
}
void dropoff(int num){
if (num == 1)
{
level(1);
delay(500);
unload(1);
}
else if (num == 2)
{
level(1);
delay(500);
level(2);
delay(500);
unload(2);
}
}
void deliver(int num)
{
if (elevator == 1)
{
delay(1000);
level(0);
//blink();
}
if (elevator == 2)
{
delay(1000);
level(1);
delay(500);
level(0);
//blink();
}
}
void level(int num)
{
if (num == 0)
{
digitalWrite(elevatorReset, HIGH);
digitalWrite(elevatorOne, LOW);
digitalWrite(elevatorTwo, LOW);
elevator = 0;
}
else if (num == 1)
{
digitalWrite(elevatorReset, LOW);
digitalWrite(elevatorOne, HIGH);
digitalWrite(elevatorTwo, LOW);
elevator = 1;
}
else if (num == 2)
{
digitalWrite(elevatorReset, LOW);
digitalWrite(elevatorOne, LOW);
digitalWrite(elevatorTwo, HIGH);
elevator = 2;
}
}
void load(int num){
if (num == 1)
{
digitalWrite(ShelveOne, HIGH);
digitalWrite(ShelveTwo, LOW);
s1 = true;
}
else if (num == 2)
{
digitalWrite(ShelveOne, LOW);
digitalWrite(ShelveTwo, HIGH);
s2 = true;
}
}
void unload(int num){
if (num == 1)
{
digitalWrite(ShelveOne, LOW);
s1 = false;
}
else if (num == 2)
{
digitalWrite(ShelveTwo, LOW);
s2 = false;
}
}
void reset()
{
if (s1 == true)
{
delay(500);
dropoff(1);
delay(500);
level(0);
}
else if (s2 == true)
{
delay(500);
dropoff(2);
delay(500);
level(1);
delay(500);
level(0);
}
}
void blink ()
{
delay(1000);
while( !(digitalRead(ButtonOne) == LOW || digitalRead(ButtonTwo) == LOW || digitalRead(ButtonReset) == LOW) )
{
digitalWrite(elevatorReset, HIGH); // wait for a second
delay(200);
digitalWrite(elevatorReset, LOW); // wait for a second
delay(200);
}
}
【问题讨论】：
-
你想把代码翻译成什么语言？
-
最好使用 C# 与 Visual Studio 一起工作并在 Pi 上使用 Windows 10 IoT。
标签： arduino windows-10 raspberry-pi2 arduino-uno windows-10-iot-core