Я пытаюсь сделать AGV (автомобиль с автоматическим управлением), для которого я хочу использовать 4 ультразвуковых датчика параллакса, но есть проблема, когда я использую 1 из них, все в порядке и работает отлично, но когда я добавляю1 или более мой вывод на последовательном мониторе говорит 0см.Я просто не могу понять,
Я уже прочитал много форумов, но пока ничего не работает.Вот код, который я использую для 1:
// this constant won't change. It's the pin number of the sensor's output:
const int pingPin = 7;
void setup() {
// initialize serial communication:
Serial.begin(9600);
}
void loop() {
// establish variables for duration of the ping, and the distance result
// in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
// The same pin is used to read the signal from the PING))): a HIGH pulse
// whose duration is the time (in microseconds) from the sending of the ping
// to the reception of its echo off of an object.
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
delay(100);
}
long microsecondsToInches(long microseconds) {
// According to Parallax's datasheet for the PING))), there are 73.746
// microseconds per inch (i.e. sound travels at 1130 feet per second).
// This gives the distance travelled by the ping, outbound and return,
// so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds) {
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the object we
// take half of the distance travelled.
return microseconds / 29 / 2;
}
А здесь, когда я использую более 1
// this constant won't change. It's the pin number of the sensor's output:
const int pingPin = 7;
const int pingPin2 = 6;
const int pingPin3 = 5;
const int pingPin4 = 4;
void setup() {
// initialize serial communication:
Serial.begin(9600);
}
void loop() {
// establish variables for duration of the ping, and the distance result
// in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
digitalWrite(pingPin2, LOW);
digitalWrite(pingPin3, LOW);
digitalWrite(pingPin4, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
digitalWrite(pingPin2, HIGH);
digitalWrite(pingPin3, HIGH);
digitalWrite(pingPin4, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);
digitalWrite(pingPin2, LOW);
digitalWrite(pingPin3, LOW);
digitalWrite(pingPin4, LOW);
// The same pin is used to read the signal from the PING))): a HIGH pulse
// whose duration is the time (in microseconds) from the sending of the ping
// to the reception of its echo off of an object.
pinMode(pingPin, INPUT);
pinMode(pingPin2, INPUT);
pinMode(pingPin3, INPUT);
pinMode(pingPin4, INPUT);
duration = pulseIn(pingPin, HIGH);
duration = pulseIn(pingPin2, HIGH);
duration = pulseIn(pingPin3, HIGH);
duration = pulseIn(pingPin4, HIGH);
// convert the time into a distance
inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
delay(100);
}
long microsecondsToInches(long microseconds) {
// According to Parallax's datasheet for the PING))), there are 73.746
// microseconds per inch (i.e. sound travels at 1130 feet per second).
// This gives the distance travelled by the ping, outbound and return,
// so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds) {
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the object we
// take half of the distance travelled.
return microseconds / 29 / 2;
}
, когда я использую 1 датчик, он дает мне правильные значения, как и ожидалосьи когда я использую 2 или более датчиков, значение 0 см