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加速与 Arduino C++ 的串行通信

分类：编程问答

如何解决加速与 Arduino C++ 的串行通信

第一次发帖，抱歉。

我正在尝试使用相机作为传感器制作球和光束项目，并尝试使串行通信正常工作。 如果我将 waitKey 设置为 (1000)，代码当前可以工作，但这对于项目的工作来说还不够快，并且需要一些帮助来加快它的速度。

输出往往只读取我发送的第一个字符串，然后忽略其他任何内容，直到通过在输出屏幕上按住滑块几秒钟来暂停程序。

我尝试使用更快的波特率，但问题仍然存在。

这是C++代码

#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>

#include <iostream>
#include <vector>
#include "SerialPort.h"
#include <string.h>
#include <stdlib.h>
#include <string>


using namespace cv;
using namespace std;

//global for the image processing
Mat imgGray,imgCanny,imgBlur,imgDil;
Mat imgHSV,mask;

//int hmin = 53,smin = 102,vmin = 35; //green
//int hmax = 93,smax = 253,vmax = 169;

/* //green ball
int hmin = 41,smin = 93,vmin = 49;
int hmax = 93,smax = 243,vmax = 192;  //p
*/

//purple ball
int hmin = 117,smin = 26,vmin = 63;
int hmax = 179,smax = 113,vmax = 169;


//global for the serial
char output[MAX_DATA_LENGTH];
char incomingData[MAX_DATA_LENGTH];
char port[] = " ////.//COM3";

int PosX;


// this will convert the output into the correct string because the "stoi" function doesn't work as intended 
String intToString(int I)
{
    
    String J;

    if (I ==80 )
    {
        J ="80" ;
    }
    else if (I ==81 )
    {
        J = "81";
    }
    else if (I ==82 )
    {
        J = "82";
    }
    else if (I == 83)
    {
        J = "83";
    }
    else if (I ==84 )
    {
        J = "84";
    }
    else if (I == 85)
    {
        J = "85";
    }
    else if (I == 86)
    {
        J = "86";
    }
    else if (I ==87 )
    {
        J = "87";
    }
    else if (I ==88 )
    {
        J = "88";
    }
    else if (I ==89 )
    {
        J = "89";
    }
    else if (I ==90 )
    {
        J = "90";
    }
    else if (I ==91 )
    {
        J = "91";
    }
    else if (I == 92)
    {
        J = "92";
    }
    else if (I == 93)
    {
        J = "93";
    }
    else if (I == 94)
    {
        J = "94";
    }
    else if (I == 95)
    {
        J = "95";
    }
    else if (I == 96)
    {
        J = "96";
    }
    else if (I == 97)
    {
        J = "97";
    }
    else if (I == 98)
    {
        J = "98";
    }
    else if (I == 99)
    {
        J = "99";
    }
    else if (I == 100)
    {
        J = "100";
    }
    else if (I > 100)
    {
        J = "100";
    }
    else if (I < 80)
    {
        J = "80";
    }

        return (J);
}


// calculation to make the output between outMin and outMax taken from arduino website and transformed into calculation
int map(int x,int in_min,int in_max,int out_min,int out_max)
{

    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}



// just the P of the PID controller
int PCONTROL(int xPos)
{
    int P,Kp = 1,Proportional,error;
    error = 240 - xPos; //240 is the middle of the camera and xPos is the current position
    Proportional = Kp * error;

    P = map(Proportional,-240,240,80,100); // calculation to make the output between 80&100 taken from arduino website and transformed into calculation

    return (P);
}



// this is the function made to be the PID contol loop 
int PIDCONTROL(int xPos)
{
    int error_prior = 0,error,integral_prior = 0,Kp,Ki,Kd,integral,derivative,proportional,outPut,PID_total,period = 50;
        
    // I have set the Kp and Ki to zero when testing the P contoller 
    Kp = 1;
    Ki = 0;
    Kd = 0;
    


    //error = (img.rows/2) - xPos; // 640 is the desired Value 
    
    error = (480/2) - xPos; // this is if I got the wrong part of the resolution 

    proportional = Kp * error;
    integral = integral_prior + error;
    derivative = (error - error_prior)/period;

    PID_total = ((Kp * proportional) + (Ki * integral) + (Kd * derivative));        //this is the calculation for the PID controller

    
    error_prior = error;
    integral_prior = integral;

    outPut = map(PID_total,100);
    cout << "output = " << outPut << endl;
    return (outPut);
    
}

// this code will get the x and y values of the ball,draw a Box around it and lable it
// this is what i need for the project
void getContours(Mat imgDil,Mat img)
{
    vector<vector<Point>> contours;
    vector<Vec4i> hierarchy;
    string objectType;
    string x,y;
    

    findContours(imgDil,contours,hierarchy,RETR_EXTERNAL,CHAIN_APPROX_SIMPLE);
    //drawContours(img,-1,Scalar(255,255),2); //draws everything

    for (int i = 0; i < contours.size(); i++)
    {
        int area = contourArea(contours[i]);
        //cout << area << endl;         //displays the area of the ball

        vector<vector<Point>>conpoly(contours.size());
        vector<Rect>boundRect(contours.size());

        if (area > 1000 && area < 5000) //filters out smaller and larger objects
        {
            float peri = arcLength(contours[i],true);
            approxpolyDP(contours[i],conpoly[i],0.02 * peri,true);

            drawContours(img,i,2); // with a filter applyed 
            

            boundRect[i] = boundingRect(conpoly[i]);        //draw a Box around the ball
            rectangle(img,boundRect[i].tl(),boundRect[i].br(),Scalar(0,255,0),5);


            putText(img,"Ball",{ boundRect[i].x,boundRect[i].y - 5 },FONT_HERShey_PLAIN,1,69,2);  //display text above the Box saying ball
            //cout << "X = " << boundRect[i].x << endl;// << "Y = " << boundRect[i].y << endl;      //print the x and y values 
            PosX = boundRect[i].x;
            
        }
    }
}


void main()
{
    
    VideoCapture cap(0);
    Mat img;
    string xposSrg;
    //int TempData;
    Mat Reimg,Reimg2;
    string data;
    //char TrackbarName[50];
    const int alpha_slider_max = 100;
    int xPos,preData = 0;
    
    createTrackbar("Hue Min","Trackbars",&hmin,179);

    SerialPort arduino(port);
    if (arduino.isConnected()) {
        cout << "Connection" << endl << endl;
    }
    else {
        cout << "Error Connecting" << endl << endl;
    }

    while (arduino.isConnected())   // no point do it if not connected
    {


        cap.read(img);
        
        //prepocessing
        Mat imgGray,Reimg,Reimg2;
        //cvtColor(img,imgGray,COLOR_BGR2GRAY);
        //pyrDown(img,Size(img.cols / 2,img.rows / 2));    // downsample for faster processing

        cvtColor(img,imgHSV,COLOR_BGR2HSV);       // get the big wierd colours
        Scalar lower(hmin,smin,vmin);
        Scalar upper(hmax,smax,vmax);

        inRange(imgHSV,lower,upper,mask);        // make only the green ball visible 


        GaussianBlur(mask,Size(3,3),3,0);
        Canny(imgBlur,25,75);
        Mat kernel = getStructuringElement(MORPH_RECT,3));
        dilate(imgCanny,imgDil,kernel);

        getContours(imgDil,img);               // use only the visible green to the contours fuction

        //displaying processes used in debuging 
        /*
        imshow("Ball",img);
        imshow("Gray",imgGray);
        imshow("Blur",imgBlur);
        imshow("Canny",imgCanny);
        imshow("Dil",imgDil);
        */

        //cout << img.rows << endl;;

        //display the orginal img with the contors drawn on to it
        imshow("img",img);


        // do the PID controller calculations 
        preData = PIDCONTROL(PosX);
        
        //send the data to the arduino
        data = intToString(preData);
        
        
        cout << "Data =" << data << "." << endl;

        char* chararray = new char[data.size() +1]; 

        copy(data.begin(),data.end(),chararray);

        chararray[data.size()] = '\n';
        
        
        arduino.writeSerialPort(chararray,MAX_DATA_LENGTH);
        
        
        
        arduino.readSerialPort(output,MAX_DATA_LENGTH);
        
        cout << "   Arduino >> " << output << "." << endl;

        delete[] chararray;
        

        waitKey(1); //work as fast as possible 
        // turns out this library can only output every second 
        
    }

}

这是Arduino代码

#include <Servo.h>

Servo myservo;
String info;
   
void setup() {
  Serial.begin(9600);
  //pinMode(led,OUTPUT);
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  myservo.write(90); // set the starting position to 90 degrees(flat)
 
}
  
   
    // this is the one for on using 10 degrees
  void loop()
{
  
  if (Serial.available() >0)
  {
    info = Serial.readStringUntil('\n');
  }
  Serial.flush();
    //check what the imput is then change the servo level (every 10 degrees) and output the level
    // checking the string other ways caused errors dunno why
   if (info.equals("0"))
    {
      Serial.println("Not Receiving Data");
      myservo.write(90);
    }
    else if (info.equals("80"))
    {
      Serial.println("80");
      myservo.write(80);
    }
   else  if (info.equals("81"))
    {
      Serial.println("81");
      myservo.write(81);
    }
   else  if (info.equals("82"))
    {
      Serial.println("82");
      myservo.write(82);
    }
   else  if (info.equals("83"))
    {
      Serial.println("83");
      myservo.write(83);
    }
   else  if (info.equals("84"))
    {
      Serial.println("84");
      myservo.write(84);
    }
    else    if (info.equals("85"))
    {
      Serial.println("85");
      myservo.write(85);
    }
    else if (info.equals("86"))
    {
      Serial.println("86");
      myservo.write(86);
    }
    else if (info.equals("87"))
    {
      Serial.println("87");
      myservo.write(87);
    }    
    else if (info.equals("88"))
    {
      Serial.println("88");
      myservo.write(88);
    }
    else if (info.equals("89"))
    {
      Serial.println("89");
      myservo.write(89);
    }
    else if (info.equals("90"))
    {
      Serial.println("90");
      myservo.write(90);
    }
   else if (info.equals("91"))
    {
      Serial.println("91");
      myservo.write(91);
    }
   else if (info.equals("92"))
    {
      Serial.println("92");
      myservo.write(92);
    }
   else  if (info.equals("93"))
    {
      Serial.println("93");
      myservo.write(93);
    }
   else  if (info.equals("94"))
    {
      Serial.println("94");
      myservo.write(94);
    }
    else if (info.equals("95"))
    {
      Serial.println("95");
      myservo.write(95);
    }
     else   if (info.equals("96"))
    {
      Serial.println("96");
      myservo.write(96);
    }
   else  if (info.equals("97"))
    {
      Serial.println("97");
      myservo.write(97);
    }
   else  if (info.equals("98"))
    {
      Serial.println("98");
      myservo.write(98);
    }    
   else  if (info.equals("99"))
    {
      Serial.println("99");
      myservo.write(99);
    }
    else if (info.equals("100"))
    {
      Serial.println("100");
      myservo.write(100);
    }
    
  
}

这是从 https://www.youtube.com/watch?v=8BWjyZxGr5o 中提取的头文件

#ifndef SERIALPORT_H
#define SERIALPORT_H

#define ARDUINO_WAIT_TIME 2000  
#define MAX_DATA_LENGTH 256

#include <windows.h>
#include <stdio.h>
#include <stdlib.h>

class SerialPort
{
private:
    HANDLE handler;
    bool connected;
    COMSTAT status;
    DWORD errors;
public:
    SerialPort(char* portName);
    ~SerialPort();

    int readSerialPort(char* buffer,unsigned int buf_size);
    bool writeSerialPort(char* buffer,unsigned int buf_size);
    bool isConnected();
};

#endif // SERIALPORT_H

#include "SerialPort.h"

SerialPort::SerialPort(char* portName)
{
    this->connected = false;

    this->handler = CreateFileA(static_cast<LPCSTR>(portName),GENERIC_READ | GENERIC_WRITE,NULL,OPEN_EXISTING,FILE_ATTRIBUTE_norMAL,NULL);
    if (this->handler == INVALID_HANDLE_VALUE) {
        if (GetLastError() == ERROR_FILE_NOT_FOUND) {
            printf("ERROR: Handle was not attached. Reason: %s not available\n",portName);
        }
        else
        {
            printf("ERROR!!!");
        }
    }
    else {
        DCB dcbSerialParameters = { 0 };

        if (!GetCommState(this->handler,&dcbSerialParameters)) {
            printf("Failed to get current serial parameters");
        }
        else {
            dcbSerialParameters.Baudrate = CBR_9600;
            dcbSerialParameters.ByteSize = 8;
            dcbSerialParameters.StopBits = OnesTOPBIT;
            dcbSerialParameters.Parity = nopARITY;
            dcbSerialParameters.fDtrControl = DTR_CONTROL_ENABLE;

            if (!SetCommState(handler,&dcbSerialParameters))
            {
                printf("ALERT: Could not set Serial port parameters\n");
            }
            else {
                this->connected = true;
                PurgeComm(this->handler,PURGE_RXCLEAR | PURGE_TXCLEAR);
                Sleep(ARDUINO_WAIT_TIME);
            }
        }
    }
}

SerialPort::~SerialPort()
{
    if (this->connected) {
        this->connected = false;
        CloseHandle(this->handler);
    }
}

int SerialPort::readSerialPort(char* buffer,unsigned int buf_size)
{
    DWORD bytesRead;
    unsigned int toRead = 0;

    ClearCommError(this->handler,&this->errors,&this->status);

    if (this->status.cbInQue > 0) {
        if (this->status.cbInQue > buf_size) {
            toRead = buf_size;
        }
        else toRead = this->status.cbInQue;
    }

    if (ReadFile(this->handler,buffer,toRead,&bytesRead,NULL)) return bytesRead;

    return 0;
}

bool SerialPort::writeSerialPort(char* buffer,unsigned int buf_size)
{
    DWORD bytesSend;

    if (!WriteFile(this->handler,(void*)buffer,buf_size,&bytesSend,0)) {
        ClearCommError(this->handler,&this->status);
        return false;
    }
    else return true;
}

bool SerialPort::isConnected()
{
    return this->connected;
}

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