如何一致地转动机器人轮胎

如何解决如何一致地转动机器人轮胎

实际上，我对机器人轮胎功能有疑问。每当我发送命令转动机器人轮胎时，它并不会始终如一地转动，而是会停顿一下，例如运行2秒钟，停止4秒钟，请帮助我解决此问题。我已经尝试评论所有延迟功能，但是没有用。程序在下面。

    #define BLYNK_PRINT Serial


    #include <ESP8266_Lib.h>
    #include <BlynkSimpleShieldEsp8266.h>
    int a;
    int b;
    int c;
    int d;

    // create servo object to control a servo
    // twelve servo objects can be created on most boards



    // You should get Auth Token in the Blynk App.
    // Go to the Project Settings (nut icon).
    char auth[] = "j3xYMHQA59RDWRLCsqBk3SWyDi_JP3FF";

    // Your WiFi credentials.
    // Set password to "" for open networks.
    char ssid[] = "PTCL-BB";
    char pass[] = "123ecostar";

// Hardware Serial on Mega,Leonardo,Micro...
//#define EspSerial Serial1

// or Software Serial on Uno,Nano...
#include <SoftwareSerial.h>
SoftwareSerial EspSerial(2,3); // RX,TX

// Your ESP8266 baud rate:
#define ESP8266_BAUD 9600

ESP8266 wifi(&EspSerial);
WidgetTerminal terminal(V1);
// Attach virtual serial terminal to Virtual Pin V1
const int btnPin = 4;

WidgetLED led3(V3);

BlynkTimer timer;

// V3 LED Widget represents the physical button state
boolean btnState = false;
void buttonLedWidget()
{
  // Read button
  boolean ispressed = (digitalRead(btnPin) == LOW);

  // If state has changed...
  if (ispressed != btnState) {
    if (ispressed) {
      led3.on();
    } else {
      led3.off();
    }
    btnState = ispressed;
  }
    terminal.print("HYDROGEN=:");
   terminal.print(a-100);
   terminal.print("ppm");
   terminal.println();
     terminal.print("LPG=:");
   terminal.print(b-100);
   terminal.print("ppm");
   terminal.println();
     terminal.print("CH4=:");
   terminal.print(c-100);
   terminal.print("ppm");
   terminal.println();
     terminal.print("CO=:");
   terminal.print(d-100);
   terminal.print("ppm");
   terminal.println();
   }
   void setup()
   {
 
   // Debug console
   Serial.begin(9600);
   //bridge1.digitalWrite(13,1000);
   // Set ESP8266 baud rate
   EspSerial.begin(ESP8266_BAUD);
   delay(10);
   //pinMode(4,INPUT);
   Blynk.begin(auth,wifi,ssid,pass);
   pinMode(btnPin,INPUT_PULLUP);

   timer.setInterval(500L,buttonLedWidget);
 
    }

    void loop()
    {
    Blynk.run();
    timer.run();
    a = analogRead(A0);
    b =analogRead(A1);
    c = analogRead(A2);
    d = analogRead(A3);
 
    //delay(1000);
    }
    void forward(){
    digitalWrite(10,HIGH);
    digitalWrite(8,HIGH);
    delay(100);
    digitalWrite(10,LOW);
    digitalWrite(8,LOW);
  
    }
    void left(){
    digitalWrite(10,LOW);
    }
    void right(){
    digitalWrite(10,LOW);
    delay(100);
    digitalWrite(10,LOW);
    }```