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代码功能解释
这段代码是一个基于Arduino平台的控制程序，主要功能包括：
- 初始化：设置引脚模式、初始化编码器、舵机和EEPROM。
- 按键检测：处理按钮的单击、双击和长按事件，并根据事件执行相应操作。
- 编码器更新：检测旋转编码器的状态，调整变量值并控制LED闪烁。
- 舵机控制：根据设定的角度和速度移动舵机。
- LED控制：根据条件交替闪烁两个LED。
详细解释
-
初始化：
- 设置引脚模式为输入或输出。
- 初始化编码器、舵机和EEPROM。
-
主循环：
- 持续检测按键状态。
- 更新编码器状态。
- 控制舵机运动。
- 控制LED闪烁。
-
按键检测：
- 检查每个按钮的状态。
- 根据按键事件（长按、双击、单击）执行不同操作。
-
编码器更新：
- 检测编码器旋转方向。
- 根据旋转方向增加或减少变量值。
- 切换LED状态。
-
舵机控制：
- 根据设定的角度和速度移动舵机。
- 正向和反向移动舵机。
-
LED控制：
- 控制两个LED交替闪烁。
#include "Arduino.h"
#include <Bounce2.h>
#include <Servo.h>
#include <EEPROM.h>// 定义引脚
#define EC11_A PB_2 // 编码器A
#define EC11_B PA_7 // 编码器B
#define BUTTON_1 PA_4 // 按钮1
#define BUTTON_2 PA_6 // 按钮2
#define PWM_1 PB_0 // PWM控制
#define LED_0 PA_0 // LED0
#define LED_1 PA_1 // LED1// 定义常量
const unsigned long debounceTime = 50;
const unsigned long longPressTime = 1000;
const unsigned long doubleClickTime = 300;
const long led_interval = 300;
const int DEFAULT_START_ANGLE = 90;
const int DEFAULT_STEPS = 100;// 定义变量
uint8_t fast_num = 1; // 运动速度
uint8_t fast_delta = 90; // 运动距离
uint8_t Count_step = 1; // 运动速度调节步进
bool Duoji_run_Flag = false;
bool CounterChanged = false;
int pos = 0;
int variableA = 0;
int variableB = 0;
bool isVariableA = true;// 定义LED状态
bool led0State = LOW;
bool led1State = LOW;
unsigned long previousMillis1 = 0;
unsigned long previousMillis2 = 0;
bool led0Blinked = false;
bool led1Blinked = false;// 定义按键状态结构体
struct ButtonState
{int pin;int lastState;int currentState;unsigned long lastDebounceTime;unsigned long lastClickTime;bool isLongPress;bool isSingleClickHandled;
};// 初始化按键状态
ButtonState button1 = {BUTTON_1, HIGH, HIGH, 0, 0, false, false};
ButtonState button2 = {BUTTON_2, HIGH, HIGH, 0, 0, false, false};// 初始化Bounce对象
Bounce encoderPinAButton = Bounce();
Bounce encoderPinBButton = Bounce();// 初始化Servo对象
Servo myservo;// 宏定义调试输出
#define _DRV_TAG_ " line"
#define serial_dbg(fmt, args...) \do \{ \if (1) \{ \Serial.printf("" _DRV_TAG_ "%d [%s] " fmt " \n", __LINE__, __FUNCTION__, ##args); \} \} while (0)// 初始化函数
void setup()
{Serial.begin(115200);serial_dbg("Hello, Air001. \n");// 设置LED引脚为输出模式pinMode(LED_0, OUTPUT);pinMode(LED_1, OUTPUT);// 初始化LED状态为灭digitalWrite(LED_0, LOW);digitalWrite(LED_1, LOW);// 设置按键引脚为输入模式pinMode(BUTTON_1, INPUT);pinMode(BUTTON_2, INPUT);// 初始化编码器sys_RotaryInit();// 初始化PWM频率和分辨率pinMode(PWM_1, OUTPUT);myservo.attach(PWM_1, 500, 2500); // 修正脉冲宽度read_eeprom();//读数据
}// 主循环函数
void loop()
{checkButton(); // 检测按键encoder_update(); // 更新编码器状态duoji(); // 控制舵机led_blink_once(); // 控制LED闪烁
}
void blinkLEDsAlternatingTwice() {// 保存当前LED状态bool savedLed0State = led0State;bool savedLed1State = led1State;// 交替闪烁两次for (int i = 0; i < 2; i++) {digitalWrite(LED_0, HIGH);digitalWrite(LED_1, LOW);delay(led_interval);digitalWrite(LED_0, LOW);digitalWrite(LED_1, HIGH);delay(led_interval);}// 恢复LED状态digitalWrite(LED_0, savedLed0State);digitalWrite(LED_1, savedLed1State);
}
void write_eeprom() {// 写入EEPROMEEPROM.write(0, fast_num);EEPROM.write(1, fast_delta);// 写完EEPROM后两颗LED交替闪烁两次blinkLEDsAlternatingTwice();
}
void read_eeprom() {// 读取EEPROMfast_num = EEPROM.read(0);fast_delta = EEPROM.read(1);if (fast_num == 0 || fast_delta == 0) {fast_num = DEFAULT_START_ANGLE;fast_delta = DEFAULT_STEPS;write_eeprom();}serial_dbg("fast_num: %d, fast_delta: %d", fast_num, fast_delta);
}
// 初始化编码器
void sys_RotaryInit()
{pinMode(EC11_A, INPUT);pinMode(EC11_B, INPUT);pinMode(BUTTON_1, INPUT_PULLUP);encoderPinAButton.attach(EC11_A);encoderPinAButton.interval(5);encoderPinBButton.attach(EC11_B);encoderPinBButton.interval(5);
}// 检测按键状态
void checkButton()
{checkButtonState(button1);checkButtonState(button2);
}// 处理按键状态
void checkButtonState(ButtonState &button)
{int reading = digitalRead(button.pin); // 读取按钮状态// 去抖动处理if (reading != button.lastState){button.lastDebounceTime = millis();}if ((millis() - button.lastDebounceTime) > debounceTime){if (reading != button.currentState){button.currentState = reading;if (button.currentState == LOW){button.lastClickTime = millis();button.isLongPress = false;button.isSingleClickHandled = false; // 新增标志位}else{unsigned long pressDuration = millis() - button.lastClickTime;if (pressDuration > longPressTime){button.isLongPress = true;handleLongPress(button.pin);}else if (!button.isLongPress){// 检查是否为双击if ((millis() - button.lastClickTime) < doubleClickTime && !button.isSingleClickHandled){if (digitalRead(button.pin) == HIGH){handleDoubleClick(button.pin);button.isSingleClickHandled = true; // 标记双击已处理}}else if (!button.isSingleClickHandled){// 如果不是双击，则处理单击事件handleSingleClick(button.pin);button.isSingleClickHandled = true;}}}}}button.lastState = reading;
}// 处理长按事件
void handleLongPress(int pin)
{switch (pin){case BUTTON_1:serial_dbg("Button 1 Long Press");isVariableA = !isVariableA;if (isVariableA){digitalWrite(LED_1, LOW);led1State = LOW;serial_dbg("Switching to Variable A");}else{digitalWrite(LED_1, HIGH);led1State = HIGH;serial_dbg("Switching to Variable B");}break;case BUTTON_2:serial_dbg("Button 2 Long Press");Duoji_run_Flag = true;break;default:break;}
}// 处理双击事件
void handleDoubleClick(int pin)
{switch (pin){case BUTTON_1:serial_dbg("Button 1 Double Click");Duoji_run_Flag = true;break;case BUTTON_2:serial_dbg("Button 2 Double Click");break;default:break;}
}// 处理单击事件
void handleSingleClick(int pin)
{switch (pin){case BUTTON_1:write_eeprom();serial_dbg("Button 1 Single Click");break;case BUTTON_2:serial_dbg("Button 2 Single Click");Duoji_run_Flag = true;break;default:break;}
}// 更新编码器状态
void encoder_update()
{encoderPinAButton.update();encoderPinBButton.update();// 检测编码器旋转if (encoderPinAButton.fell()){if (encoderPinBButton.read() == HIGH){if (isVariableA){variableA=fast_num;variableA += Count_step; // 顺时针旋转fast_num = variableA;}else{variableB = fast_delta;variableB += Count_step; // 顺时针旋转fast_delta = variableB;}}else{if (isVariableA){variableA=fast_num;variableA -= Count_step; // 逆时针旋转fast_num = variableA;}else{variableB = fast_delta;variableB -= Count_step; // 逆时针旋转fast_delta = variableB;}}CounterChanged = true;if (isVariableA){serial_dbg("Variable A= %d ", variableA);}else{serial_dbg("Variable B= %d ", variableB);}led0Blinked = false;led_blink_once();}
}// 控制舵机
void duoji()
{if (Duoji_run_Flag){int DEFAULT_END_ANGLE = fast_delta + DEFAULT_START_ANGLE;Duoji_run_Flag = false;unsigned long startTime = millis();int totalTime = fast_num * 200;// 正向移动moveServo(DEFAULT_START_ANGLE, DEFAULT_END_ANGLE, DEFAULT_STEPS, startTime, totalTime);startTime = millis();// 反向移动moveServo(DEFAULT_END_ANGLE, DEFAULT_START_ANGLE, DEFAULT_STEPS, startTime, totalTime);}
}// 移动舵机的辅助函数
void moveServo(int startAngle, int endAngle, int steps, unsigned long startTime, int totalTime)
{unsigned long stepDuration = totalTime / steps;float deltaAngle = (endAngle - startAngle) * 0.5;for (int i = 0; i <= steps; i++){float t = (float)i / steps;int angle = startAngle + deltaAngle * (1 - cos(t * PI));myservo.write(angle);delay(totalTime / steps);// 非阻塞延时while (millis() - startTime < (i + 1) * stepDuration){checkButton();yield(); // 或者其他适合的多任务处理方法}}
}// 控制LED闪烁
void led_blink_once()
{unsigned long currentMillis = millis();// 控制LED1闪烁一次blinkLEDOnce(LED_0, led0State, previousMillis1, currentMillis, led_interval, led0Blinked);// 控制LED2闪烁一次blinkLEDOnce(LED_1, led1State, previousMillis2, currentMillis, led_interval, led1Blinked);
}// 闪烁LED一次
void blinkLEDOnce(int pin, bool &state, unsigned long &previousMillis, unsigned long currentMillis, long led_interval, bool &blinked)
{if (!blinked){if (currentMillis - previousMillis >= led_interval){previousMillis = currentMillis;state = !state; // 切换LED状态digitalWrite(pin, state);if (state == LOW){blinked = true; // 标记LED已经闪烁}}}
}