Arduino从串行监视器中提取数据

Question

我用Python为我的机器人编写了一个简单的控制器，现在我想通过串行监视器将数据发送给Arduino。我成功地发送了这些值，但现在我想知道如何使用Arduino从监视器中提取数据。我的Python代码：

import PySimpleGUI as sg
import serial
import time
import math

ArmLänge = 205

TextX = 10
TextY = 10
TextZ = 10

font = ("Courier New", 11)
sg.theme("DarkBlue3")
sg.set_options(font=font)

ser = serial.Serial("COM6")
ser.flushInput()

layout = [
    [sg.Text("Forward Kinematics:", font=("Helvetica", 12)), sg.Text("              Inverse Kinematics:", font=("Helvetica", 12))],
    [sg.Text("X"), sg.Slider((0, 360), orientation='horizontal', key='SLIDER_X'), sg.Text("X"),sg.InputText(size=(10, 10), key="InputX")],
    [sg.Text("Y"), sg.Slider((0, 360), orientation='horizontal', key='SLIDER_Y'), sg.Text("Y"),sg.InputText(size=(10, 10), key="InputY")],
    [sg.Text("Z"), sg.Slider((0, 360), orientation='horizontal', key='SLIDER_Z'), sg.Text("Z"),sg.InputText(size=(10, 10), key="InputZ")],
    [sg.Push(), sg.Button('Exit'), sg.Button("Move")],
]

window = sg.Window("Controller", layout, finalize=True)
window['SLIDER_X'].bind('<ButtonRelease-1>', ' Release')
window['SLIDER_Y'].bind('<ButtonRelease-1>', ' Release')
window['SLIDER_Z'].bind('<ButtonRelease-1>', ' Release')

while True:
    event, values = window.read()
    if event in (sg.WINDOW_CLOSED, 'Exit'):
        break
    elif event == 'SLIDER_X Release':
        print("X Value:", values["SLIDER_X"])
    elif event == 'SLIDER_Y Release':
        print("Y Value:", values["SLIDER_Y"])
    elif event == 'SLIDER_Z Release':
        print("Z Value:", values["SLIDER_Z"])
    #elif event == "Move":
        #print("IK X:", values['InputX'])
        #print("IK Y:", values['InputY'])
        #print("IK Z:", values['InputZ'])

    valX = int(values["SLIDER_X"]/2)
    valY = int(values["SLIDER_Y"]/2)
    valZ = int(values["SLIDER_Z"]/2)

    Data = [1,valX,valY,valZ]
    print(Data)
    ser.write(Data)

    if values['InputX'] >= str(1):
        x = float(values['InputX'])
        y = float(values['InputY'])
        z = float(values['InputZ'])

        h = round(math.sqrt(x ** 2 + y ** 2))
        joint2 = round(math.degrees(math.atan(y / x)))
        joint3 = round(math.degrees(math.acos((h / 2) / (ArmLänge / 2))))

        print("----Ergebnis:----")
        print("Höhe:", h)
        print("Joint2:", joint2,"°")
        print("Joint3:", joint3,"°")

        IKData = [2, h, joint2, joint3]
        print(IKData)
        ser.write(IKData)

window.close()
ser.close()

这可能不是最好的代码，但它有效。我需要提取每个数字，例如1，20，45，30。我怎么能这么做？

Answer 1

我假设数据以这种格式以字符串的形式进入Serial：

1，valX，valY，valZ

读取Serial中的数据并使用String()函数将数据行转换为String ()之后，可以使用sscanf()函数将这些值赋值给所需的变量。

功能是这样运作的-

扫描f( const *str，const*格式，.)

所以，在这里它会像这样工作-

int data_val1, data_val2, data_val3;

sscanf(Your_SerialData_String, [1,%d,%d,%d], data_val1, data_val2, data_val3);