基于Arduino的自动冲洗

Question

我想创建一个基于Arduino的自动冲洗使用3个LED和伺服电机。问题是：

1. 当人被检测到时，第一个发光二极管应该发光，第二个发光二极管应该低发光。
2. 直到那个人站起来，第二个LED就应该高了。
3. 当人离开时，第二个LED应该是低的，而3个LED应该是高的，然后再低。

我被困在第二部分了。

int trigPin = 12; //triggor pin
int echoPin = 11; // echo pin
long timeperiod;
float cm, distance;
int r = 10, g = 9, rg = 8;
int PreparingToFlush = 0;
void setup()
{
    Serial.begin(9600); //serial port communication
    pinMode(trigPin, OUTPUT); // defining pinmode for trig
    pinMode(echoPin, INPUT); // defining pinmode for echo pin
    pinMode(r, OUTPUT);
    pinMode(g, OUTPUT);
    pinMode(rg, OUTPUT);
}

void loop()
{
    digitalWrite(trigPin, LOW); // sending 10 us pulse
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(echoPin, LOW);

    timeperiod = pulseIn(echoPin, HIGH); // integrating pulse

    cm = (timeperiod / 2) / 29.1;
    distance = cm;
    Serial.print("   distance in centimeters=");
    Serial.println(cm);
    delay(1000);
    /* while(distance<=20)
      {
        pinMode(r,HIGH);  //person detected
        delay(1000);
        pinMode(r,LOW);
        delay(1000);
        pinMode(rg,HIGH); //wait
        delay(1000);      //Want delay such that till the person is standing in range of 20cm rg should be high
        pinMode(rg,LOW);
        delay(1000);
         pinMode(g,HIGH);// ready to flush
        delay(1000);
        pinMode(g,LOW);
        delay(1000);
        } 
    while(distance<=20)
    {
       pinMode(r,HIGH);  //person detected
        delay(1000);
        pinMode(r,LOW);
        delay(1000);
        pinMode(rg,HIGH);
    }
       pinMode(rg,LOW);
       delay(1000);
       pinMode(g,HIGH);
       delay(1000);
       pinMode(g,LOW);
       */

    if (distance < 100) { //if distance sensor detects someone
        Serial.println("person detected");
        delay(2000); // wait
        digitalWrite(r, HIGH);
        delay(2000);
        digitalWrite(r, LOW);
        //sensor=analogRead(sensorPin);
        if (distance < 100) { // check again to make sure someone is actually there
            Serial.println("again check");
            digitalWrite(g, HIGH);

            PreparingToFlush = 1;
        }
    }

    if (PreparingToFlush == 1) { //if a person has been detected
        if (distance > 100) { // if the person has now left
            digitalWrite(g, LOW);
            delay(2000);
            digitalWrite(rg, HIGH);
            delay(2000);
            digitalWrite(rg, LOW);
            Serial.println("left");
            //servo1.write(175); FLUSH
            delay(5000);
            //servo1.write(3);

            delay(1000);

            PreparingToFlush = 0; //reset the trigger
        }
    }

    delay(10);
}

Answer 1

您可以通过简单的状态机解决任务。

1. 定义变量"State“时，它将保存以下状态之一：”等待“(有人接近时等待)、”接近“(当人移动到传感器时)、”输出“(当人移出)、”刷新“(在进行刷新时)。
2. 创建一些变量来监视从某个事件中传递的时间。
3. 当满足某些条件时，从一种状态转移到另一种状态。

初步：

#define STATE_WAIT 0
#define STATE_NEAR 1
#define STATE_OUT 2
#define STATE_FLUSH 3

int state=STATE_WAIT;
int t=0; // Variable to store time for measurement needs
int light_t=0; // Variable to store time for LED switching needs

在循环中：

switch ( state ) {
//We are in a waiting state
case STATE_WAIT:
    // Measure distance
    ...
    distance = cm;
    // If distance is quite close:
    if (distance < 50)
    {
        if (t == 0)
        {
            t = millis();
        }
        // If distance is quite close for 500 milliseconds:
        // (half of a second) 
        else if (millis() - t > 500)
        {
            // let's switch to STATE_NEAR
            state = STATE_NEAR;
            // remember, when we switched the light on
            light_t = millit();
            // switch the light on
            digitalWrite(YourFirstLedPin, HIGH);
            // peson is standing? Yes, so light the second LED too:
            digitalWrite(YourSecondLedPin, HIGH);
            // reset auxilary time variable:
            t = 0;
        }
    }
    else
    {
        t = 0;
    }
break;
// Person is near the device
case STATE_NEAR:
    // Measure distance
    ...
    distance = cm;

    // if light_t is set, and it was set 1000 msecs ago
    // lets switch off the light
    if (light_t != 0 && millis() - light_t > 1000)
    {
        light_t = 0;
        // switch the first light off
        digitalWrite(YourFirstLedPin, LOW); 
    }

    // If person is far:
    if (distance > 100)
    {
        if (t == 0)
        {
            t = millis();
        }
        // Person is far for 500 milliseconds
        else if (millis() - t > 500)
        {
            // Move to OUT state:
            state = STATE_OUT;
            // Anyway, switch first LED off.
            digitalWrite(YourFirstLedPin, LOW); 
            // switch the second light off
            digitalWrite(YourSecondLedPin, LOW);                 
            // switch the third light on
            digitalWrite(YourThirdLedPin, HIGH);
            // remember when it happend:
            light_t = millis();            
        }
    }

break;
case STATE_OUT:
    // And so on...
    // Wait for 1000 milliseconds, switch off the third light, 
    // execute Flushing mechanism, change to STATE_FLUSH
break;
case STATE_FLUSH:
    // Wait while your flushing is done,
    // Move to STATE_WAIT, and everything will star over.
break;
}