用UNO驱动步进电机,用c++做上位机控制,下位机接收数据包有问题

各位大神看看,我用arduino驱动步进电机,上位机和下位机的程序,现在就是上位机发送数据包到下位机,下位机接收执行,text之后OK出现好多,应该每动一次返回一个OK才对,求指导
//下面是main.cpp
#include
#include
#include "SerialClass.h" // Library described above
#include
#include "package.h"
#include
#include
// application reads from the specified serial port and reports the collected data
int main(int argc, _TCHAR* argv[])
{

printf("Welcome to the serial test app!\n\n");

Serial* SP = new Serial("COM3");    // adjust as needed

if (SP->IsConnected())
    printf("We're connected");

char incomingData[256] = "";            // don't forget to pre-allocate memory
                                        //printf("%s\n",incomingData);
int dataLength = 255;
int readResult = 0;

for(int i=0;i<45;i++){
    package a;
    trans(a, 90, 1);
    std::cout << a;
    /*std::stringstream ss;
    ss << a;
    char *outBuf;
    ss >> outBuf;*/
    //SP->WriteData(outBuf,sizeof(outBuf));
    //char *out = "123456";
    SP->WriteData(a.toChar(),strlen(a.toChar()));
    /*readResult = */
    /*printf("Bytes read: (0 means no data available) %i\n",readResult);
    package b(0, 0, 0, 2, 0);
    SP->WriteData(b.toChar(), strlen(b.toChar()));*/

    //incomingData[readResult] = 0;
    while (!SP->ReadData(incomingData, dataLength)) {

    }
    Sleep(1500);
    std::cout << "test";
    std::cout<<std::endl << incomingData;

}
    //Sleep(500);
return 0;

}





//下面是package.cpp
 #include "package.h"
#include <sstream>

std::ostream & operator<<(std::ostream & os, const package & o)
{
    std::cout << "  a:  " << o.a << "  b:  " << o.b << "  c:  " << o.c << "  d:  "<< o.d<<"  direction:  "<<o.direction;
    return os;
    // TODO: 在此处插入 return 语句
}
char * package::toChar()
{
    char *out1=new char[1];
    itoa(a, out1, 10);
    char *out2 = new char[1];
    itoa(b, out2, 10);
    char *out3 = new char[1];
    itoa(c, out3, 10);
    char *out4 = new char[1];
    itoa(d, out4, 10);
    char *out5 = new char[1];
    itoa(direction, out5, 10);
    char *out = new char[strlen(out1) + strlen(out2) + strlen(out3) + strlen(out4) + strlen(out5) + 1];

    strcpy(out, out1);
    strcat(out, out2);
    strcat(out, out3);
    strcat(out, out4);
    strcat(out, out5);
    return out;
}



void trans(package & output, int degree,bool direction)
{
    int n = 360 / degree;
    output.a = n / 512;
    n =n % 512;
    output.b = n / 64;
    n =n % 64;
    output.c = n / 8;
    output.d = n % 8;
    output.direction = direction;

}

//下面是serial.cpp
#include "SerialClass.h"
#include
Serial::Serial(std::string portName)
{
//We're not yet connected
this->connected = false;

//Try to connect to the given port throuh CreateFile
this->hSerial = CreateFile(TEXT("COM3"),
    GENERIC_READ | GENERIC_WRITE,
    0,
    NULL,
    OPEN_EXISTING,
    FILE_ATTRIBUTE_NORMAL,
    NULL);

//Check if the connection was successfull
if (this->hSerial == INVALID_HANDLE_VALUE)
{
    //If not success full display an Error
    if (GetLastError() == ERROR_FILE_NOT_FOUND) {

        //Print Error if neccessary
        printf("ERROR: Handle was not attached. Reason: %s not available.\n", portName);

    }
    else
    {
        printf("ERROR!!!");
    }
}
else
{
    //If connected we try to set the comm parameters
    DCB dcbSerialParams = { 0 };

    //Try to get the current
    if (!GetCommState(this->hSerial, &dcbSerialParams))
    {
        //If impossible, show an error
        printf("failed to get current serial parameters!");
    }
    else
    {
        //Define serial connection parameters for the arduino board
        dcbSerialParams.BaudRate = CBR_9600;
        dcbSerialParams.ByteSize = 8;
        dcbSerialParams.StopBits = ONESTOPBIT;
        dcbSerialParams.Parity = NOPARITY;
        //Setting the DTR to Control_Enable ensures that the Arduino is properly
        //reset upon establishing a connection
        dcbSerialParams.fDtrControl = DTR_CONTROL_ENABLE;

        //Set the parameters and check for their proper application
        if (!SetCommState(hSerial, &dcbSerialParams))
        {
            printf("ALERT: Could not set Serial Port parameters");
        }
        else
        {
            //If everything went fine we're connected
            this->connected = true;
            //Flush any remaining characters in the buffers 
            PurgeComm(this->hSerial, PURGE_RXCLEAR | PURGE_TXCLEAR);
            //We wait 2s as the arduino board will be reseting
            Sleep(ARDUINO_WAIT_TIME);
        }
    }
}

}

Serial::~Serial()
{
//Check if we are connected before trying to disconnect
if (this->connected)
{
//We're no longer connected
this->connected = false;
//Close the serial handler
CloseHandle(this->hSerial);
}
}

int Serial::ReadData(char *buffer, unsigned int nbChar)
{
//Number of bytes we'll have read
DWORD bytesRead;
//Number of bytes we'll really ask to read
unsigned int toRead;

//Use the ClearCommError function to get status info on the Serial port
ClearCommError(this->hSerial, &this->errors, &this->status);

//Check if there is something to read
if (this->status.cbInQue>0)
{
    //If there is we check if there is enough data to read the required number
    //of characters, if not we'll read only the available characters to prevent
    //locking of the application.
    if (this->status.cbInQue>nbChar)
    {
        toRead = nbChar;
    }
    else
    {
        toRead = this->status.cbInQue;
    }

    //Try to read the require number of chars, and return the number of read bytes on success
    if (ReadFile(this->hSerial, buffer, toRead, &bytesRead, NULL))
    {
        return bytesRead;
    }

}

//If nothing has been read, or that an error was detected return 0
return 0;

}

bool Serial::WriteData(char *buffer, unsigned int nbChar)
{
DWORD bytesSend;

//Try to write the buffer on the Serial port
if (!WriteFile(this->hSerial, (void *)buffer, nbChar, &bytesSend, 0))
{
    //In case it don't work get comm error and return false
    ClearCommError(this->hSerial, &this->errors, &this->status);

    return false;
}
else
    return true;

}

bool Serial::IsConnected()
{
//Simply return the connection status
return this->connected;
}

//下面是package.h
#pragma once
#include
class package {

public:
int a;
int b;
int c;
int d;
int direction;
package(int a_=1, int b_=2, int c_=3,int d_=8,int direction_=1) :
a(a_), b(b_), c(c_),d(d_) ,direction(direction_){}
char *toChar();
friend std::ostream & operator<<(std::ostream & os, const package & o);
};
std::ostream & operator<<(std::ostream & os, const package & o);

void trans(package &, int,bool);

//下面是SerialClass.h
#ifndef SERIALCLASS_H_INCLUDED
#define SERIALCLASS_H_INCLUDED

#define ARDUINO_WAIT_TIME 2000

#include
#include
#include
#include
class Serial
{
private:
//Serial comm handler
HANDLE hSerial;
//Connection status
bool connected;
//Get various information about the connection
COMSTAT status;
//Keep track of last error
DWORD errors;

public:
//Initialize Serial communication with the given COM port
Serial(std::string portName);
//Close the connection
~Serial();
//Read data in a buffer, if nbChar is greater than the
//maximum number of bytes available, it will return only the
//bytes available. The function return -1 when nothing could
//be read, the number of bytes actually read.
int ReadData(char *buffer, unsigned int nbChar);
//Writes data from a buffer through the Serial connection
//return true on success.
bool WriteData(char *buffer, unsigned int nbChar);
//Check if we are actually connected
bool IsConnected();

};

#endif // SERIALCLASS_H_INCLUDED

//下面是下位机Arduino中的程序
int x;
int i=9;
class package {
public:
int count=0;
int a[5];
void push_back(int u){
a[count]=u;
count++;
}
};

void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(5,OUTPUT); // Step

pinMode(4,OUTPUT); // Dir

}

void loop() {

package a;
while(true){
i=Serial.read();
if(i!=9){
a.push_back(i-48);

  i=9;
}

if (a.count==5){
  break;
}

}

int degree=a.a[0]*512+a.a[1]*64+a.a[2]*8+a.a[3];

int step=3200/degree;

// put your main code here, to run repeatedly:
if(a.a[4]==1){
digitalWrite(4,HIGH); // Set Dir high

}
else{
digitalWrite(4,LOW);
}

for(x = 0; x < step; x++) // Loop 3200 times

{

digitalWrite(5,HIGH); // Output high

delayMicroseconds(400);

digitalWrite(5,LOW); // Output low

delayMicroseconds(400);

}

Serial.println("ok");
// pause one second

delay(1000);

2个回答

 for(x = 0; x < step; x++) // Loop 3200 times

{

digitalWrite(5,HIGH); // Output high

delayMicroseconds(400);

digitalWrite(5,LOW); // Output low

delayMicroseconds(400);
}
Serial.println("ok");
// pause one second

delay(1000);

根据你OK的输出,找到了这里。。不管有没有对错,这样都会for输出OK。。step 是多大就是多少次??

线根据这个在看看代码设计,走一步输出一个应该不难吧!!!

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