Arduino+树莓派双电机控制及编码器测距编译报错求助

编译错误逐一修复 #

• TB67H420FTG对象未声明：原代码中TB67H420FTG (2,3,11,4,5,10);缺少对象名称，后续代码使用driver调用方法，需改为TB67H420FTG driver(2,3,11,4,5,10);。
• 右编码器变量名拼写错误：原代码中Encoders ridriverghtEncoder(15,14);存在拼写错误，变量名应为rightEncoder，否则后续无法识别该对象。
• 变量名大小写不匹配：原代码中Serial.println(CurrentRightEncoderCount);的变量名首字母大写，与实际定义的currentRightEncoderCount不符，需统一为小写开头。
• encoderTest函数未调用：虽非编译错误，但原代码定义了encoderTest()却未在loop()中调用，导致编码器计数无法输出，需添加调用逻辑。

修正后的Arduino代码 #

#include "TB67H420FTG.h"
#include <QuadratureEncoder.h>

// 修复：添加driver对象名称
TB67H420FTG driver(2,3,11,4,5,10);
Encoders leftEncoder(7,6);  
// 修复：修正右编码器变量名拼写
Encoders rightEncoder(15,14); 
unsigned long lastMilli = 0;

void encoderTest(){
   // 每50毫秒打印一次编码器计数
    if(millis()-lastMilli > 50){ 
    
    long currentLeftEncoderCount = leftEncoder.getEncoderCount();
    long currentRightEncoderCount = rightEncoder.getEncoderCount();
    
    Serial.print(currentLeftEncoderCount);
    Serial.print(" , ");
    Serial.println(currentRightEncoderCount);
    
    lastMilli = millis();
  }
}
 
void setup() 
{  
  driver.init();  
  Serial.begin(9600);
}

void loop() 
{
  // 修复：调用encoderTest函数
  encoderTest();
  
  if (Serial.available() > 0) 
  {
    long currentLeftEncoderCount = leftEncoder.getEncoderCount();
    long currentRightEncoderCount = rightEncoder.getEncoderCount();
    Serial.println(currentLeftEncoderCount);
    // 修复：修正变量名大小写
    Serial.println(currentRightEncoderCount);
    
    String data = Serial.readStringUntil('\n');
    Serial.print("Command Received: " + data);

    if (data == "turn A right")
      driver.setMotorAPower(50);   

    else if (data == "turn A left")
      driver.setMotorAPower(-50);    

    if (data == "turn B right")
      driver.setMotorBPower(50);   

    else if (data == "turn B left")
      driver.setMotorBPower(-50);    

    else if (data == "stop A") 
      driver.motorABrake();              
    
    else if (data == "stop B") 
      driver.motorBBrake();              
    
    else if (data == "stop All") 
      driver.brakeAll();              
  
    else
      Serial.print("Invalid Command Received");
  }
}

树莓派控制代码（无需修改） #

import serial
import time

ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1)
ser.reset_input_buffer()

while True:
    ser.write(b"turn A left\n")
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)

    ser.write(b"turn A right\n")
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)
    
    ser.write(b"turn B left\n")
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)

    ser.write(b"turn B right\n")
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)

    ser.write(b"stop A\n")  
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)

    ser.write(b"stop B\n")  
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)
    time.sleep(3)   
    ser.write(b"stop All\n")    
    line = ser.readline().decode('utf-8').rstrip()
    print("Data Received from Arduino: ",line)

    time.sleep(5)

内容的提问来源于stack exchange，提问作者Garberchov