求助大神帮帮忙 全局变量太多了怎么改啊？
Arduino:1.6.9 (Windows 10), 开发板："Arduino/Genuino Uno"
项目使用了 7,280 字节，占用了 (22%) 程序存储空间。最大为 32,256 字节。
全局变量使用了7,295字节，(356%)的动态内存，余留-5,247字节局部变量。最大为2,048字节。
processing.app.debug.RunnerException: 没有足够的内存；访问以下网址根据提示减小内存的用量。
http://www.arduino.cc/en/Guide/Troubleshooting#size
at cc.arduino.Compiler.size(Compiler.java:319)
at cc.arduino.Compiler.build(Compiler.java:156)
at processing.app.Sketch.build(Sketch.java:1111)
at processing.app.Sketch.build(Sketch.java:1081)
at processing.app.Editor$BuildHandler.run(Editor.java:1988)
at java.lang.Thread.run(Thread.java:745)
没有足够的内存；访问以下网址根据提示减小内存的用量。
http://www.arduino.cc/en/Guide/Troubleshooting#size
在文件 -> 首选项开启
“编译过程中显示详细输出”选项
这份报告会包含更多信息。
代码
//PINs setting
int adjust1Pin = 15; //用来调节A的电位器
int adjust2Pin = 16; //用来调节B的电位器
int read1Pin = 17; //用来连接输入A传感器
int read2Pin = 18; //用来连接输入B传感器
int i1Pin = 6; //连接电机驱动板的I1接口
int i2Pin = 9; //连接电机驱动板的I2接口
int i3Pin = 10; //连接电机驱动板的I3接口
int i4Pin = 11; //连接电机驱动板的I4接口
int power1Pin = 3; //连接电机驱动板的EA接口
int power2Pin = 5; //连接电机驱动板的EB接口
boolean debug =false;
boolean writeLog = false;
double setKd1 = 0.55;
double setKd2 = 0.55;
double setKp =22;
int offset = 70;
int delayMs = 1;
int tick = 0;
int myLog[3500];
//PID structure
typedef struct {
double target;
double aver;
double Kp;
double Kd;
int preError;
int power;
boolean flag;
double v;
} PID;
PID Pid1, Pid2;
void setup()
{
pinMode(i1Pin, OUTPUT); //I1和I2都是数字信号
pinMode(i2Pin, OUTPUT); //通过设置I1和I2来控制电流方向
pinMode(i3Pin, OUTPUT); //I1和I2都是数字信号
pinMode(i4Pin, OUTPUT); //通过设置I1和I2来控制电流方向
pinMode(power1Pin, OUTPUT); //按占空比方式输出的模拟信号
pinMode(power2Pin, OUTPUT); //按占空比方式输出的模拟信号
//analogWrite(rotatePin, 128);
Serial.begin(9600); //设置波特率
TCCR0B = 0x01; // Timer 0: PWM 5 & 6 @ 16 kHz
TCCR1B = 0x01; // Timer 1: PWM 9 & 10 @ 32 kHz
TCCR2B = 0x01; // Timer 2: PWM 3 & 11 @ 32 kHz
Pid1.Kp = setKp;
Pid1.preError = 0;
Pid1.Kd = setKd1;
Pid1.power = 0;
Pid1.flag = true;
Pid1.target = 300;
Pid1.aver = 0;
Pid1.v = 0;
Pid2.Kp = setKp;
Pid2.preError = 0;
Pid2.Kd = setKd2;
Pid2.power = 0;
Pid2.flag = true;
Pid2.target = 300;
Pid2.aver = 0;
Pid2.v = 0;
tick = 0;
}
int tick2 = 0;
//boolean rotateFlag = true;
void loop()
{
//digitalWrite(rotatePin, rotateFlag);
//rotateFlag = ! rotateFlag;
//delay(16000);
//return;
if(false) tick = 0;
tick++;
if(tick==500)
{
tick2++;
if(tick2<50) {tick = 0;return;}
tick2 = 0;
if(writeLog)
{
for(int i=0;i<500;i++)
{
Serial.print(myLog[i*7 + 0]);
Serial.print(" ");
Serial.print(myLog[i*7 + 1]);
Serial.print(" ");
Serial.print(myLog[i*7 + 2]);
Serial.print(" ");
Serial.print(myLog[i*7 + 3]);
Serial.print(" ");
Serial.print(myLog[i*7 + 4]);
Serial.print(" ");
Serial.print(myLog[i*7 + 5]);
Serial.print(" ");
Serial.print(myLog[i*7 + 6]);
Serial.println(" ");
}
Serial.println(Pid1.target);
Serial.println(Pid1.preError);
Serial.println(Pid2.target);
Serial.println(Pid2.preError);
}
return;
}
else if(tick>500)
{
tick = 0;
//delay(990000);
return;
};
//=======第一组电位器和传感器========
int readValue1 = 0;
for(int i = 0; i < 4; i++) readValue1 += analogRead(read1Pin);
readValue1 >>= 2;
//readValue1 += (Pid1.flag ? 1 : -1) * Pid1.power / 17;
int adjustValue1 = analogRead(adjust1Pin); //410 analogRead(adjust1Pin);
Pid1.aver = Pid1.aver * 0.9995 + readValue1 * 0.0005;
Pid1.target = Pid1.target + (Pid1.target - Pid1.aver) / 100.0;
Pid1.target = max(0, max(adjustValue1 - offset, Pid1.target));
Pid1.target = min(755, min(adjustValue1 + offset, Pid1.target));
//=======第二组电位器和传感器=======
int readValue2 = 0;
for(int i = 0; i < 4; i++) readValue2 += analogRead(read2Pin);
readValue2 >>= 2;
//readValue2 += (Pid2.flag ? 1 : -1) * Pid2.power / 6;
int adjustValue2 = analogRead(adjust2Pin); //240 analogRead(adjust2Pin);
Pid2.aver = Pid2.aver * 0.9995 + readValue2 * 0.0005;
Pid2.target = Pid2.target + (Pid2.target - Pid2.aver) / 1000.0;
Pid2.target = max(0, max(adjustValue2 - offset, Pid2.target));
Pid2.target = min(755, min(adjustValue2 + offset, Pid2.target));
if(false)
{
Serial.println(adjustValue1);
Serial.println(adjustValue2);
Serial.println(readValue1);
Serial.println(readValue2);
Pid1.flag = adjustValue1 > 512;
Pid1.power = abs(adjustValue1 - 512) / 2;
if(Pid1.power > 255) Pid1.power = 255;
digitalWrite(i1Pin, Pid1.flag);
digitalWrite(i2Pin, !Pid1.flag);
analogWrite(power1Pin, Pid1.power);
Pid2.flag = adjustValue2 > 512;
Pid2.power = abs(adjustValue2 - 512) / 2;
if(Pid2.power > 255) Pid2.power = 255;
digitalWrite(i3Pin, Pid2.flag);
digitalWrite(i4Pin, !Pid2.flag);
analogWrite(power2Pin, Pid2.power);
delay(32000);
return;
}
//Calculate power values
double v, error;
error = readValue1 - Pid1.target;
v = error - Pid1.preError;
Pid1.v = (Pid1.v * 6 + v) / 7;
Pid1.power = (int)error * Pid1.Kp + Pid1.v * Pid1.Kd;
Pid1.flag = Pid1.power > 0;
Pid1.power = abs(Pid1.power);
if(Pid1.power>255) Pid1.power = 255;
Pid1.preError = error;
error = readValue2 - Pid2.target;
v = error - Pid2.preError;
Pid2.v = (Pid2.v * 6 + v) / 7;
Pid2.power = (int)error * Pid2.Kp + Pid2.v * Pid2.Kd;
Pid2.flag = Pid2.power < 0;
Pid2.power = abs(Pid2.power);
if(Pid2.power>255) Pid2.power = 255;
Pid2.preError = error;
//Write PMW to control the floa
digitalWrite(i1Pin, Pid1.flag);
digitalWrite(i2Pin, !Pid1.flag);
analogWrite(power1Pin, Pid1.power);
digitalWrite(i3Pin, Pid2.flag);
digitalWrite(i4Pin, !Pid2.flag);
analogWrite(power2Pin, Pid2.power);
myLog[tick * 7 + 0] = tick;
myLog[tick * 7 + 1] = (int)Pid1.target;
myLog[tick * 7 + 2] = readValue1;
myLog[tick * 7 + 3] = Pid1.power;
myLog[tick * 7 + 4] = (int)Pid2.target;
myLog[tick * 7 + 5] = readValue2;
myLog[tick * 7 + 6] = Pid2.power;
/*
for(int i=0;i<8;i++)
{
digitalWrite(rotatePins[i] , 0);
digitalWrite(rotatePins[(i + 1) % 8] ,1);
delay(1);
}
digitalWrite(rotatePins[0] , 0);
*/
delay(delayMs);
}
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发表于 2016-7-3 23:11:21
又见面了。
楼主