c++ - 与我自己的 Arduino 库相关的错误，用于从编码器读取值

问题描述

这是我的程序：

#include "Arduino.h"
#include "MotorDriver.h"
#include "encoders.h"

//Define the global variables to configure the motors

//Right Motor Configuration Variables
int motR_pins[3] = {4, 15, 18};     //Define the Motor Pins
int motR_sign = -1;                 //Define the motor rotation sign

//Left Motor configuration variables
int motL_pins[3] = {2, 12, 0};
int motL_sign = 1;

//Encoders
Encoders Encr;
Encoders Encl;
int signal_R=-1;
int signal_L=1;

MotorDriver Mr;
MotorDriver Ml;

//Setup
void setup()
{
  //Set up the Motors
  //Setup the Right Motor object
  Mr.SetBaseFreq(5000);                                             //PWM base frequency setup
  Mr.SetSign(motR_sign);                                            //Setup motor sign
  Mr.DriverSetup(motR_pins[0], 0, motR_pins[1], motR_pins[2]);      //Setup motor pins and channel
  Mr.MotorWrite(0);                                                 //Write 0 velocity to the motor when initialising

  //Setup the Left Motor object
  Ml.SetBaseFreq(5000);
  Ml.SetSign(motL_sign);
  Ml.DriverSetup(motL_pins[0], 1, motL_pins[1], motL_pins[2]);
  Ml.MotorWrite(0);

  //Encoder setup
  Encr.EncodersSetup(34, 36);
  Encl.EncodersSetup(35, 39);
  
  //Begin Serial Communication
  Serial.begin(9600);
}

long positionLeft  = -999;
long positionRight = -999;

//Loop
void loop()
{

  Mr.MotorWrite(-0.5);                       //Set Velocity percentage to the Motors (-1 to 1)
  Ml.MotorWrite(0.4);

  long newLeft, newRight;
  newLeft = Encl.readenc(signal_L);
  newRight = Encr.readenc(signal_R);
    Serial.print("Left = ");
    Serial.print(newLeft);
    Serial.print(", Right = ");
    Serial.print(newRight);
    Serial.println();
    positionLeft = newLeft;
    positionRight = newRight;                                //Delay before next loop iteration
}

这是我的库，它应该读取 rpm 值并将它们更改为线性值，以便稍后我可以处理 PID 实现：

#ifndef Encoders_h
#define Encoders_h
#include <Arduino.h>

class Encoders
{
  private:
  int PinA;
  int PinB;
  float current_time=0;
  int sample=10;
  float ticks=1632.67;
  float previous_time=0;
  float pinAStateCurrent = LOW;
  float pinAStateLast = LOW;
  float rotation = 0;
  float counter = 0;
  public:
  Encoders();
  void EncodersSetup(int A, int B)
  {
    PinA=A;
    PinB=B;
  };
  
  
  float readenc(int enc_signal)
  {
    pinMode(PinA, INPUT);
    pinMode(PinB, INPUT);
    pinAStateCurrent = digitalRead(PinA);
    if ((digitalRead(PinA)) == HIGH)
    {
        update();
    }
    else
    {
        update();
    }
    current_time=millis();
    if (current_time-previous_time > sample)
    {
      rotation = (counter*enc_signal)/ticks;
      rotation = (rotation * 1000) / (current_time-previous_time);
      previous_time=current_time;
      counter=0;
    }
    pinAStateLast = pinAStateCurrent;
    return rotation*0.1*3.1415;
  };
  void update()
  {
    if((pinAStateLast == LOW) && (pinAStateCurrent == HIGH))
    {
        if (digitalRead(PinB) == HIGH)
        {
            counter++;
        }
        else
        {
            counter--;
        }
    }
  };
};
#endif

我收到了我无法理解的错误：

sketch\task2.ino.cpp.o:(.literal.startup._GLOBAL__sub_I_motR_pins+0x4): undefined reference to `Encoders::Encoders()'
sketch\task2.ino.cpp.o: In function `_GLOBAL__sub_I_motR_pins':
C:\Users\hubno\OneDrive\Pulpit\ESP - reports\TD3\task2/task2.ino:67: undefined reference to `Encoders::Encoders()'
C:\Users\hubno\OneDrive\Pulpit\ESP - reports\TD3\task2/task2.ino:17: undefined reference to `Encoders::Encoders()'
collect2.exe: error: ld returned 1 exit status
exit status 1
Error compiling for board ESP32 Dev Module.

我没有注意到第 17 行和第 67 行有任何问题。 MotorDriver 部分应该没问题，因为它是从外部提供的，并且之前已经过测试并且证明可以正常工作。所以我想问题一定出在我对编码器库的实现上。如果有任何帮助，我将不胜感激。

标签： c++carduinoesp32

c++ - 与我自己的 Arduino 库相关的错误，用于从编码器读取值

问题描述

解决方案

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