0
안녕하세요, 나는 arduino 우노와 힘 센서를 사용하여 프로젝트를하고 있어요. 내가 겪은 문제는 센서에 힘을 가하면 값을 보여 주지만 힘을 가하면 멈추었을 때 여전히 0 대신 동일한 값을 보여줍니다. 다른 힘으로 적용했을 때 값은 그에 따라 바뀌지 만 여전히 강제 적용을 중지하면 0이되지 않습니다. Pls 도움! 먼저Arduino fsr 값을 유지
int iForceSensorReading; // the analog reading from the FSR resistor divider
int iForceSensorReading1;
int iForceSensorReading2;
int iForceSensorReading3;
int iForceSensorReading4;
int iForceSensorVoltage; // the analog reading converted to voltage
int iForceSensorVoltage1;
int iForceSensorVoltage2;
int iForceSensorVoltage3;
int iForceSensorVoltage4;
unsigned long ulForceSensorResistance;// The voltage converted to resistance, can be very big so make "long"
unsigned long ulForceSensorResistance1;
unsigned long ulForceSensorResistance2;
unsigned long ulForceSensorResistance3;
unsigned long ulForceSensorResistance4;
unsigned long ulForceSensorConductance;
unsigned long ulForceSensorConductance1;
unsigned long ulForceSensorConductance2;
unsigned long ulForceSensorConductance3;
unsigned long ulForceSensorConductance4;
float FsrForce = 0; // Resistance converted to force
float FsrForce1 = 0;
float FsrForce2 = 0;
float FsrForce3 = 0;
float FsrForce4 = 0;
void setup(void){
Serial.begin(9600); // send debugging information via the Serial monitor
}
void loop(void){
iForceSensorReading = analogRead(A0);//read index finger pressure
delay(30);
// analog voltage reading ranges from about 0 to 1023 which maps to 0V to 5V (= 5000mV)
iForceSensorVoltage = map(iForceSensorReading, 0, 1023, 0, 5000);
if (iForceSensorVoltage == 0){
Serial.println("No pressure at index finger");
}
else{
ulForceSensorConductance = conductanceFunction(ulForceSensorResistance, iForceSensorVoltage);
delay(30);
}
if (ulForceSensorConductance <= 1000){
FsrForce = ulForceSensorConductance/80;
Serial.print("Force applied by index finger in Newtons: ");
Serial.println(FsrForce, 4);
}
else{
FsrForce = ulForceSensorConductance - 1000;
FsrForce /= 30;
Serial.print("Force applied by index finger in Newtons: ");
Serial.println(FsrForce, 4);
delay(30);
}
Serial.println("-------------------------------------------------------");
iForceSensorReading1 = analogRead(A1);//read middle finger pressure
delay(30);
iForceSensorVoltage1 = map(iForceSensorReading1, 0, 1023, 0, 5000);
if (iForceSensorVoltage1 == 0){
Serial.println("No pressure at middle finger");
}
else{
ulForceSensorConductance1 = conductanceFunction(ulForceSensorResistance1, iForceSensorVoltage1);
delay(30);
}
if (ulForceSensorConductance1 <= 1000){
FsrForce1 = ulForceSensorConductance1/80;
Serial.print("Force applied by middle finger in Newtons: ");
Serial.println(FsrForce1, 4);
}
else{
FsrForce1 = ulForceSensorConductance1 - 1000;
FsrForce1 /= 30;
Serial.print("Force applied by middle finger in Newtons: ");
Serial.println(FsrForce1, 4);
delay(30);
}
Serial.println("-------------------------------------------------------");
iForceSensorReading2 = analogRead(A2);// read ring finger pressure
delay(30);
iForceSensorVoltage2 = map(iForceSensorReading2, 0, 1023, 0, 5000);
if (iForceSensorVoltage2 == 0){
Serial.println("No pressure at ring finger");
}
else{
ulForceSensorConductance2 = conductanceFunction(ulForceSensorResistance2, iForceSensorVoltage2);
delay(30);
}
if (ulForceSensorConductance2 <= 1000){
FsrForce2 = ulForceSensorConductance2/80;
Serial.print("Force applied by ring finger in Newtons: ");
Serial.println(FsrForce2, 4);
}
else{
FsrForce2 = ulForceSensorConductance2 - 1000;
FsrForce2 /= 30;
Serial.print("Force applied by ring finger in Newtons: ");
Serial.println(FsrForce2, 4);
delay(30);
}
Serial.println("-------------------------------------------------------");
iForceSensorReading3 = analogRead(A3);//read little finger pressure
delay(30);
iForceSensorVoltage3 = map(iForceSensorReading3, 0, 1023, 0, 5000);
if (iForceSensorVoltage3 == 0)
{Serial.println("No pressure at little finger");
}else {
ulForceSensorConductance3 = conductanceFunction(ulForceSensorResistance3, iForceSensorVoltage3);
delay(30);
}
if (ulForceSensorConductance3 <= 1000)
{FsrForce3 = ulForceSensorConductance3/80;
Serial.print("Force applied by little finger in Newtons: ");
Serial.println(FsrForce3, 4);
}else
{
FsrForce3 = ulForceSensorConductance3 - 1000;
FsrForce3 /= 30;
Serial.print("Force applied by little finger in Newtons: ");
Serial.println(FsrForce3, 4);
delay(30);
}
Serial.println("-------------------------------------------------------");
iForceSensorReading4 = analogRead(A4);//read thumb pressure
delay(30);
iForceSensorVoltage4 = map(iForceSensorReading4, 0, 1023, 0, 5000);
if (iForceSensorVoltage4 == 0)
{Serial.println("No pressure at thumb");
}
else
{
ulForceSensorConductance4 = conductanceFunction(ulForceSensorResistance4, iForceSensorVoltage4);
delay(30);
}
if (ulForceSensorConductance4 <= 1000)
{FsrForce4 = ulForceSensorConductance4/80;
Serial.print("Force applied by thumb in Newtons: ");
Serial.println(FsrForce4, 4);
}
else
{
FsrForce4 = ulForceSensorConductance4 - 1000;
FsrForce4 /= 30;
Serial.print("Force applied by thumb in Newtons: ");
Serial.println(FsrForce4, 4);
delay(30);
}
Serial.println("-------------------------------------------------------");
float totalForce = FsrForce + FsrForce1 + FsrForce2 + FsrForce3;// total force applied by hand
Serial.print("Total force applied by hand: ");
Serial.println(totalForce, 4);
delay(30);
Serial.println("-------------------------------------------------------");
delay(3000);
}
// The voltage = Vcc * R/(R + FSR) where R = 10K and Vcc = 5V
// so FSR = ((Vcc - V) * R)/V
int conductanceFunction(long x, long y)
{long result;
x = 5000 - y; // fsrVoltage is in millivolts so 5V = 5000mV
x *= 10000; // 10K resistor
x /= y;
result = 1000000/x; //ulForceSensorConductance2 = 1000000 measured in micromhos
return result;
}