Arduino 蓝牙低能量慢反应时间

我目前正在尝试使用Adafruit Feather 32u4通过android应用程序控制2个马达（一个小型遥控车）。以下是我正在使用的：

应用程序的Mitappingentor 2，显然是汽车的Arduino IDE

appinventor没有一种愉快的方式来共享代码，但基本上我通过了配对，只需按下按钮。它们工作得很好，使汽车前后左右移动。我的问题是，当我从电脑上拔下羽毛插头时，按钮按下和电机移动之间的时间大约为1.5秒，这对驾驶来说绝对不合适

Arduino所做的只是从手机接收阵列，其状态为0、1、2、3或4。根据该数字，它将按所需方向打开电机

我使用的代码只是修改了指南中的代码

这是我的Arduino IDE代码：

/*********************************************************************
 This is an example for our nRF51822 based Bluefruit LE modules

 Pick one up today in the adafruit shop!

 Adafruit invests time and resources providing this open source code,
 please support Adafruit and open-source hardware by purchasing
 products from Adafruit!

 MIT license, check LICENSE for more information
 All text above, and the splash screen below must be included in
 any redistribution
*********************************************************************/

#include <Arduino.h>
#include <SPI.h>
#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
  #include <SoftwareSerial.h>
#endif

#include "Adafruit_BLE.h"
#include "Adafruit_BluefruitLE_SPI.h"
#include "Adafruit_BluefruitLE_UART.h"

#include "BluefruitConfig.h"

/*=========================================================================
    APPLICATION SETTINGS

  FACTORYRESET_ENABLE     Perform a factory reset when running this sketch

                            Enabling this will put your Bluefruit LE module
                              in a 'known good' state and clear any config
                              data set in previous sketches or projects, so
                            running this at least once is a good idea.

                            When deploying your project, however, you will
                              want to disable factory reset by setting this
                              value to 0. If you are making changes to your
                            Bluefruit LE device via AT commands, and those
                              changes aren't persisting across resets, this
                              is the reason why. Factory reset will erase
                              the non-volatile memory where config data is
                              stored, setting it back to factory default
                              values.

                            Some sketches that require you to bond to a
                              central device (HID mouse, keyboard, etc.)
                              won't work at all with this feature enabled
                              since the factory reset will clear all of the
                              bonding data stored on the chip, meaning the
                              central device won't be able to reconnect.
    MINIMUM_FIRMWARE_VERSION  Minimum firmware version to have some new features
    MODE_LED_BEHAVIOUR        LED activity, valid options are
                              "DISABLE" or "MODE" or "BLEUART" or
                              "HWUART"  or "SPI"  or "MANUAL"
    -----------------------------------------------------------------------*/
    #define FACTORYRESET_ENABLE         1
    #define MINIMUM_FIRMWARE_VERSION    "0.6.6"
    #define MODE_LED_BEHAVIOUR          "MODE"
/*=========================================================================*/

// Pin Configuration and Firmware Declarations

#define LED_PIN       13

const unsigned long
  BLINKTIME =         100;

unsigned long 
  t_blink =           0L;

int
  blinkState =        LOW;

// Create the bluefruit object, either software serial...uncomment these lines
/*
SoftwareSerial bluefruitSS = SoftwareSerial(BLUEFRUIT_SWUART_TXD_PIN, BLUEFRUIT_SWUART_RXD_PIN);

Adafruit_BluefruitLE_UART ble(bluefruitSS, BLUEFRUIT_UART_MODE_PIN,
                      BLUEFRUIT_UART_CTS_PIN, BLUEFRUIT_UART_RTS_PIN);
*/

/* ...or hardware serial, which does not need the RTS/CTS pins. Uncomment this line */
// Adafruit_BluefruitLE_UART ble(Serial1, BLUEFRUIT_UART_MODE_PIN);

/* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */
Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);

/* ...software SPI, using SCK/MOSI/MISO user-defined SPI pins and then user selected CS/IRQ/RST */
//Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_SCK, BLUEFRUIT_SPI_MISO,
//                             BLUEFRUIT_SPI_MOSI, BLUEFRUIT_SPI_CS,
//                             BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);


// A small helper
void error(const __FlashStringHelper*err) {
  Serial.println(err);
  while (1);
}



/**************************************************************************/
/*!
    @brief  Sets up the HW an the BLE module (this function is called
            automatically on startup)
*/
/**************************************************************************/
void setup(void)
{
  pinMode(LED_PIN, OUTPUT);

  while (!Serial);  // required for Flora & Micro
  delay(500);

  Serial.begin(115600);
  Serial.println(F("Adafruit Bluefruit Command Mode Example"));
  Serial.println(F("---------------------------------------"));

  /* Initialise the module */
  Serial.print(F("Initialising the Bluefruit LE module: "));

  if ( !ble.begin() )
  {
    error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
  }
  Serial.println( F("OK!") );

  if ( FACTORYRESET_ENABLE )
  {
    /* Perform a factory reset to make sure everything is in a known state */
    Serial.println(F("Performing a factory reset: "));
    if ( ! ble.factoryReset() ){
      error(F("Couldn't factory reset"));
    }
  }

  /* Disable command echo from Bluefruit */
  ble.echo(false);

  Serial.println("Requesting Bluefruit info:");
  /* Print Bluefruit information */
  ble.info();

  Serial.println(F("Please use Adafruit Bluefruit LE app to connect in UART mode"));
  Serial.println(F("Then Enter characters to send to Bluefruit"));
  Serial.println();

  ble.verbose(false);  // debug info is a little annoying after this point!

  /* Wait for connection */
  while (! ble.isConnected()) {
      delay(500);
  }

  // LED Activity command is only supported from 0.6.6
  if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
  {
    // Change Mode LED Activity
    Serial.println(F("******************************"));
    Serial.println(F("Change LED activity to " MODE_LED_BEHAVIOUR));
    ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
    Serial.println(F("******************************"));
  }
}

/**************************************************************************/
/*!
    @brief  Constantly poll for new command or response data
*/
/**************************************************************************/
void loop(void)
{
  // Now Check for incoming characters from Bluefruit
  ble.println("AT+BLEUARTRX");
  ble.readline();
  ble.waitForOK();

  String BLEbuffer = ble.buffer;

  if (BLEbuffer.length() && BLEbuffer.indexOf("OK") == -1) 
    Serial.print(F("[Recv] ")); Serial.println(BLEbuffer);


  if (BLEbuffer.indexOf("Status") >= 0) {
    Serial.println(F("Status Request Received"));
    ble.print("AT+BLEUARTTX=");
    if (t_blink) {
      ble.println("BLNK");
    }
    else {
      if (blinkState)
        ble.println("ON");
      else
        ble.println("OFF");
    }

    // check response stastus
    if (! ble.waitForOK() ) {
      Serial.println(F("Failed to get response"));
    }

    ble.println("AT+BLEUARTRX");

  }

  else if (BLEbuffer.indexOf("0") >= 0) {
    blinkState = LOW;
    digitalWrite(LED_PIN, blinkState);
    analogWrite(13, 0);
    analogWrite(11, 0);
    digitalWrite(18, LOW);
    digitalWrite(19, LOW);
    digitalWrite(20, LOW);
    digitalWrite(21, LOW);
    t_blink = 0;
    ble.print("AT+BLEUARTTX=");
    ble.println("OFF");
    //Serial.println(F("OFF Request Received"));
    ble.println("AT+BLEUARTRX");
  }
  else if (BLEbuffer.indexOf("1") >= 0) {
    //if (!t_blink) t_blink = millis();
    analogWrite(13, 100);
    analogWrite(11, 100);
    digitalWrite(18, HIGH);
    digitalWrite(19, LOW);
    digitalWrite(20, LOW);
    digitalWrite(21, HIGH);
    ble.print("AT+BLEUARTTX=");
    ble.println("FORWARD");
    //Serial.println(F("BLINK Request Received"));
    ble.println("AT+BLEUARTRX");
  }
  else if (BLEbuffer.indexOf("2") >= 0) {
    blinkState = HIGH;
    digitalWrite(LED_PIN, blinkState);
    analogWrite(13, 100);
    analogWrite(11, 100);
    digitalWrite(18, LOW);
    digitalWrite(19, HIGH);
    digitalWrite(20, HIGH);
    digitalWrite(21, LOW);

    t_blink = 0;
    ble.print("AT+BLEUARTTX=");
    ble.println("BACK");
    //Serial.println(F("ON Request Received"));
    ble.println("AT+BLEUARTRX");
  }
  else if (BLEbuffer.indexOf("3") >= 0) {
    analogWrite(13, 100);
    analogWrite(11, 100);
    digitalWrite(18, HIGH);
    digitalWrite(19, LOW);
    digitalWrite(20, HIGH);
    digitalWrite(21, LOW);
    ble.print("AT+BLEUARTTX=");
    ble.println("LEFT");
    //Serial.println(F("BLINK Request Received"));
    ble.println("AT+BLEUARTRX");
  }
  else if (BLEbuffer.indexOf("4") >= 0) {
    //if (!t_blink) t_blink = millis();
    analogWrite(13, 100);
    analogWrite(11, 100);
    digitalWrite(18, LOW);
    digitalWrite(19, HIGH);
    digitalWrite(20, LOW);
    digitalWrite(21, HIGH);

    ble.print("AT+BLEUARTTX=");
    ble.println("RIGHT");
    //Serial.println(F("BLINK Request Received"));
    ble.println("AT+BLEUARTRX");
  }
  BLEbuffer = "";
}

---

可能是线路问题吗？例如，我可能需要在电机之前安装一个电容器，以防止电机“上升”到实际启动所需的功率？我对电气方面的知识不是很渊博，但这只是一个想法。

因此解决方案非常简单，我不认为它是唯一可行的解决方案，因为它只与串行命令（即Serial.print（））有关。在设备不再连接到计算机后，在代码中包含这些命令将导致电路板不响应这些命令，或者在最终放弃之前花费很长时间尝试处理这些命令（我猜测实际发生了什么）

解决方案是在上传到设备之前简单地注释掉所有串行命令，以便在不插入电源的情况下运行代码。或者，您显然可以将它们全部删除，但这可能会妨碍您下次尝试编辑代码时的调试体验

---

我想，与其删除这个问题，不如用我发现的答案来回答它，将来可能会对其他人有所帮助。

在App Inventor中，块是代码。。。你可能还想在…@Taifun中提问-我明白，我只是想不出一种方法将这个项目与你们联系起来。我可以拍5张截图，但我没想到结果会是这样。我也会问那边，但我不认为问题出在应用程序中。我感觉到的主要问题是串行监视器未打开时的延迟。对于具有相同设置的BLE项目也发生了这种情况。我更改了我的代码，这样如果我通过蓝牙连接，它就不会再进行

串行打印
呼叫。现在它的速度快多了（几乎是瞬间的，就像通过USB连接一样）。非常感谢。
if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
      {
        // Change Mode LED Activity
        Serial.println(F("******************************"));
        Serial.println(F("Change LED activity to " MODE_LED_BEHAVIOUR));
        ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
        Serial.println(F("******************************"));
      }