C++ 在C+;中调用另一个函数时,编译器在参数中查找已删除的构造函数+;
我试图用两个函数控制微控制器中的四个不同对象(传感器、电机、旋转编码器和负责逻辑的类),这两个函数主要是C++ 在C+;中调用另一个函数时,编译器在参数中查找已删除的构造函数+;,c++,struct,arduino,stepper,teensy,C++,Struct,Arduino,Stepper,Teensy,我试图用两个函数控制微控制器中的四个不同对象(传感器、电机、旋转编码器和负责逻辑的类),这两个函数主要是开关状态语句,一个从串行端口读取并相应地切换变量,另一个从该变量读取并调用函数。我可以在我的循环中直接从单个对象调用函数,但是当我使用函数serialTask()调用它们时编译器失败。这是我的标题: 这是motor.h。我在构造函数中使用了所有这些参数,因为我使用了两个库,它们使用这些元素来构造自己的对象,TMC2130Stepper,Stepper和StepControl #pragma
开关状态
语句,一个从串行端口读取并相应地切换变量,另一个从该变量读取并调用函数。我可以在我的循环中直接从单个对象调用函数,但是当我使用函数serialTask()调用它们时代码>编译器失败。这是我的标题:
这是motor.h
。我在构造函数中使用了所有这些参数,因为我使用了两个库,它们使用这些元素来构造自己的对象,TMC2130Stepper
,Stepper
和StepControl
#pragma once
#include <TeensyStep.h>
#include <TMCStepper.h>
#include <SPI.h>
#include <TimerOne.h>
#include <pinout.h>
#define STALL_VALUE 15
#define R_SENSE 0.11 // Match to your driver
// SilentStepStick series use 0.11
// UltiMachine Einsy and Archim2 boards use 0.2
// Panucatt BSD2660 uses 0.1
// Watterott TMC5160 uses 0.075
//BOB = 0.3
struct Motor {
public:
Motor(const int dirPinArg, const int stepPinArg, const int enabPinArg, const int chipSelectArg, const int mosiSdiArg, const int misoSdoArg, const int clkArg, float rSenseArg);
int microsteps = 8;
const uint32_t steps_per_mm = 80;
int frameRatio = (200 * microsteps) / 2.55;
int motorSpeed;
bool motorState = false;
bool isMoving = false;
bool accelerated = false;
void initializeDriver();
void setupMotor();
void accelerate();
void moveMotor();
void oneFrame();
void oneFrameSlow();
void moveMotorSlow();
bool isAccelerated();
void stepperTimer();
void setSpeed();
int spr = 16*200; // 3200 steps per revolution
TMC2130Stepper driver;
Stepper motor;
StepControl controller;
private:
};
这是我的传感器。h
:
/*
* Rotary encoder library for Arduino.
*/
#pragma once
#ifndef rotary_h
#define rotary_h
#include "Arduino.h"
// Enable this to emit codes twice per step.
//#define HALF_STEP
// Enable weak pullups
#define ENABLE_PULLUPS
// Values returned by 'process'
// No complete step yet.
#define DIR_NONE 0x0
// Clockwise step.
#define DIR_CW 0x10
// Anti-clockwise step.
#define DIR_CCW 0x20
class Rotary
{
public:
Rotary(char, char);
//Extra
int encoderTest();
// Process pin(s)
unsigned char process();
volatile int aState;
volatile int aLastState;
int counterNew;
int counterOld;
private:
unsigned char state;
unsigned char pin1;
unsigned char pin2;
};
#endif
#pragma once
#include <pinout.h>
#include <Arduino.h>
#include <open-celluloid.h>
#include <Rotary.h>
struct Sensor {
public:
Sensor(int sensorPinArg);
int readSensor();
void calibrateSensor(OpenCelluloid openCelluloidArg, Rotary rotaryArg);
void printSensorValues();
int sensorHigh{};
int sensorLow{};
};
#pragma once
#include <Arduino.h>
#include <TimerOne.h>
#include <HardwareSerial.h>
#include <Stream.h>
#include <Rotary.h>
#include <pinout.h>
class OpenCelluloid {
public:
OpenCelluloid();
void stepperTimer();
void homing();
void checkTrigger();
void calibrateShutter(Rotary rotaryArg);
//HardwareSerial *serial;
//HardwareSerial &serial1 = Serial;
//TimerOne *timer1;
const int sensorThreshold = 300;
int lastSensorState = 0;
uint8_t sensorState = 0; //
uint8_t stepState = 0; //
//trigger
volatile bool gateOpen{};
volatile bool trigger{};
volatile uint8_t triggerCounter{};
volatile bool sameState = true;
volatile byte threshold[8];
volatile uint8_t sum_threshold{};
volatile uint8_t gate{};
volatile uint8_t gatePrevious{};
volatile uint8_t shutterCounter{};
volatile bool boolGate{};
//volatile bool boolState = !digitalRead(sensor);
volatile bool boolState{};
volatile bool home_position{};
volatile bool startCapture;
uint8_t doFullRotation{};
int stepCount = 10000;
volatile char state;
//Rotary rotary = Rotary(5, 6);
private:
Stream *_streamRef;
TimerOne *_timerRef;
//Stepper *_motorRef;
//StepControl *_controllerRef;
};
除此之外,我还有另一个.h文件,其中包含函数:
#pragma once
#include <Arduino.h>
#include <TMCStepper.h>
#include <SPI.h>
#include <TimerOne.h>
#include <HardwareSerial.h>
#include <Stream.h>
#include "TeensyStep.h"
#include <Rotary.h>
#include <open-celluloid.h>
#include <pinout.h>
#include <motor.h>
#include <sensor.h>
#define auto_reset 20
#define start_moving_forward 21
#define start_moving_backward 22
#define keep_moving 23
#define stoping 24
#define auto_end 25
#define one_frame 26
#define hundred_frames 27
#define loading 28
#define keep_moving_slow 29
#define test 30
#define test_digital 31
#define test_analog 32
#define encoder_test 33
#define calibrate_shutter 34
#define calibrate_sensor 35
#define read_sensor 36
#define print_values 37
#define test_acceleration 38
void readSensor();
void oneFrame();
void oneFrameSlow();
void serialTask(Sensor sensorArg, Rotary rotaryArg, OpenCelluloid openCelluloidArg, Motor motorArg);
void stateSwitch(OpenCelluloid openCelluloidArg);
void encoder();
void calibrateShutter();
void testDigital(int button);
void testAnalog(int pin);
每当我在mainloop()
中调用此函数时,编译器都会告诉我使用已删除的函数“Motor::Motor(const Motor&)”
。这就是我的main.cpp
文件的外观:
#include <Arduino.h>
#include <open-celluloid.h>
#include <HardwareSerial.h>
#include <TeensyStep.h>
#include <TMCStepper.h>
#include <functions.h>
#include <motor.h>
#include <Rotary.h>
Motor motorObj(dir_Pin, step_Pin, enabPin, chipSelect, mosiSdi, misoSdo, clk, 0.11f);
Rotary rotaryObj(channelA, channelB);
Sensor sensorObj(sensor);
OpenCelluloid openCelluloidObj{};
void setup() {
pinMode(enabPin, OUTPUT);
pinMode(step_Pin, OUTPUT);
pinMode(chipSelect, OUTPUT);
pinMode(dir_Pin, OUTPUT);
pinMode(sensor, INPUT);
pinMode(led, OUTPUT);
pinMode(channelA, INPUT);
pinMode(channelB, INPUT);
pinMode(startStop, OUTPUT);
pinMode(dirSwitch, OUTPUT);
pinMode(encoButton, INPUT);
pinMode(misoSdo, INPUT_PULLUP);
pinMode(mosiSdi, OUTPUT);
pinMode(clk, OUTPUT);
digitalWrite(enabPin, LOW);
digitalWrite(dir_Pin, LOW);
digitalWrite(step_Pin, LOW);
digitalWrite(chipSelect, LOW);
digitalWrite(mosiSdi, LOW);
digitalWrite(clk, LOW);
Serial.begin(115200);
motorObj.setupMotor();
openCelluloidObj.startCapture = false;
digitalWrite(step_Pin, motorObj.motorState);
rotaryObj.aLastState = digitalRead(channelA);
openCelluloidObj.state = auto_end;
};
void loop() {
stateSwitch(openCelluloidObj);
serialTask(sensorObj, rotaryObj, openCelluloidObj, motorObj);
};
问题是,你的论点是以马达的值为依据的,所以它需要复制
创建自己的构造函数时,复制构造函数将被删除
尝试通过引用传递(const Motor&
或Motor&
)。是否需要所有这些代码?您应该将代码减少到。谢谢您的回答。我的理解是,我应该将我的函数定义为void serialTask(OpenCelluloid openCelluloidArg、Motor&Motor arg、Sensor sensorArg、Rotary Rotary arg)
,对吗?
#include <Arduino.h>
#include <open-celluloid.h>
#include <HardwareSerial.h>
#include <TeensyStep.h>
#include <TMCStepper.h>
#include <functions.h>
#include <motor.h>
#include <Rotary.h>
Motor motorObj(dir_Pin, step_Pin, enabPin, chipSelect, mosiSdi, misoSdo, clk, 0.11f);
Rotary rotaryObj(channelA, channelB);
Sensor sensorObj(sensor);
OpenCelluloid openCelluloidObj{};
void setup() {
pinMode(enabPin, OUTPUT);
pinMode(step_Pin, OUTPUT);
pinMode(chipSelect, OUTPUT);
pinMode(dir_Pin, OUTPUT);
pinMode(sensor, INPUT);
pinMode(led, OUTPUT);
pinMode(channelA, INPUT);
pinMode(channelB, INPUT);
pinMode(startStop, OUTPUT);
pinMode(dirSwitch, OUTPUT);
pinMode(encoButton, INPUT);
pinMode(misoSdo, INPUT_PULLUP);
pinMode(mosiSdi, OUTPUT);
pinMode(clk, OUTPUT);
digitalWrite(enabPin, LOW);
digitalWrite(dir_Pin, LOW);
digitalWrite(step_Pin, LOW);
digitalWrite(chipSelect, LOW);
digitalWrite(mosiSdi, LOW);
digitalWrite(clk, LOW);
Serial.begin(115200);
motorObj.setupMotor();
openCelluloidObj.startCapture = false;
digitalWrite(step_Pin, motorObj.motorState);
rotaryObj.aLastState = digitalRead(channelA);
openCelluloidObj.state = auto_end;
};
void loop() {
stateSwitch(openCelluloidObj);
serialTask(sensorObj, rotaryObj, openCelluloidObj, motorObj);
};
StepControlBase<a, t>::StepControlBase(const StepControlBase<a, t>&) [with Accelerator = LinStepAccelerator; TimerField = TimerField]' is protected
use of deleted function 'StepControlBase<a, t>::StepControlBase(const StepControlBase<a, t>&) [with Accelerator = LinStepAccelerator; TimerField = TimerField]'