使用来自处理的数据控制Arduino Braccio手臂

我正在开发一个项目，使用处理从文件中读取数据，然后使用serial将这些数据发送到arduino Uno板，然后将这些值提供给arduino braccio Braccio.ServoMovment（）函数以根据它们移动机械臂 . 然而，无论何时我运行代码我都会在函数中得到错误的值并且手臂以奇怪的方式移动，我已经测试了相同的代码并试图点亮一个led并且由于某种原因它工作正常 .

import processing.serial.*;
 import java.io.*;
 int mySwitch=0;

 int counter=0;

 String [] subtext;

 Serial myPort;



 void setup(){

 //Create a switch that will control the frequency of text file reads.

 //When mySwitch=1, the program is setup to read the text file.

 //This is turned off when mySwitch = 0

 mySwitch=1;


 //Open the serial port for communication with the Arduino

 //Make sure the COM port is correct

 myPort = new Serial(this, "COM5", 9600);
  myPort.bufferUntil('\n');
 }

 void draw() {
  // print(" the switch " + mySwitch);

  if (mySwitch>0){
  /*The readData function can be found later in the code.
  This is the call to read a CSV file on the computer hard-drive. */
  readData("C:/Users/Tareq/Desktop/data.txt");

  /*The following switch prevents continuous reading of the text file,           until
  we are ready to read the file again. */
  mySwitch=0;
  }

  /*Only send new data. This IF statement will allow new data to be sent      to
  the arduino. */
  if(counter<subtext.length){
  /* Write the next number to the Serial port and send it to the Arduino 
  There will be a delay of half a second before the command is
  sent to turn the LED off : myPort.write('0'); */
 // print(subtext[counter]);
  delay(5000);
  myPort.write(subtext[counter]);
  print(subtext[counter]);
  delay(2000);
  //Increment the counter so that the next number is sent to the arduino.
  counter++;
  } else{
  //If the text file has run out of numbers, then read the text file again      in 5 seconds.
  delay(5000);
  mySwitch=1;
  }
 } 


 /* The following function will read from a CSV or TXT file */
 void readData(String myFileName){

  File file=new File(myFileName);
  BufferedReader br=null;

  try{
  br=new BufferedReader(new FileReader(file));
  String text=null;

  /* keep reading each line until you get to the end of the file */
  while((text=br.readLine())!=null){

  /* Spilt each line up into bits and pieces using a comma as a separator */
  subtext = splitTokens(text,",");

  }
  }catch(FileNotFoundException e){
  e.printStackTrace();
  }catch(IOException e){
  e.printStackTrace();
  }finally{
  try {
  if (br != null){
  br.close();
  }
  } catch (IOException e) {
  e.printStackTrace();
  }
  }
 }

Arduino代码

#include <Braccio.h>
#include <Servo.h>
#include<SoftwareSerial.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;

String stringData[6] ;
int intData[6] ;

void setup() {
 Serial.begin(9600);
 Braccio.begin();
 pinMode(1, OUTPUT); // Set pin as OUTPUT
 pinMode(2, OUTPUT); // Set pin as OUTPUT
 pinMode(3, OUTPUT); // Set pin as OUTPUT
 pinMode(4, OUTPUT); // Set pin as OUTPUT
 pinMode(5, OUTPUT); // Set pin as OUTPUT
 pinMode(6, OUTPUT); // Set pin as OUTPUT
 pinMode(7, OUTPUT); // Set pin as OUTPUT
 pinMode(8, OUTPUT); // Set pin as OUTPUT
 pinMode(9, OUTPUT); // Set pin as OUTPUT
}

void loop() {




for(int y=0;y<6;y++){

  while(Serial.available()== 0){}

stringData[y]= Serial.readString();

if(stringData[y]=="90")
intData[y]=90;
else if(stringData[y]=="120")
intData[y]=120;
else if(stringData[y]=="180")
intData[y]=180;
else if(stringData[y]=="45")
intData[y]=45;
else if(stringData[y]=="160")
intData[y]=160;
else if(stringData[y]=="170")
intData[y]=170;
else if(stringData[y]=="165")
intData[y]=165;
else if(stringData[y]=="60")
intData[y]=60;
else if(stringData[y]=="30")
intData[y]=30;
else if(stringData[y]=="110")
intData[y]=110;
else if(stringData[y]=="80")
intData[y]=80;
else if(stringData[y]=="155")
intData[y]=155;
}

Braccio.ServoMovement(20 ,         intData[0], intData[1], intData[2] , intData[3] ,intData[4] , intData[5]);

}

注意：从中读取的文件是一个记事本，其中包含用“，”150,30,60之类的东西分隔的数字，对于我的代码我使用6来测试某人可能会说它很奇怪为什么发送字符串然后将其映射到int而不是直接发送int，我先尝试了int然后它没有用，然后我试了这个 .