文章目錄

• 方法1：直接添加（不推薦）
• 方法2：傳統的C/C++分離式文件（推薦，但需要具備C++知識）
• C++分離式編譯
• C++類構造函數/析構函數
• • 構造函數
  • 析構函數
• 自寫的小車運行庫

Arduino 的 main.cpp 程序內容如下：

/*main.cpp - Main loop for Arduino sketchesCopyright (c) 2005-2013 Arduino Team. All right reserved.This library is free software; you can redistribute it and/ormodify it under the terms of the GNU Lesser General PublicLicense as published by the Free Software Foundation; eitherversion 2.1 of the License, or (at your option) any later version.This library is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNULesser General Public License for more details.You should have received a copy of the GNU Lesser General PublicLicense along with this library; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */#include <Arduino.h>// Declared weak in Arduino.h to allow user redefinitions. int atexit(void (* /*func*/ )()) { return 0; }// Weak empty variant initialization function. // May be redefined by variant files. void initVariant() __attribute__((weak)); void initVariant() { }void setupUSB() __attribute__((weak)); void setupUSB() { }int main(void) {init();initVariant();#if defined(USBCON)USBDevice.attach(); #endifsetup();for (;;) {loop();if (serialEventRun) serialEventRun();}return 0; }

Arduino 多文件管理可以解決程序較大的問題。
Arduino 程序可以有多個源代碼文件，但只有 1 個主文件，即存在 setup，loop 函數的 .ino 文件。
為了方便演示，我們讓主文件來控制程序的主邏輯，具體的細節則封裝成單個模塊，存放在其他文件中。

方法1：直接添加（不推薦）

下面介紹如何創建其他的單個模塊的文件。

方法2：傳統的C/C++分離式文件（推薦，但需要具備C++知識）

這種方式對于一個代碼模塊，我們需要兩個文件，源文件（.c / .cpp）和頭文件（.h）。
如果是 .c 和 .h 的組合方式，則是 C 語言風格。
如果是 .cpp 和 .h 的組合方式，則是 C++ 風格。
官方推薦 C++，因此我們學習并使用 C++ 風格來舉例。

封裝之前我們先創建文件結構，包含兩個文件：LED.h 和 LED.cpp

之后我們需要明確我們的控制功能。規定功能后，先寫出頭文件（LED.h），然后寫出實現（LED.cpp），最有在主文件（LED.ino）中使用這個模塊即可。

/******************* LED.h *******************/#ifndef _LED_H__ #define _LED_H__//導入Arduino核心頭文件 #include"Arduino.h" class LED {private:byte pin; //控制led使用的引腳public:LED(byte p , bool state=LOW ); //構造函數~LED(); //析構函數byte getPin(); //獲取控制的引腳void on(); //打開LEDvoid off(); //關閉LEDbool getState(); //獲取LED狀態void disattach(); //釋放引腳與LED的綁定，使得引腳可以控制其他的東西 };#endif /***************** LED.cpp******************/#include"LED.h" #include"Arduino.h"LED::LED(byte p,bool state):pin(p) {pinMode(pin,OUTPUT);digitalWrite(pin,state); }LED::~LED() {disattach(); } void LED::on() {digitalWrite(pin,HIGH); }void LED::off() {digitalWrite(pin,LOW); }bool LED::getState() {return digitalRead(pin); }void LED::disattach() //引腳回收，恢復到上電狀態 {digitalWrite(pin,LOW);pinMode(pin,INPUT); } /**********************實例化1個LED對象，用7號叫控制，讓他閃爍10次，并在串口打印出它的狀態。10次完畢后釋放回收引腳**********************/ #include"LED.h"LED led(7); byte count =0;void setup() {Serial.begin(9600); }void loop() {if(count<10) {led.on();delay(300);Serial.print("LED state:");Serial.println(led.getState(),DEC);led.off();delay(300);Serial.print("LED state:");Serial.println(led.getState(),DEC);++count;if(count==10)led.disattach();} }

附

/*Arduino.h - Main include file for the Arduino SDKCopyright (c) 2005-2013 Arduino Team. All right reserved.This library is free software; you can redistribute it and/ormodify it under the terms of the GNU Lesser General PublicLicense as published by the Free Software Foundation; eitherversion 2.1 of the License, or (at your option) any later version.This library is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without even the implied warranty ofMERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNULesser General Public License for more details.You should have received a copy of the GNU Lesser General PublicLicense along with this library; if not, write to the Free SoftwareFoundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */#ifndef Arduino_h #define Arduino_h#include <stdlib.h> #include <stdbool.h> #include <string.h> #include <math.h>#include <avr/pgmspace.h> #include <avr/io.h> #include <avr/interrupt.h>#include "binary.h"#ifdef __cplusplus extern "C"{ #endifvoid yield(void);#define HIGH 0x1 #define LOW 0x0#define INPUT 0x0 #define OUTPUT 0x1 #define INPUT_PULLUP 0x2#define PI 3.1415926535897932384626433832795 #define HALF_PI 1.5707963267948966192313216916398 #define TWO_PI 6.283185307179586476925286766559 #define DEG_TO_RAD 0.017453292519943295769236907684886 #define RAD_TO_DEG 57.295779513082320876798154814105 #define EULER 2.718281828459045235360287471352#define SERIAL 0x0 #define DISPLAY 0x1#define LSBFIRST 0 #define MSBFIRST 1#define CHANGE 1 #define FALLING 2 #define RISING 3#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)#define DEFAULT 0#define EXTERNAL 1#define INTERNAL1V1 2#define INTERNAL INTERNAL1V1 #elif defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)#define DEFAULT 0#define EXTERNAL 4#define INTERNAL1V1 8#define INTERNAL INTERNAL1V1#define INTERNAL2V56 9#define INTERNAL2V56_EXTCAP 13 #else #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) #define INTERNAL1V1 2 #define INTERNAL2V56 3 #else #define INTERNAL 3 #endif #define DEFAULT 1 #define EXTERNAL 0 #endif// undefine stdlib's abs if encountered #ifdef abs #undef abs #endif#define min(a,b) ((a)<(b)?(a):(b)) #define max(a,b) ((a)>(b)?(a):(b)) #define abs(x) ((x)>0?(x):-(x)) #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) #define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) #define radians(deg) ((deg)*DEG_TO_RAD) #define degrees(rad) ((rad)*RAD_TO_DEG) #define sq(x) ((x)*(x))#define interrupts() sei() #define noInterrupts() cli()#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L ) #define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() ) #define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )#define lowByte(w) ((uint8_t) ((w) & 0xff)) #define highByte(w) ((uint8_t) ((w) >> 8))#define bitRead(value, bit) (((value) >> (bit)) & 0x01) #define bitSet(value, bit) ((value) |= (1UL << (bit))) #define bitClear(value, bit) ((value) &= ~(1UL << (bit))) #define bitToggle(value, bit) ((value) ^= (1UL << (bit))) #define bitWrite(value, bit, bitvalue) ((bitvalue) ? bitSet(value, bit) : bitClear(value, bit))// avr-libc defines _NOP() since 1.6.2 #ifndef _NOP #define _NOP() do { __asm__ volatile ("nop"); } while (0) #endiftypedef unsigned int word;#define bit(b) (1UL << (b))typedef bool boolean; typedef uint8_t byte;void init(void); void initVariant(void);int atexit(void (*func)()) __attribute__((weak));void pinMode(uint8_t pin, uint8_t mode); void digitalWrite(uint8_t pin, uint8_t val); int digitalRead(uint8_t pin); int analogRead(uint8_t pin); void analogReference(uint8_t mode); void analogWrite(uint8_t pin, int val);unsigned long millis(void); unsigned long micros(void); void delay(unsigned long ms); void delayMicroseconds(unsigned int us); unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout); unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout);void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val); uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode); void detachInterrupt(uint8_t interruptNum);void setup(void); void loop(void);// Get the bit location within the hardware port of the given virtual pin. // This comes from the pins_*.c file for the active board configuration.#define analogInPinToBit(P) (P)// On the ATmega1280, the addresses of some of the port registers are // greater than 255, so we can't store them in uint8_t's. extern const uint16_t PROGMEM port_to_mode_PGM[]; extern const uint16_t PROGMEM port_to_input_PGM[]; extern const uint16_t PROGMEM port_to_output_PGM[];extern const uint8_t PROGMEM digital_pin_to_port_PGM[]; // extern const uint8_t PROGMEM digital_pin_to_bit_PGM[]; extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[]; extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];// Get the bit location within the hardware port of the given virtual pin. // This comes from the pins_*.c file for the active board configuration. // // These perform slightly better as macros compared to inline functions // #define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) #define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) #define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) ) #define analogInPinToBit(P) (P) #define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) ) #define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) ) #define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )#define NOT_A_PIN 0 #define NOT_A_PORT 0#define NOT_AN_INTERRUPT -1#ifdef ARDUINO_MAIN #define PA 1 #define PB 2 #define PC 3 #define PD 4 #define PE 5 #define PF 6 #define PG 7 #define PH 8 #define PJ 10 #define PK 11 #define PL 12 #endif#define NOT_ON_TIMER 0 #define TIMER0A 1 #define TIMER0B 2 #define TIMER1A 3 #define TIMER1B 4 #define TIMER1C 5 #define TIMER2 6 #define TIMER2A 7 #define TIMER2B 8#define TIMER3A 9 #define TIMER3B 10 #define TIMER3C 11 #define TIMER4A 12 #define TIMER4B 13 #define TIMER4C 14 #define TIMER4D 15 #define TIMER5A 16 #define TIMER5B 17 #define TIMER5C 18#ifdef __cplusplus } // extern "C" #endif#ifdef __cplusplus #include "WCharacter.h" #include "WString.h" #include "HardwareSerial.h" #include "USBAPI.h" #if defined(HAVE_HWSERIAL0) && defined(HAVE_CDCSERIAL) #error "Targets with both UART0 and CDC serial not supported" #endifuint16_t makeWord(uint16_t w); uint16_t makeWord(byte h, byte l);#define word(...) makeWord(__VA_ARGS__)unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L); unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0); void noTone(uint8_t _pin);// WMath prototypes long random(long); long random(long, long); void randomSeed(unsigned long); long map(long, long, long, long, long);#endif#include "pins_arduino.h"#endif

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C++分離式編譯

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C++類構造函數/析構函數

構造函數

類的構造函數是類的一種特殊的成員函數，它會在每次創建類的新對象時執行。
構造函數的名稱與類的名稱是完全相同的，并且不會返回任何類型，也不會返回 void。構造函數可用于為某些成員變量設置初始值。

析構函數

類的析構函數是類的一種特殊的成員函數，它會在每次刪除所創建的對象時執行。
析構函數的名稱與類的名稱是完全相同的，只是在前面加了個波浪號（~）作為前綴，它不會返回任何值，也不能帶有任何參數。析構函數有助于在跳出程序（比如關閉文件、釋放內存等）前釋放資源。

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自寫的小車運行庫

/******************* UGV.h *******************/#ifndef _UGV_H__ #define _UGV_H__//導入Arduino核心頭文件 #include"Arduino.h" class UGV {private:byte LF; //控制led使用的引腳byte LB; //控制led使用的引腳byte RF; //控制led使用的引腳byte RB; //控制led使用的引腳public: UGV(byte IN1, byte IN2, byte IN3, byte IN4); //構造函數~UGV(); //析構函數void forward(byte LSp, byte Rsp);void backward(byte LSp, byte Rsp);void turnright(byte LSp, byte Rsp);void turnleft(byte LSp, byte Rsp);void parking(); };#endif /***************** UGV.cpp******************/#include"UGV.h" #include"Arduino.h"UGV::UGV(byte IN1, byte IN2, byte IN3, byte IN4):LF(IN1), LB(IN2), RF(IN4), RB(IN3) {pinMode(LF,OUTPUT);pinMode(LB,OUTPUT);pinMode(RF,OUTPUT);pinMode(RB,OUTPUT); }UGV::~UGV() { // disattach(); } void UGV::forward(byte LSp, byte RSp) {analogWrite(LF, LSp); analogWrite(LB, 0);analogWrite(RF, RSp); analogWrite(RB, 0); }void UGV::backward(byte LSp, byte RSp) {analogWrite(LF, 0); analogWrite(LB, LSp);analogWrite(RF, 0); analogWrite(RB, RSp); }void UGV::turnleft(byte LSp, byte RSp) {analogWrite(LF, LSp); analogWrite(LB, 0);analogWrite(RF, 0); analogWrite(RB, RSp); }void UGV::turnright(byte LSp, byte RSp) {analogWrite(LF, 0); analogWrite(LB, LSp);analogWrite(RF, RSp); analogWrite(RB, 0); }void UGV::parking() {analogWrite(LF,0); analogWrite(LB, 0);analogWrite(RF,0); analogWrite(RB, 0); } #include"UGV.h" // 自己編寫的庫文件，記得導入 Arduino 安裝目錄UGV UGV(6, 9, 10, 11);void setup() {delay( 1000 ); // power-up safety delay }void loop() {UGV.forward(255, 255); delay(1000); UGV.parking(); delay(1000); UGV.backward(255, 255); delay(1000); UGV.parking(); delay(1000); UGV.turnleft(255, 255); delay(1000);UGV.parking(); delay(1000); UGV.turnright(100, 100); delay(1000);UGV.parking(); delay(1000); }

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Ref:
[1] 如何編寫自己的Arduino庫？
[2] 【C++】C++中的分離式編譯
[3] C++ 類構造函數 & 析構函數

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