接入arduino后42电机无法正常工作

[cpzn]

rt，孩子快崩溃了，为什么接入arduino后在arduino串口操作中能够正常输出数据到串口监视器，但是无法执行电机命令，换过其他硬串口软串口都不行，求求大佬救一救

import sensor, image, time
import json
from machine import UART
#from pyb import UART
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
yellow_threshold   = (57, 78, -32, 6, -30, 36)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.

x = 0
y = 0
judge = '0'

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.set_framerate(40)
sensor.skip_frames(time = 2000 ) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
left_roi = [0,0,80,200]

# OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7, OpenMV2 M4 的UART(3)是P4-TX P5-RX
uart = UART(3, 115200)   #OpenMV RT 注释掉这一行，用下一行UART(1)
#uart = UART(1, 115200)  #OpenMV RT 用UART(1)这行，注释掉上一行UART(3)
# OpenMV RT 只有串口UART(1)，对应P4-TX P5-RX; OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7 的UART(1)是P0-RX P1-TX
x = 0
y = 0
judge = '0'

while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.

    blobs = img.find_blobs([yellow_threshold],roi=left_roi,merge=True,area_threshold=200)
    if blobs:
        data=[]
        for b in blobs:
                    # Draw a rect around the blob.
            img.draw_rectangle(b.rect()) # rect
            img.draw_cross(b.cx(), b.cy()) # cx, cy
            if b.cy() < 25:
                x = x + 1
                if x > 4 :
                    if judge == '0':
                        x = 0
                        data.append((b.cx(),b.cy()))
                        data_out = json.dumps(set(data))
                        uart.write(data_out +'\n')
                        print('L')
                        judge = '1'


            elif b.cy() > 27:
                y = y + 1
                if y > 4:
                    if judge == '0':
                        data.append((b.cx(),b.cy()))
                        data_out = json.dumps(set(data))
                        uart.write(data_out +'\n')
                        print('R')
                        judge = '1'

            else:
                 judge = '0'
                 print('---------')
            
    else:
            print("not found!")
                        
        
                #{(1,22),(-3,33),(22222,0),(9999,12),(0,0)}
                

下面的是arduino的代码：

#include <ArduinoJson.h>
#include <SoftwareSerial.h>

SoftwareSerial mySerial(9, 11); // RX, TX pins for SoftwareSerial

typedef struct
{
  int data[50][2] = {{0, 0}};
  int len = 0;
} List;
List list;

int leftindex = 0;
int rightindex = 0;


const int xdirPin = 5;   // X方向控制引脚
const int xstepPin = 2;  // X步进控制引脚
const int ydirPin = 6;   // Y方向控制引脚
const int ystepPin = 3;  // Y步进控制引脚
const int zdirPin = 7;   // Z方向控制引脚
const int zstepPin = 4;  // Z步进控制引脚
const int astepPin = 12; // A步进控制引脚
const int adirPin = 13;  // A方向控制引脚
const int enablePin = 8; // 使能控制引脚

void setup() {
  pinMode(xstepPin, OUTPUT); // X步进引脚为输出模式
  pinMode(xdirPin, OUTPUT);  // X方向引脚为输出模式
  pinMode(astepPin, OUTPUT); // A步进引脚为输出模式
  pinMode(adirPin, OUTPUT);  // A方向引脚为输出模式
  pinMode(ystepPin, OUTPUT); // Y步进引脚为输出模式
  pinMode(ydirPin, OUTPUT);  // Y方向引脚为输出模式
  pinMode(zstepPin, OUTPUT); // Z步进引脚为输出模式
  pinMode(zdirPin, OUTPUT);  // Z方向引脚为输出模式

  pinMode(enablePin, OUTPUT);   // 使能控制引脚为输出模式
  digitalWrite(enablePin, LOW); // 低电平使能电机驱动

  Serial.begin(115200);      // 初始化硬件串口通信
  mySerial.begin(115200);    // 初始化软串口通信
}

void ahead() {
  digitalWrite(xdirPin, HIGH);
  digitalWrite(ydirPin, LOW);
  digitalWrite(adirPin, LOW);
  digitalWrite(zdirPin, HIGH);
}

void back() {
  digitalWrite(xdirPin, LOW);
  digitalWrite(ydirPin, HIGH);
  digitalWrite(adirPin, HIGH);
  digitalWrite(zdirPin, LOW);
}

void left() {
  digitalWrite(xdirPin, LOW);
  digitalWrite(ydirPin, LOW);
  digitalWrite(zdirPin, HIGH);
  digitalWrite(adirPin, HIGH);
}

void right() {
  digitalWrite(xdirPin, HIGH);
  digitalWrite(ydirPin, HIGH);
  digitalWrite(zdirPin, LOW);
  digitalWrite(adirPin, LOW);
}

void turnround() {
  digitalWrite(xdirPin, HIGH);
  digitalWrite(ydirPin, HIGH);
  digitalWrite(zdirPin, HIGH);
  digitalWrite(adirPin, HIGH);
}

void run(int speed) {
  digitalWrite(xstepPin, HIGH);
  digitalWrite(ystepPin, HIGH);
  digitalWrite(zstepPin, HIGH);
  digitalWrite(astepPin, HIGH);
  delayMicroseconds(1200 - speed);
  digitalWrite(xstepPin, LOW);
  digitalWrite(ystepPin, LOW);
  digitalWrite(zstepPin, LOW);
  digitalWrite(astepPin, LOW);
  delayMicroseconds(1200 - speed);
}

String detectString() {
  while(mySerial.read() != '{');
  return(mySerial.readStringUntil('}'));
}

void clearList() {
  memset(list.data, 0, sizeof(list.data)); // 清空数据列表
  list.len = 0;
}

void getList() {
  String s = detectString(); // 从串口读取数据
  String numStr = "";

  for (int i = 0; i < s.length(); i++) {
    if (s[i] == '(') {
      numStr = "";
    } else if (s[i] == ',') {
      list.data[list.len][0] = numStr.toInt();
      numStr = "";
    } else if (s[i] == ')') {
      list.data[list.len][1] = numStr.toInt();
      numStr = "";
      list.len++;
    } else {
      numStr += s[i];
    }
  }
}

void loop() {
  
   // 运行步进电机
  if (mySerial.available()) {
    getList(); // 读取并解析串口数据

    for (int i = 0; i < list.len; i++) {
      if (list.data[i][1] < 25) {
          Serial.println("left");
          left();
      }else if (list.data[i][1] > 28) {
          Serial.println("right");
          right();
      }else{
          Serial.println("ahead");
      }

      clearList(); // 清空数据列表
    }
    run(800);
  }
  ahead();
  run(400);
}