ship new protocol
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805f8de61c
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110
ship/ship.ino
110
ship/ship.ino
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@ -9,8 +9,8 @@ Servo MyServo;
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Servo RidaServo;
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RF24 radio(7,8);
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int count =0;
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int IN1 =7;
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int IN2 = 8;
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int IN1 =9;
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int IN2 =10;
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int PWM=6;
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int TrigPin=2;
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int EcoPin=3;
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@ -21,27 +21,12 @@ float dist;
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long dj,z;//dj是舵机,z是螺旋桨转速
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//long propeller=0,rudder=0;//propeller为螺旋桨(0-1023,512为静止),rudder为舵(0-1023,512为静止)
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//long s_propeller=0,s_rudder=0;//发送的信号
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const long R_prop=5,R_rudd=6;//输出端口
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long check_array[7],content,after_decode;//校验序列、读取内容和解码内容
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long propeller,rudder,content;//校验序列、读取内容和解码内容
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const byte addresses[6] = "00001"; //创建一个数组,建立接收机地址,或者说两个模块将用于通信的“管道”
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long decode_and_confirm(long x){
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long sum=0,add=0,x1=x;
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while(x1!=0){
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check_array[add]=x1%10;
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x1/=10;
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add++;
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}
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for(long i=0,j=4;i<add;j--,i++){
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sum+=check_array[i]*j;
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}
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if(sum%10==check_array[4])
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return -1;//代表校验失败
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return x%10000;
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}
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void setup()
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{
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Serial.begin(9600);
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MyServo.attach(4);
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RidaServo.attach(5);
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@ -54,28 +39,29 @@ void setup()
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pinMode(A2,INPUT);
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MyServo.write(angle);
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radio.begin();
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// radio.setChannel(114);
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//radio.setChannel(114);
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radio.openReadingPipe(1,addresses); //接收通道,
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radio.openWritingPipe(addresses);//发送通道
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radio.setPALevel(RF24_PA_HIGH); //设置功率放大器级别,将其设置为最小值
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//radio.setChannel(0);
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delay(1000);
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MyServo.write(45);
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}
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long confirm(long x){
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if(x>=1000000&&x<=2000000)return x%1000000;
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else return -1;
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}
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void loop() {
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//Serial.println(sizeof(long));
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analogWrite(PWM,0);
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radio.startListening();
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//Serial.println("start listening!");
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if(angle<=0){
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// Serial.println("start listening!");
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/*if(angle<=0){
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dAngle=5;
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}
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else if(angle>=180){
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dAngle=-5;
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}
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angle=angle+dAngle;
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/*angle=angle+dAngle;
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RidaServo.write(angle);
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digitalWrite(TrigPin,LOW);
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delayMicroseconds(8);
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@ -88,74 +74,76 @@ void loop() {
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}
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if(dist/17<period){
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delay(period-dist/17);
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}
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} */
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radio.startListening();
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// Serial.println("start listening!");
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// Serial.println("start listening!");
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if(radio.available()>0){
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radio.read(&content,sizeof(content));
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Serial.println("The content is");
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Serial.println(content);//调试
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after_decode=decode_and_confirm(content);
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Serial.println(after_decode);
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if(after_decode!=-1&&content>=100000){
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if(content<200000){
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Serial.println("inputing propeller ");
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if(after_decode>600||after_decode<500){
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if(after_decode>600){
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long zheng=after_decode;
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content=confirm(content);
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if(content!=-1){
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propeller=content%1000;
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rudder=(content-propeller)/1000;
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if(propeller>550||propeller<449)
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{
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if(propeller>550)
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{
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long zheng=0.568*propeller-312.4;
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digitalWrite(IN2,HIGH);
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digitalWrite(IN1,LOW);
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analogWrite(PWM,zheng);
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delay(50);
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z=zheng-512;
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z=zheng;
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Serial.println("forward propelling");
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Serial.println(z);
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}
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else if(after_decode<500){
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long fan=1100-after_decode;
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else if(propeller<449)
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{
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long fan=255-0.568*propeller;
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digitalWrite(IN1,HIGH);
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digitalWrite(IN2,LOW);
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analogWrite(PWM,fan);
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delay(50);
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z=fan-512;
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z=fan;
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Serial.println("back propelling");
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Serial.println(z);
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}
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}
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else if(after_decode<=600||after_decode>=500){
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else if(propeller<=550||propeller>=449)
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{
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z=0;
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analogWrite(PWM,0);
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Serial.println("stop propelling");
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Serial.println(z);
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}
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}
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else{
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Serial.println("inputing ruddering");
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if(after_decode>600||after_decode<500){
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if(after_decode<500){
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long fan1=0.18*after_decode;
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MyServo.write(fan1/2);
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delay(150);
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dj=fan1-90;
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if(rudder>550||rudder<449)
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{
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if(rudder<449)
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{
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long fan1=0.1*rudder;
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MyServo.write(fan1);
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Serial.println("turn left");
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dj=2*fan1-90;
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Serial.println(dj);
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}
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else if(after_decode>600){
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long zheng1=0.22*after_decode-42;
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MyServo.write(zheng1/2);
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delay(150);
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dj=zheng1-90;
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else if(rudder>550)
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{
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long zheng1=0.1*rudder-10.122;
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MyServo.write(zheng1);
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dj=2*zheng1-90;
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Serial.println("turn right");
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Serial.println(dj);
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}
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}
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else if(after_decode<=600||after_decode>=500){
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else if(rudder<=550||rudder>=449)
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{
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dj=0;
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MyServo.write(45);
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Serial.println("stop turing");
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Serial.println(dj);
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}
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}
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}
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}
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// radio.stopListening();
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//radio.write(&dist,sizeof(dist));
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// radio.write(&dj,sizeof(dj));
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