From 46182acec10463d592b36debc2af595013b9bf99 Mon Sep 17 00:00:00 2001 From: clf3 Date: Wed, 6 Sep 2023 01:38:22 +0800 Subject: [PATCH] radar added to ship --- radar_screen_side/radar_screen_side.ino | 1 + radar_sensor_side/radar_sensor_side.ino | 20 +- remote_controler/remote_controler.ino | 3 +- ship/ship.ino | 240 +++++++++++++----------- 4 files changed, 141 insertions(+), 123 deletions(-) diff --git a/radar_screen_side/radar_screen_side.ino b/radar_screen_side/radar_screen_side.ino index 077f226..f4fe99d 100644 --- a/radar_screen_side/radar_screen_side.ino +++ b/radar_screen_side/radar_screen_side.ino @@ -1,6 +1,7 @@ #include #include "Ucglib.h" #define interruptPin 2 + int Ymax = 128; //屏幕的竖向像素数 int Xmax = 160; //屏幕的横向像素数 int Xcent = Xmax / 2; //x中位 diff --git a/radar_sensor_side/radar_sensor_side.ino b/radar_sensor_side/radar_sensor_side.ino index 218cc2a..ffa623a 100644 --- a/radar_sensor_side/radar_sensor_side.ino +++ b/radar_sensor_side/radar_sensor_side.ino @@ -10,7 +10,8 @@ bool increasing=true; bool clr=false; //0: increase 1: decrease 2: clr int status=0; -int clrtimes=40; +int clrtime=40; +int x=0; void setup(void) { pinMode(trigPin, OUTPUT); //设置trigPin端口模式 @@ -42,6 +43,10 @@ void loop(void) else{ status=2; } + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance } else if(status==1){ if(x>0){ @@ -50,9 +55,12 @@ void loop(void) else{ status=2; } + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance } else if(status=2){ - clrtime--; if(clrtime<=0){ clrtime=4; @@ -63,14 +71,6 @@ void loop(void) status=0; } } - } - if(status!=2){ - baseServo.write(x); //调整舵机角度 - //测距 - distance = calculateDistance(); - //send distance - } - else{ //send clear } delay(20-distance/17); diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino index 48a1a3a..e2d2b61 100644 --- a/remote_controler/remote_controler.ino +++ b/remote_controler/remote_controler.ino @@ -9,7 +9,6 @@ long propeller=0,rudder=0,dist;//propeller为螺旋桨（0-1023，512为静止 long sending_signal=0;//发送的信号 const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读 void setup() { - // put your setup code here, to run once: Serial.begin(9600); radio.begin(); //radio.setChannel(114);//设置信道，114号通道 @@ -40,5 +39,5 @@ void send(){ } void loop() { // put your main code here, to run repeatedly: - + } diff --git a/ship/ship.ino b/ship/ship.ino index 1a74d01..2791aeb 100644 --- a/ship/ship.ino +++ b/ship/ship.ino @@ -4,158 +4,176 @@ #include "Arduino.h" #include "HardwareSerial.h" #include +#define trigPin 6 //超声波模块的Trig口 6# +#define echoPin 5 //超声波模块的echo口 5# +#define ServoPin 3 //底座舵机端口 3# +unsigned long time=0; +bool increasing=true; +bool clr=false; +//0: increase 1: decrease 2: clr +int status=0; +int clrtime=40; +int x=0; Servo MyServo; -Servo RidaServo; +Servo RadarServo; RF24 radio(7,8); int count =0; int IN1 =9; int IN2 =10; int PWM=6; -int TrigPin=2; -int EcoPin=3; -int dAngle=5; +// int TrigPin=2; +// int EcoPin=3; +// int dAngle=5; int angle=90; int period=25; -float dist; +// float dist; long dj,z;//dj是舵机，z是螺旋桨转速 //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） //long s_propeller=0,s_rudder=0;//发送的信号 long propeller,rudder,content;//校验序列、读取内容和解码内容 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” - +int calculateDistance() +{ + long duration; + digitalWrite(trigPin, LOW); + delayMicroseconds(2); + digitalWrite(trigPin, HIGH); + delayMicroseconds(10); + digitalWrite(trigPin, LOW); + duration = pulseIn(echoPin, HIGH); + return duration*0.034/2; +} void setup() { - Serial.begin(9600); - MyServo.attach(4); - RidaServo.attach(5); - pinMode(TrigPin,OUTPUT); - pinMode(EcoPin,INPUT); - pinMode(IN1,OUTPUT); - pinMode(IN2,OUTPUT); - pinMode(PWM,OUTPUT); - pinMode(A1,INPUT); - pinMode(A2,INPUT); - MyServo.write(angle); + Serial.begin(9600); + MyServo.attach(4); + RadarServo.attach(ServoPin); + pinMode(trigPin,OUTPUT); + pinMode(echoPin,INPUT); + pinMode(IN1,OUTPUT); + pinMode(IN2,OUTPUT); + pinMode(PWM,OUTPUT); + pinMode(A1,INPUT); + pinMode(A2,INPUT); + MyServo.write(angle); + RadarServo.write(0); radio.begin(); - //radio.setChannel(114); + //radio.setChannel(114); radio.openReadingPipe(1,addresses); //接收通道， radio.openWritingPipe(addresses);//发送通道 radio.setPALevel(RF24_PA_HIGH); //设置功率放大器级别，将其设置为最小值 - delay(1000); - MyServo.write(45); + delay(1000); + MyServo.write(45); } long confirm(long x){ if(x>=1000000&&x<=2000000)return x%1000000; else return -1; } -void loop() { - - - radio.startListening(); - // Serial.println("start listening!"); - /*if(angle<=0){ - dAngle=5; - } - else if(angle>=180){ - dAngle=-5; - } - /*angle=angle+dAngle; - RidaServo.write(angle); - digitalWrite(TrigPin,LOW); - delayMicroseconds(8); - digitalWrite(TrigPin,HIGH); - delayMicroseconds(10); - digitalWrite(TrigPin,LOW); - dist=pulseIn(EcoPin,HIGH,58800)/58.8; - if(dist<=0.5){ - dist=100.0; - } - if(dist/170){ - radio.read(&content,sizeof(content)); + radio.read(&content,sizeof(content)); Serial.println("The content is"); Serial.println(content);//调试 content=confirm(content); if(content!=-1){ - propeller=content%1000; - rudder=(content-propeller)/1000; - if(propeller>550||propeller<449) - { - if(propeller>550) - { - long zheng=0.568*propeller-312.4; - digitalWrite(IN2,HIGH); - digitalWrite(IN1,LOW); - analogWrite(PWM,zheng); - z=zheng; - Serial.println("forward propelling"); - Serial.println(z); - } - else if(propeller<449) - { - long fan=255-0.568*propeller; - digitalWrite(IN1,HIGH); - digitalWrite(IN2,LOW); - analogWrite(PWM,fan); - z=fan; - Serial.println("back propelling"); - Serial.println(z); + propeller=content%1000; + rudder=(content-propeller)/1000; + if(propeller>550||propeller<449){ + if(propeller>550){ + long zheng=0.568*propeller-312.4; + digitalWrite(IN2,HIGH); + digitalWrite(IN1,LOW); + analogWrite(PWM,zheng); + z=zheng; + Serial.println("forward propelling"); + Serial.println(z); + } + else if(propeller<449){ + long fan=255-0.568*propeller; + digitalWrite(IN1,HIGH); + digitalWrite(IN2,LOW); + analogWrite(PWM,fan); + z=fan; + Serial.println("back propelling"); + Serial.println(z); + } } - } - else if(propeller<=550||propeller>=449) - { - z=0; - analogWrite(PWM,0); - Serial.println("stop propelling"); - Serial.println(z); + else if(propeller<=550||propeller>=449){ + z=0; + analogWrite(PWM,0); + Serial.println("stop propelling"); + Serial.println(z); } Serial.println("inputing ruddering"); if(rudder>550||rudder<449) { - if(rudder<449) - { - long fan1=0.1*rudder; - MyServo.write(fan1); - Serial.println("turn left"); - dj=2*fan1-90; - Serial.println(dj); + if(rudder<449){ + long fan1=0.1*rudder; + MyServo.write(fan1); + Serial.println("turn left"); + dj=2*fan1-90; + Serial.println(dj); } - else if(rudder>550) - { - long zheng1=0.1*rudder-10.122; - MyServo.write(zheng1); - dj=2*zheng1-90; - Serial.println("turn right"); - Serial.println(dj); + else if(rudder>550){ + long zheng1=0.1*rudder-10.122; + MyServo.write(zheng1); + dj=2*zheng1-90; + Serial.println("turn right"); + Serial.println(dj); } } - else if(rudder<=550||rudder>=449) - { - dj=0; - MyServo.write(45); - Serial.println("stop turing"); - Serial.println(dj); + else if(rudder<=550||rudder>=449){ + dj=0; + MyServo.write(45); + Serial.println("stop turing"); + Serial.println(dj); } } - } - // radio.stopListening(); - //radio.write(&dist,sizeof(dist)); - // radio.write(&dj,sizeof(dj)); - //radio.write(&z,sizeof(z)); - //radio.startListening(); - //delay(20); - /* if (radio.available()) { //判断是否有要接收的数据 - radio.read(response,sizeof(response)); - Serial.print(text); - Serial.println(response); - }*/ - //delay(20); //延迟等待0.3秒 - //text++; + } + radio.stopListening(); + + int distance=0; + if(status==0){ + if(x<180){ + x+=2; + } + else{ + status=2; + } + RadarServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance + } + else if(status==1){ + if(x>0){ + x-=2; + } + else{ + status=2; + } + RadarServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance + } + else if(status=2){ + clrtime--; + if(clrtime<=0){ + clrtime=4; + if(x>=180){ + status=1; + } + else{ + status=0; + } + } + //send clear + } + delay(20-distance/17); }