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radar added to ship

This commit is contained in:
clf3 2023-09-06 01:38:22 +08:00
parent 8262e30455
commit 46182acec1
4 changed files with 141 additions and 123 deletions
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1
radar_screen_side/radar_screen_side.ino
View File

@ -1,6 +1,7 @@
#include <SPI.h> #include <SPI.h>
#include "Ucglib.h" #include "Ucglib.h"
#define interruptPin 2 #define interruptPin 2
int Ymax = 128; //屏幕的竖向像素数 int Ymax = 128; //屏幕的竖向像素数
int Xmax = 160; //屏幕的横向像素数 int Xmax = 160; //屏幕的横向像素数
int Xcent = Xmax / 2; //x中位 int Xcent = Xmax / 2; //x中位

20
radar_sensor_side/radar_sensor_side.ino
View File

@ -10,7 +10,8 @@ bool increasing=true;
bool clr=false; bool clr=false;
//0: increase 1: decrease 2: clr //0: increase 1: decrease 2: clr
int status=0; int status=0;
int clrtimes=40; int clrtime=40;
int x=0;
void setup(void) void setup(void)
{ {
pinMode(trigPin, OUTPUT); //设置trigPin端口模式 pinMode(trigPin, OUTPUT); //设置trigPin端口模式
@ -42,6 +43,10 @@ void loop(void)
else{ else{
status=2; status=2;
} }
baseServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
//send distance
} }
else if(status==1){ else if(status==1){
if(x>0){ if(x>0){
@ -50,9 +55,12 @@ void loop(void)
else{ else{
status=2; status=2;
} }
baseServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
//send distance
} }
else if(status=2){ else if(status=2){
clrtime--; clrtime--;
if(clrtime<=0){ if(clrtime<=0){
clrtime=4; clrtime=4;
@ -63,14 +71,6 @@ void loop(void)
status=0; status=0;
} }
} }
}
if(status!=2){
baseServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
//send distance
}
else{
//send clear //send clear
} }
delay(20-distance/17); delay(20-distance/17);

3
remote_controler/remote_controler.ino
View File

@ -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 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 const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读
void setup() { void setup() {
// put your setup code here, to run once:
Serial.begin(9600); Serial.begin(9600);
radio.begin(); radio.begin();
//radio.setChannel(114);//设置信道，114号通道 //radio.setChannel(114);//设置信道，114号通道
@ -40,5 +39,5 @@ void send(){
} }
void loop() { void loop() {
// put your main code here, to run repeatedly: // put your main code here, to run repeatedly:
} }

240
ship/ship.ino
View File

@ -4,158 +4,176 @@
#include "Arduino.h" #include "Arduino.h"
#include "HardwareSerial.h" #include "HardwareSerial.h"
#include<Servo.h> #include<Servo.h>
#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 MyServo;
Servo RidaServo; Servo RadarServo;
RF24 radio(7,8); RF24 radio(7,8);
int count =0; int count =0;
int IN1 =9; int IN1 =9;
int IN2 =10; int IN2 =10;
int PWM=6; int PWM=6;
int TrigPin=2; // int TrigPin=2;
int EcoPin=3; // int EcoPin=3;
int dAngle=5; // int dAngle=5;
int angle=90; int angle=90;
int period=25; int period=25;
float dist; // float dist;
long dj,z;//dj是舵机，z是螺旋桨转速 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 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 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 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” 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() void setup()
{ {
Serial.begin(9600); Serial.begin(9600);
MyServo.attach(4); MyServo.attach(4);
RidaServo.attach(5); RadarServo.attach(ServoPin);
pinMode(TrigPin,OUTPUT); pinMode(trigPin,OUTPUT);
pinMode(EcoPin,INPUT); pinMode(echoPin,INPUT);
pinMode(IN1,OUTPUT); pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT); pinMode(IN2,OUTPUT);
pinMode(PWM,OUTPUT); pinMode(PWM,OUTPUT);
pinMode(A1,INPUT); pinMode(A1,INPUT);
pinMode(A2,INPUT); pinMode(A2,INPUT);
MyServo.write(angle); MyServo.write(angle);
RadarServo.write(0);
radio.begin(); radio.begin();
//radio.setChannel(114); //radio.setChannel(114);
radio.openReadingPipe(1,addresses); //接收通道， radio.openReadingPipe(1,addresses); //接收通道，
radio.openWritingPipe(addresses);//发送通道 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 radio.setPALevel(RF24_PA_HIGH); //设置功率放大器级别，将其设置为最小值
delay(1000); delay(1000);
MyServo.write(45); MyServo.write(45);
} }
long confirm(long x){ long confirm(long x){
if(x>=1000000&&x<=2000000)return x%1000000; if(x>=1000000&&x<=2000000)return x%1000000;
else return -1; else return -1;
} }
void loop() { void loop() {
radio.startListening();
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/17<period){
delay(period-dist/17);
} */
radio.startListening(); radio.startListening();
// Serial.println("start listening!");
if(radio.available()>0){ if(radio.available()>0){
radio.read(&content,sizeof(content)); radio.read(&content,sizeof(content));
Serial.println("The content is"); Serial.println("The content is");
Serial.println(content);//调试 Serial.println(content);//调试
content=confirm(content); content=confirm(content);
if(content!=-1){ if(content!=-1){
propeller=content%1000; propeller=content%1000;
rudder=(content-propeller)/1000; rudder=(content-propeller)/1000;
if(propeller>550||propeller<449) if(propeller>550||propeller<449){
{ if(propeller>550){
if(propeller>550) long zheng=0.568*propeller-312.4;
{ digitalWrite(IN2,HIGH);
long zheng=0.568*propeller-312.4; digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH); analogWrite(PWM,zheng);
digitalWrite(IN1,LOW); z=zheng;
analogWrite(PWM,zheng); Serial.println("forward propelling");
z=zheng; Serial.println(z);
Serial.println("forward propelling"); }
Serial.println(z); else if(propeller<449){
} long fan=255-0.568*propeller;
else if(propeller<449) digitalWrite(IN1,HIGH);
{ digitalWrite(IN2,LOW);
long fan=255-0.568*propeller; analogWrite(PWM,fan);
digitalWrite(IN1,HIGH); z=fan;
digitalWrite(IN2,LOW); Serial.println("back propelling");
analogWrite(PWM,fan); Serial.println(z);
z=fan; }
Serial.println("back propelling");
Serial.println(z);
} }
} else if(propeller<=550||propeller>=449){
else if(propeller<=550||propeller>=449) z=0;
{ analogWrite(PWM,0);
z=0; Serial.println("stop propelling");
analogWrite(PWM,0); Serial.println(z);
Serial.println("stop propelling");
Serial.println(z);
} }
Serial.println("inputing ruddering"); Serial.println("inputing ruddering");
if(rudder>550||rudder<449) if(rudder>550||rudder<449)
{ {
if(rudder<449) if(rudder<449){
{ long fan1=0.1*rudder;
long fan1=0.1*rudder; MyServo.write(fan1);
MyServo.write(fan1); Serial.println("turn left");
Serial.println("turn left"); dj=2*fan1-90;
dj=2*fan1-90; Serial.println(dj);
Serial.println(dj);
} }
else if(rudder>550) else if(rudder>550){
{ long zheng1=0.1*rudder-10.122;
long zheng1=0.1*rudder-10.122; MyServo.write(zheng1);
MyServo.write(zheng1); dj=2*zheng1-90;
dj=2*zheng1-90; Serial.println("turn right");
Serial.println("turn right"); Serial.println(dj);
Serial.println(dj);
} }
} }
else if(rudder<=550||rudder>=449) else if(rudder<=550||rudder>=449){
{ dj=0;
dj=0; MyServo.write(45);
MyServo.write(45); Serial.println("stop turing");
Serial.println("stop turing"); Serial.println(dj);
Serial.println(dj);
} }
} }
} }
// radio.stopListening(); radio.stopListening();
//radio.write(&dist,sizeof(dist));
// radio.write(&dj,sizeof(dj)); int distance=0;
//radio.write(&z,sizeof(z)); if(status==0){
//radio.startListening(); if(x<180){
//delay(20); x+=2;
/* if (radio.available()) { //判断是否有要接收的数据 }
radio.read(response,sizeof(response)); else{
Serial.print(text); status=2;
Serial.println(response); }
}*/ RadarServo.write(x); //调整舵机角度
//delay(20); //延迟等待0.3秒 //测距
//text++; 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);
} }