radar splited

radar_screen_side/radar_screen_side.ino

@@ -0,0 +1,71 @@
+#include <SPI.h>
+#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
+int base = 118;               //基线高度
+int scanline = 105;           //雷达扫描线长度
+int outcircle=80;
+int midcircle=60;
+int midcircle2=40;
+int incircle=20;
+int x=90;
+int distance=50;
+Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8);
+void fix_font() 
+{
+  ucg.setColor(0, 180, 0);
+  ucg.setPrintPos(70,46);
+  ucg.print("1.00");
+  ucg.setPrintPos(70,66);
+  ucg.print("0.75");
+  ucg.setPrintPos(70,86);
+  ucg.print("0.50");
+  ucg.setPrintPos(70,106);
+  ucg.print("0.25");
+}
+void fix()
+{
+  ucg.setColor(0, 40, 0);
+  //画基线圆盘
+  ucg.drawDisc(Xcent, base+1, 3, UCG_DRAW_ALL); 
+  ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_LEFT);
+  ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_RIGHT);
+  ucg.drawLine(0, base+1, Xmax,base+1);     
+  ucg.setColor(0, 120, 0);
+}
+void setup() {
+  ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕
+  ucg.setRotate90();              //设置成横屏  如果屏幕显示方向是反的，可以修改函数 setRotate90 或 setRotate270     
+  Serial.begin(9600);             //设置串口传输率
+  ucg.clearScreen();
+  //cls();
+  ucg.setFontMode(UCG_FONT_MODE_SOLID);
+  ucg.setFont(ucg_font_orgv01_hr);
+}
+
+void loop() {
+  if(true){
+    if(false){
+      ucg.clearScreen();
+      fix();
+      fix_font();  //重绘屏幕背景元素
+      return;
+    }
+    if (distance < 100){
+      ucg.setColor(255,0,0);
+      ucg.drawDisc(0.8*distance*cos(radians(x))+Xcent,-0.8*distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
+    }
+    else{ //超过1米以上的，用黄色画在边缘区域示意
+      ucg.setColor(255,255,0);
+      ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL);
+    }
+  }
+}

radar_sensor_side/radar_sensor_side.ino

@@ -0,0 +1,77 @@
+#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;
+Servo baseServo; 
+bool increasing=true;
+bool clr=false;
+//0: increase 1: decrease 2: clr
+int status=0;
+int clrtimes=40;
+void setup(void)
+{
+  pinMode(trigPin, OUTPUT);       //设置trigPin端口模式
+  pinMode(echoPin, INPUT);        //设置echoPin端口模式
+  Serial.begin(9600);             //设置串口传输率
+  baseServo.attach(ServoPin);     //初始化舵机
+  baseServo.write(0);
+  
+}
+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 loop(void)
+{  
+  int distance=0;
+  if(status==0){
+    if(x<180){
+      x+=2;
+    }
+    else{
+      status=2;
+    }
+  }
+  else if(status==1){
+    if(x>0){
+      x-=2;
+    }
+    else{
+      status=2;
+    }
+  }
+  else if(status=2){
+
+    clrtime--;
+    if(clrtime<=0){
+      clrtime=4;
+      if(x>=180){
+        status=1;
+      }
+      else{
+        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);
+}