full functions

radar/radar.ino

@@ -1,7 +1,6 @@
 #include <Servo.h> 
 #include <SPI.h>
 #include "Ucglib.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#

remote_controler/remote_controler.ino

@@ -3,13 +3,18 @@
 #include<nRF24L01.h>
 #include<RF24.h>
 #include<TimerOne.h>
+#include<SoftwareSerial.h>
 RF24 radio(7,8);//端口可能要改
+SoftwareSerial sendingSerial(5,6);
+String sending="";
 const int Rp=0,Rr=1,interval=20;//Rp,Rr 分别为两个遥杆的接口
 long propeller=0,rudder=0,dist;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
 long sending_signal=0;//发送的信号
+long response=0;
 const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读
 void setup() {
   Serial.begin(9600);
+  sendingSerial.begin(38400);
   radio.begin();
   //radio.setChannel(114);//设置信道，114号通道
   radio.openWritingPipe(addresser);
@@ -17,6 +22,7 @@ void setup() {
   radio.setPALevel(RF24_PA_HIGH);
   Timer1.initialize(interval);
   Timer1.attachInterrupt(send);
+  radio.startListening();
 }
 void send(){
   sending_signal=0;
@@ -36,8 +42,21 @@ void send(){
   Serial.print("rudder sent ");
   Serial.println(rudder);
   Serial.println(sending_signal);
+  radio.startListening();
 }
 void loop() {
   // put your main code here, to run repeatedly:
-  
+  if(radio.available()){
+    radio.read(&response,sizeof(response));
+    if(response%1000000==1){
+      sending=String(response);
+      sendingSerial.print(sending);
+      sendingSerial.print('\n');
+    }
+    else if(response==2000000){
+      sending=String(response);
+      sendingSerial.print(sending);
+      sendingSerial.print('\n');
+    }
+  }
 }

remote_controler_board_2/remote_controler_board_2.ino

@@ -0,0 +1,106 @@
+#include <SPI.h>
+#include<SoftwareSerial.h>
+#include "Ucglib.h"
+#define interruptPin 2
+SoftwareSerial sendingSerial(6,7);
+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;
+bool rec=false;
+bool clr=false;
+bool ignoreClr=false;
+String received="";//用来接受字符 
+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
+  sendingSerial.begin(38400);
+  sendingSerial.listen();//必须要加
+  ucg.clearScreen();
+  //cls();
+  ucg.setFontMode(UCG_FONT_MODE_SOLID);
+  ucg.setFont(ucg_font_orgv01_hr);
+}
+
+void loop() {
+  while(sendingSerial.available()){
+    if(sendingSerial.peek()!='\n'){//peek()查看当前字节是不是换行
+      received+=(char)sendingSerial.read();
+    }
+    else{
+      rec=true;
+      sendingSerial.read();//把换行符读掉
+      if(received[0]=='1'){
+        ignoreClr=false;
+        distance=received.substring(4).toInt();//个十百3位数
+        x=received.substring(1,4).toInt();//第456位  三位数
+      }
+      else if(received[0]=='2'){
+        if(!ignoreClr){
+          clr=true;
+        }
+      }
+      received="";
+    }
+  }
+  if(rec){
+    if(clr){
+      ucg.clearScreen();
+      fix();
+      fix_font();  //重绘屏幕背景元素
+      clr=false;
+      ignoreClr=true;
+      return;
+    }
+    else if(ignoreClr){
+      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);
+    }
+    rec=false;
+  }
+}

ship/ship.ino

@@ -32,6 +32,7 @@ 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 
+long response=0;
 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()
 { 
@@ -73,8 +74,7 @@ long confirm(long x){
 }
 void loop() {
   radio.startListening();
-  radio.startListening();
+  if(radio.available()){
-  if(radio.available()>0){
     radio.read(&content,sizeof(content));
     Serial.println("The content is");
     Serial.println(content);//调试
@@ -148,6 +148,7 @@ void loop() {
     //测距
     distance = calculateDistance();
     //send distance
+    response=1000000+x*1000+distance;
   }
   else if(status==1){
     if(x>0){
@@ -159,6 +160,7 @@ void loop() {
     RadarServo.write(x);             //调整舵机角度
     //测距
     distance = calculateDistance();
+    response=1000000+x*1000+distance;
     //send distance
   }
   else if(status=2){
@@ -173,7 +175,9 @@ void loop() {
       }
     }
     //send clear
+    response=2000000;
   }
+  radio.write(response,sizeof(response));
   delay(20-distance/17);
 }