fixed some BUGs

radar/radar.ino

@@ -1,16 +1,6 @@
-//淘宝『创元素店』https://shop423015102.taobao.com/
-//更新日期 2021/03/06
-//MiniRadar 超声波雷达 程序
-//本程序对应商品 https://item.taobao.com/item.htm?spm=a1z10.1-c.w4004-23815833841.8.4f231fe7qvLFZi&id=649834806872
-
-//Github版链接：  https://github.com/johnsonwust/MiniRadar
-
 #include <Servo.h> 
 #include <SPI.h>
 #include "Ucglib.h"
-//显示屏的lib 如果没有该lib请按Ctrl+Shift+I 从 库管理器中搜索 ucglib，并安装
-
-
 #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#
@@ -19,109 +9,65 @@ 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=81;
-int midcircle=54;
-int incircle=27;
-
+int outcircle=80;
+int midcircle=60;
+int midcircle2=40;
+int incircle=20;
+unsigned long time=0;
 Servo baseServo; 
 Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8);
 
 void setup(void)
 {
- 
   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     
-      
   pinMode(trigPin, OUTPUT);       //设置trigPin端口模式
   pinMode(echoPin, INPUT);        //设置echoPin端口模式
-      Serial.begin(115200);             //设置串口传输率
+  Serial.begin(9600);             //设置串口传输率
   baseServo.attach(ServoPin);     //初始化舵机
-    
-      //欢迎屏幕
-      ucg.setFontMode(UCG_FONT_MODE_TRANSPARENT);
-      ucg.setColor(0, 0, 100, 0);
-      ucg.setColor(1, 0, 100, 0);
-      ucg.setColor(2, 20, 20,20);
-      ucg.setColor(3, 20, 20, 20);
-      ucg.drawGradientBox(0, 0, 160, 128);
-      ucg.setPrintDir(0);
-      ucg.setColor(0, 5, 0);
-      ucg.setPrintPos(27,42);
-      ucg.setFont(ucg_font_logisoso18_tf);  
-      ucg.print("Mini Radar");
-      ucg.setColor(0, 255, 0);
-      ucg.setPrintPos(25,40);
-      ucg.print("Mini Radar");
-      ucg.setFont(ucg_font_helvB08_tf);
-      ucg.setColor(20, 255, 20);
-      ucg.setPrintPos(40,100);
-      ucg.print("Testing...");
-      baseServo.write(90);
-    
-      //测试底座的运行情况，注意检测底座位置和转动姿态，是否有卡住（或者导线缠绕）的情况。
-      for(int x=0;x<180;x+=5)
-          { baseServo.write(x);
-            delay(50);
-           }
-      ucg.print("OK!");
-      delay(500);
-
-    
-      //清屏
-      //ucg.clearScreen();
-      cls();
+  baseServo.write(180);
+  ucg.clearScreen();
+  //cls();
   ucg.setFontMode(UCG_FONT_MODE_SOLID);
   ucg.setFont(ucg_font_orgv01_hr);  
-  
 }
 
-
 void cls()
 {
   //清屏
   ucg.setColor(0, 0, 0, 0);  
-  
   for(int s=0;s<128;s+=8)
   for(int t=0;t<160;t+=16)
   {
     ucg.drawBox(t,s,16,8);
-   // delay(1);
   }
-    
-
 }
 
-
 int calculateDistance()
 { 
   long duration;
-      //trigPin断电 并 等待2微妙
   digitalWrite(trigPin, LOW); 
   delayMicroseconds(2);
-      //trigPin加电 延时 10微妙 再断电
   digitalWrite(trigPin, HIGH); 
   delayMicroseconds(10);
   digitalWrite(trigPin, LOW);
-      //读取echoPin返回声波的传播时间（微妙）
   duration = pulseIn(echoPin, HIGH);
-      //将回声时间转换成距离数值
   return duration*0.034/2;
 }
-
 void fix_font() 
 {
   ucg.setColor(0, 180, 0);
-      ucg.setPrintPos(70,14);
+  ucg.setPrintPos(70,46);
   ucg.print("1.00");
-      ucg.setPrintPos(70,52);
-      ucg.print("0.67");
-      ucg.setPrintPos(70,90);
-      ucg.print("0.33");
+  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); 
@@ -129,86 +75,25 @@ void fix()
   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);
-      //画刻度表
-      //  for(int i= 40;i < 140; i+=2)
-      //  {
-
-      //   if (i % 10 == 0) 
-      //     ucg.drawLine(105*cos(radians(i))+Xcent,base - 105*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
-      //   else
-        
-      //    ucg.drawLine(110*cos(radians(i))+Xcent,base - 110*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
-      //  }
-          
-       //画一些装饰性图案 
-       ucg.setColor(0,200,0);
-       ucg.drawLine(0,0,0,18);
-       for(int i= 0;i < 5; i++)
-       {
-          ucg.setColor(0,random(200)+50,0);
-          ucg.drawBox(2,i*4,random(14)+2,3);
 }
-
-       ucg.setColor(0,180,0);
-       ucg.drawFrame(146,0,14,14);
-       ucg.setColor(0,60,0);
-       ucg.drawHLine(148,0,10);
-       ucg.drawVLine(146,2,10);
-       ucg.drawHLine(148,13,10);
-       ucg.drawVLine(159,2,10);
-        
-       ucg.setColor(0,220,0);
-       ucg.drawBox(148,2,4,4);
-       ucg.drawBox(148,8,4,4);
-       ucg.drawBox(154,8,4,4);
-       ucg.setColor(0,100,0);
-       ucg.drawBox(154,2,4,4);
-
-       ucg.setColor(0,90,0);
-       ucg.drawTetragon(62,123,58,127,98,127,102,123);
-       ucg.setColor(0,160,0);
-       ucg.drawTetragon(67,123,63,127,93,127,97,123);
-       ucg.setColor(0,210,0);
-       ucg.drawTetragon(72,123,68,127,88,127,92,123);
-
-      // ucg.setColor(0,155,  0);
-      // ucg.setPrintPos(0,126);
-      // ucg.print("DEG: "); 
-}
-
-
-
 void loop(void)
 {  
-  
   int distance;  
-  
   fix(); 
   fix_font();  //重绘屏幕背景元素
-
-  for (int x=180; x > 4; x-=2){       //底座舵机从180~0度循环
-     
+  Serial.print("clear:");
+  Serial.println(millis()-time);
+  time=millis();
+  for (int x=180; x >= 0; x-=2){       //底座舵机从180~0度循环     
       baseServo.write(x);             //调整舵机角度
-      
-      //绘制雷达扫描线
-      // int f = x - 4; 
-      // ucg.setColor(0, 255, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // f+=2;
-      // ucg.setColor(0, 128, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // f+=2;
-      // ucg.setColor(0, 0, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // ucg.setColor(0,200, 0);
       //测距
       distance = calculateDistance();     
-     
       //根据测得距离在对应位置画点
       if (distance < 100)
       {
@@ -220,86 +105,38 @@ void loop(void)
         ucg.setColor(255,255,0);
         ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL);
       }
-    
-           
-      //调试代码，输出角度和测距值  
-      Serial.print(x); 
-      Serial.print("    ,   ");
-      Serial.println(distance); 
-     
-
-      //if (x > 70 and x < 110)  fix_font();  //扫描线和数字重合时，重绘数字
- 
-      // ucg.setColor(0,155,  0);
-      // ucg.setPrintPos(0,126);
-      // ucg.print("DEG: "); 
-      //ucg.setPrintPos(24,126);
-      //ucg.print(x);
-      // ucg.print("  ");
-      //ucg.setPrintPos(125,126);
-      // ucg.print("  ");
-      //ucg.print(distance);
-      // ucg.print("cm  "); 
-      
   }
-  ucg.clearScreen();  //清屏 如果arduino供电不足，可能会引起白屏（显示信号中断）可以用 cls();函数代替 ucg.clearScreen(); 
-  delay(50);
-  //cls();   //如有频繁白屏情况，可以使用该函数 。或者增加外部供电
- 
-  fix(); 
-  fix_font();          //重绘屏幕背景元素
-  
-  for (int  x=1; x < 176; x+=2){     
-      baseServo.write(x);             //调整舵机角度
-      
-      //绘制雷达扫描线
-      // int f = x + 4;
-      // ucg.setColor(0, 255, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // f-=2;
-      // ucg.setColor(0, 128, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // f-=2;
-      // ucg.setColor(0, 0, 0);
-      // ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
-      // ucg.setColor(0, 200, 0);
-      //测距
-      distance = calculateDistance();
-
-      //根据测得距离在对应位置画点
-      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);
-      }
-           
-      //调试代码，输出角度和测距值  
-      Serial.print(x); 
-      Serial.print("    ,   ");
-      Serial.println(distance); 
-     
-      //if (x > 70 and x < 110)  fix_font();  //扫描线和数字重合时，重绘数字
-      
-      // ucg.setColor(0,155,  0);
-      // ucg.setPrintPos(0,126);
-      // ucg.print("DEG: "); 
-      // ucg.setPrintPos(24,126);
-      // ucg.print(x);
-      // ucg.print("   ");
-      //ucg.setPrintPos(125,126);
-      // ucg.print("   ");
-      //ucg.print(distance);
-      // ucg.print("cm   "); 
-  
-  }
- ucg.clearScreen(); //
+  Serial.print("left:");
+  Serial.println(millis()-time);
+  time=millis();
+  ucg.clearScreen();
+  delay(50);
+  //cls(); 
+  fix(); 
+  fix_font();          //重绘屏幕背景元素
+  Serial.print("clear:");
+  Serial.println(millis()-time);
+  time=millis();  
+  for (int  x=0; x <= 180; x+=2){     
+      baseServo.write(x);             //调整舵机角度
+      //测距
+      distance = calculateDistance();
+      //根据测得距离在对应位置画点
+      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);
+      }
+  }
+  Serial.print("right:");
+  Serial.println(millis()-time);
+  time=millis();
+  ucg.clearScreen();
   delay(50);
   //cls();
-
-
 }

radar_screen_side/radar_screen_side.ino

@@ -0,0 +1,72 @@
+#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 clrtime=40;
+int x=0;
+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;
+    }
+    baseServo.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;
+    }
+    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;
+      if(x>=180){
+        status=1;
+      }
+      else{
+        status=0;
+      }
+    }
+    //send clear
+  }
+  delay(20-distance/17);
+}

remote_controler/remote_controler.ino

@@ -3,23 +3,46 @@
 #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
+long time=0;
 void setup() {
-  // put your setup code here, to run once:
   Serial.begin(9600);
+  sendingSerial.begin(38400);
   radio.begin();
-  //radio.setChannel(114);//设置信道，114号通道
+  //radio.setChannel(115);//设置信道，115号通道
+  radio.setDataRate(RF24_250KBPS);
+  radio.setRetries(3, 5);
   radio.openWritingPipe(addresser);
   radio.openReadingPipe(1,addresser);
-  radio.setPALevel(RF24_PA_HIGH);
-  Timer1.initialize(interval);
-  Timer1.attachInterrupt(send);
+  radio.setPALevel(RF24_PA_MIN);
+  //Timer1.initialize(interval);
+  //Timer1.attachInterrupt(send);
+  radio.startListening();
 }
 void send(){
+
+  // Serial.println(propeller);
+  // Serial.println(rudder);
+  // Serial.print("propeller sent ");
+  // Serial.println(propeller);
+  // Serial.print("rudder sent ");
+  // Serial.println(rudder);
+  // Serial.println(sending_signal);
+ 
+  //Serial.println(millis()-time);
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+  time=millis();
+  //Serial.println("send");
   sending_signal=0;
   radio.stopListening();
   propeller=analogRead(Rp);
@@ -29,16 +52,24 @@ void send(){
   sending_signal+=propeller;
   sending_signal+=rudder*1000;
   sending_signal+=1000000;
-  radio.write(&sending_signal,sizeof(sending_signal));
-  Serial.println(propeller);
-  Serial.println(rudder);
-  Serial.print("propeller sent ");
-  Serial.println(propeller);
-  Serial.print("rudder sent ");
-  Serial.println(rudder);
-  Serial.println(sending_signal);
+  bool b=radio.write(&sending_signal,sizeof(sending_signal));
+  Serial.println(b);
+  radio.startListening();
+  delay(interval);
+  //Serial.println("loop");
+  if(radio.available()){
+    Serial.print("response:");
+    radio.read(&response,sizeof(response));
+    Serial.println(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');
+    }
   }
-void loop() {
-  // put your main code here, to run repeatedly:
- 
 }

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

@@ -4,170 +4,183 @@
 #include "Arduino.h"
 #include "HardwareSerial.h"
 #include<Servo.h>
+#define  trigPin   2          //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 =7;
-int IN2 = 8;
+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
-const long R_prop=5,R_rudd=6;//输出端口
-long check_array[7],content,after_decode;//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 
+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()
+{ 
+  long duration;
+  digitalWrite(trigPin, LOW); 
+  delayMicroseconds(2);
+  digitalWrite(trigPin, HIGH); 
+  delayMicroseconds(10);
+  digitalWrite(trigPin, LOW);
+  duration = pulseIn(echoPin, HIGH);
+  return duration*0.034/2;
+}
 
-long decode_and_confirm(long x){
-  long sum=0,add=0,x1=x;
-  while(x1!=0){
-    check_array[add]=x1%10;
-    x1/=10;
-    add++;
-  }
-  for(long i=0,j=4;i<add;j--,i++){
-    sum+=check_array[i]*j;
-  }
-  if(sum%10==check_array[4])
-  return -1;//代表校验失败
-  return x%10000;
-}
 void setup()
 {
-  
   Serial.begin(9600);
   MyServo.attach(4);
-  RidaServo.attach(5);
-  pinMode(TrigPin,OUTPUT);
-  pinMode(EcoPin,INPUT);
+  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.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
-  //radio.setChannel(0);
+  radio.setPALevel(RF24_PA_MIN);   //设置功率放大器级别，将其设置为最小值
   delay(1000);
+  MyServo.write(45);
+}
+long confirm(long x){
+  if(x>=1000000&&x<=2000000)return x%1000000;
+  else return -1;
 }
-
 void loop() {
-  //Serial.println(sizeof(long));
-  analogWrite(PWM,0);
   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();
- // Serial.println("start listening!");
-  if(radio.available()>0){
+  delay(20);
+  if(radio.available()){
     radio.read(&content,sizeof(content));
     Serial.println("The content is");
     Serial.println(content);//调试
-    after_decode=decode_and_confirm(content);
-    Serial.println(after_decode);
-    if(after_decode!=-1&&content>=100000){
-      if(content<200000){
-        Serial.println("inputing propeller ");
-        if(after_decode>600||after_decode<500){
-          if(after_decode>600){ 
-            long zheng=after_decode;
+    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);
-            delay(50);
-            z=zheng-512;
+          z=zheng;
           Serial.println("forward propelling");
           Serial.println(z);
         }
-          else if(after_decode<500){
-            long fan=1100-after_decode;
+        else if(propeller<449){
+          long fan=255-0.568*propeller;
           digitalWrite(IN1,HIGH);
           digitalWrite(IN2,LOW);
           analogWrite(PWM,fan);
-            delay(50);
-            z=fan-512;
+          z=fan;
           Serial.println("back propelling");
           Serial.println(z);
         }
       }
-        else if(after_decode<=600||after_decode>=500){
+      else if(propeller<=550||propeller>=449){
         z=0;
+        analogWrite(PWM,0);
         Serial.println("stop propelling");
         Serial.println(z);
       } 
-      } 
-      else{
       Serial.println("inputing ruddering");
-        if(after_decode>600||after_decode<500){
-          if(after_decode<500){
-            long fan1=0.18*after_decode;
-            MyServo.write(fan1/2);
-            delay(150);
-            dj=fan1-90;
+      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);
         }
-          else if(after_decode>600){
-            long zheng1=0.22*after_decode-42;
-            MyServo.write(zheng1/2);
-            delay(150);
-            dj=zheng1-90;
+        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(after_decode<=600||after_decode>=500){
+      else if(rudder<=550||rudder>=449){
         dj=0;
+        MyServo.write(45);
         Serial.println("stop turing");
         Serial.println(dj);
       }
     }
   }
+  radio.stopListening();
+
+  int distance=0;
+  if(status==0){
+    if(x<180){
+      x+=2;
     }
- // 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++;
+    else{
+      status=2;
+    }
+    RadarServo.write(x);             //调整舵机角度
+    //测距
+    distance = calculateDistance();
+    //send distance
+    response=1000000+x*1000+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();
+    response=1000000+x*1000+distance;
+    //send distance
+  }
+  else if(status=2){
+    clrtime--;
+    if(clrtime<=0){
+      clrtime=4;
+      if(x>=180){
+        status=1;
+      }
+      else{
+        status=0;
+      }
+    }
+    //send clear
+    response=2000000;
+  }
+  radio.write(&response,sizeof(response));
+  //delay(20-distance/17);
+  Serial.println(distance);
 }