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compare: tianyi:20faf372b57c3fe16c1e81f273b19472bce483f6
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tianyi:main

10 Commits
805f8de61c ... 20faf372b5

Author SHA1 Message Date
clf3 20faf372b5 fixed some BUGs 2023-09-09 19:44:10 +08:00
clf3 209f13c5b4 fixed some BUGs 2023-09-08 21:41:54 +08:00
clf3 b5f240f1b2 conflict ports changed 2023-09-08 00:52:41 +08:00
clf3 d901d7a080 full functions 2023-09-06 17:06:17 +08:00
clf3 46182acec1 radar added to ship 2023-09-06 01:38:22 +08:00
clf3 8262e30455 radar splited 2023-09-06 00:54:00 +08:00
clf3 bc33d84551 removed unused codes 2023-09-05 20:53:02 +08:00
clf3 af269dd20a time calculation 2023-09-05 20:39:59 +08:00
clf3 4a666d121d radar modified 2023-09-04 23:48:32 +08:00
clf3 42b038308d ship new protocol 2023-09-04 21:42:44 +08:00
6 changed files with 511 additions and 375 deletions
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303
radar/radar.ino
View File

@ -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 <Servo.h>
#include <SPI.h> #include <SPI.h>
#include "Ucglib.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 trigPin 6 //超声波模块的Trig口 6#
#define echoPin 5 //超声波模块的echo口 5# #define echoPin 5 //超声波模块的echo口 5#
#define ServoPin 3 //底座舵机端口 3# #define ServoPin 3 //底座舵机端口 3#
@ -19,196 +9,91 @@ 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
int base = 118; //基线高度 int base = 118; //基线高度
int scanline = 105; //雷达扫描线长度 int scanline = 105; //雷达扫描线长度
int outcircle=81; int outcircle=80;
int midcircle=54; int midcircle=60;
int incircle=27; int midcircle2=40;
int incircle=20;
unsigned long time=0;
Servo baseServo; Servo baseServo;
Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8); Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8);
void setup(void) void setup(void)
{ {
ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕
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
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
pinMode(trigPin, OUTPUT); //设置trigPin端口模式 Serial.begin(9600); //设置串口传输率
pinMode(echoPin, INPUT); //设置echoPin端口模式 baseServo.attach(ServoPin); //初始化舵机
Serial.begin(115200); //设置串口传输率 baseServo.write(180);
baseServo.attach(ServoPin); //初始化舵机 ucg.clearScreen();
//cls();
//欢迎屏幕 ucg.setFontMode(UCG_FONT_MODE_SOLID);
ucg.setFontMode(UCG_FONT_MODE_TRANSPARENT); ucg.setFont(ucg_font_orgv01_hr);
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();
ucg.setFontMode(UCG_FONT_MODE_SOLID);
ucg.setFont(ucg_font_orgv01_hr);
} }
void cls() void cls()
{ {
//清屏 //清屏
ucg.setColor(0, 0, 0, 0); ucg.setColor(0, 0, 0, 0);
for(int s=0;s<128;s+=8) for(int s=0;s<128;s+=8)
for(int t=0;t<160;t+=16) for(int t=0;t<160;t+=16)
{ {
ucg.drawBox(t,s,16,8); ucg.drawBox(t,s,16,8);
// delay(1);
} }
} }
int calculateDistance() int calculateDistance()
{ {
long duration; long duration;
//trigPin断电 并 等待2微妙 digitalWrite(trigPin, LOW);
digitalWrite(trigPin, LOW); delayMicroseconds(2);
delayMicroseconds(2); digitalWrite(trigPin, HIGH);
//trigPin加电 延时 10微妙 再断电 delayMicroseconds(10);
digitalWrite(trigPin, HIGH); digitalWrite(trigPin, LOW);
delayMicroseconds(10); duration = pulseIn(echoPin, HIGH);
digitalWrite(trigPin, LOW); return duration*0.034/2;
//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() void fix_font()
{ {
ucg.setColor(0, 180, 0); ucg.setColor(0, 180, 0);
ucg.setPrintPos(70,14); ucg.setPrintPos(70,46);
ucg.print("1.00"); ucg.print("1.00");
ucg.setPrintPos(70,52); ucg.setPrintPos(70,66);
ucg.print("0.67"); ucg.print("0.75");
ucg.setPrintPos(70,90); ucg.setPrintPos(70,86);
ucg.print("0.33"); ucg.print("0.50");
ucg.setPrintPos(70,106);
ucg.print("0.25");
} }
void fix() void fix()
{ {
ucg.setColor(0, 40, 0);
ucg.setColor(0, 40, 0); //画基线圆盘
//画基线圆盘 ucg.drawDisc(Xcent, base+1, 3, UCG_DRAW_ALL);
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_LEFT); ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_RIGHT);
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_LEFT); ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_RIGHT);
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, incircle, UCG_DRAW_UPPER_LEFT); ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_RIGHT);
ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_RIGHT); ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_LEFT);
ucg.drawLine(0, base+1, Xmax,base+1); ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_RIGHT);
ucg.drawLine(0, base+1, Xmax,base+1);
ucg.setColor(0, 120, 0); 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) void loop(void)
{ {
int distance;
int distance;
fix(); fix();
fix_font(); //重绘屏幕背景元素 fix_font(); //重绘屏幕背景元素
Serial.print("clear:");
for (int x=180; x > 4; x-=2){ //底座舵机从180~0度循环 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 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 //测距
distance = calculateDistance(); distance = calculateDistance();
//根据测得距离在对应位置画点 //根据测得距离在对应位置画点
if (distance < 100) if (distance < 100)
{ {
@ -220,52 +105,22 @@ void loop(void)
ucg.setColor(255,255,0); ucg.setColor(255,255,0);
ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL); 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(); Serial.print("left:");
Serial.println(millis()-time);
time=millis();
ucg.clearScreen();
delay(50); 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 //cls();
fix(); fix();
fix_font(); //重绘屏幕背景元素 fix_font(); //重绘屏幕背景元素
Serial.print("clear:");
for (int x=1; x < 176; x+=2){ Serial.println(millis()-time);
time=millis();
for (int x=0; x <= 180; x+=2){
baseServo.write(x); //调整舵机角度 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 //测距
distance = calculateDistance(); distance = calculateDistance();
//根据测得距离在对应位置画点 //根据测得距离在对应位置画点
if (distance < 100) if (distance < 100)
{ {
@ -277,29 +132,11 @@ void loop(void)
ucg.setColor(255,255,0); ucg.setColor(255,255,0);
ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL); 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("right:");
delay(50); Serial.println(millis()-time);
//cls(); time=millis();
ucg.clearScreen();
delay(50);
//cls();
} }

72
radar_screen_side/radar_screen_side.ino Normal file
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@ -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);
}
}
}

77
radar_sensor_side/radar_sensor_side.ino Normal file
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@ -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);
}

65
remote_controler/remote_controler.ino
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@ -3,23 +3,46 @@
#include<nRF24L01.h> #include<nRF24L01.h>
#include<RF24.h> #include<RF24.h>
#include<TimerOne.h> #include<TimerOne.h>
#include<SoftwareSerial.h>
RF24 radio(7,8);//端口可能要改 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 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 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 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 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() { void setup() {
// put your setup code here, to run once:
Serial.begin(9600); Serial.begin(9600);
sendingSerial.begin(38400);
radio.begin(); 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.openWritingPipe(addresser);
radio.openReadingPipe(1,addresser); radio.openReadingPipe(1,addresser);
radio.setPALevel(RF24_PA_HIGH); radio.setPALevel(RF24_PA_MIN);
Timer1.initialize(interval); //Timer1.initialize(interval);
Timer1.attachInterrupt(send); //Timer1.attachInterrupt(send);
radio.startListening();
} }
void send(){ 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; sending_signal=0;
radio.stopListening(); radio.stopListening();
propeller=analogRead(Rp); propeller=analogRead(Rp);
@ -29,16 +52,24 @@ void send(){
sending_signal+=propeller; sending_signal+=propeller;
sending_signal+=rudder*1000; sending_signal+=rudder*1000;
sending_signal+=1000000; sending_signal+=1000000;
radio.write(&sending_signal,sizeof(sending_signal)); bool b=radio.write(&sending_signal,sizeof(sending_signal));
Serial.println(propeller); Serial.println(b);
Serial.println(rudder); radio.startListening();
Serial.print("propeller sent "); delay(interval);
Serial.println(propeller); //Serial.println("loop");
Serial.print("rudder sent "); if(radio.available()){
Serial.println(rudder); Serial.print("response:");
Serial.println(sending_signal); radio.read(&response,sizeof(response));
} Serial.println(response);
void loop() { if(response%1000000==1){
// put your main code here, to run repeatedly: sending=String(response);
sendingSerial.print(sending);
sendingSerial.print('\n');
}
else if(response==2000000){
sending=String(response);
sendingSerial.print(sending);
sendingSerial.print('\n');
}
}
} }

106
remote_controler_board_2/remote_controler_board_2.ino Normal file
View File

@ -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;
}
}

263
ship/ship.ino
View File

@ -4,170 +4,183 @@
#include "Arduino.h" #include "Arduino.h"
#include "HardwareSerial.h" #include "HardwareSerial.h"
#include<Servo.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 MyServo;
Servo RidaServo; Servo RadarServo;
RF24 radio(7,8); RF24 radio(7,8);
int count =0; int count =0;
int IN1 =7; int IN1 =9;
int IN2 = 8; 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
const long R_prop=5,R_rudd=6;//输出端口 long propeller,rudder,content;//校验序列、读取内容和解码内容
long check_array[7],content,after_decode;//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” 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 decode_and_confirm(long x){ {
long sum=0,add=0,x1=x; long duration;
while(x1!=0){ digitalWrite(trigPin, LOW);
check_array[add]=x1%10; delayMicroseconds(2);
x1/=10; digitalWrite(trigPin, HIGH);
add++; delayMicroseconds(10);
} digitalWrite(trigPin, LOW);
for(long i=0,j=4;i<add;j--,i++){ duration = pulseIn(echoPin, HIGH);
sum+=check_array[i]*j; return duration*0.034/2;
}
if(sum%10==check_array[4])
return -1;//代表校验失败
return x%10000;
} }
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_MIN); //设置功率放大器级别，将其设置为最小值
//radio.setChannel(0);
delay(1000); delay(1000);
MyServo.write(45);
}
long confirm(long x){
if(x>=1000000&&x<=2000000)return x%1000000;
else return -1;
} }
void loop() { void loop() {
//Serial.println(sizeof(long));
analogWrite(PWM,0);
radio.startListening(); radio.startListening();
//Serial.println("start listening!"); delay(20);
if(radio.available()){
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){
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
after_decode=decode_and_confirm(content); content=confirm(content);
Serial.println(after_decode); if(content!=-1){
if(after_decode!=-1&&content>=100000){ propeller=content%1000;
if(content<200000){ rudder=(content-propeller)/1000;
Serial.println("inputing propeller "); if(propeller>550||propeller<449){
if(after_decode>600||after_decode<500){ if(propeller>550){
if(after_decode>600){ long zheng=0.568*propeller-312.4;
long zheng=after_decode; digitalWrite(IN2,HIGH);
digitalWrite(IN2,HIGH); digitalWrite(IN1,LOW);
digitalWrite(IN1,LOW); analogWrite(PWM,zheng);
analogWrite(PWM,zheng); z=zheng;
delay(50); Serial.println("forward propelling");
z=zheng-512;
Serial.println("forward propelling");
Serial.println(z);
}
else if(after_decode<500){
long fan=1100-after_decode;
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
analogWrite(PWM,fan);
delay(50);
z=fan-512;
Serial.println("back propelling");
Serial.println(z);
}
}
else if(after_decode<=600||after_decode>=500){
z=0;
Serial.println("stop propelling");
Serial.println(z); 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{ Serial.println("inputing ruddering");
Serial.println("inputing ruddering"); if(rudder>550||rudder<449)
if(after_decode>600||after_decode<500){ {
if(after_decode<500){ if(rudder<449){
long fan1=0.18*after_decode; long fan1=0.1*rudder;
MyServo.write(fan1/2); MyServo.write(fan1);
delay(150); Serial.println("turn left");
dj=fan1-90; dj=2*fan1-90;
Serial.println("turn left");
Serial.println(dj);
}
else if(after_decode>600){
long zheng1=0.22*after_decode-42;
MyServo.write(zheng1/2);
delay(150);
dj=zheng1-90;
Serial.println("turn right");
Serial.println(dj);
}
}
else if(after_decode<=600||after_decode>=500){
dj=0;
Serial.println("stop turing");
Serial.println(dj); 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);
} }
} }
} }
// 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
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);
} }