//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 #include #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# 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=81; int midcircle=54; int incircle=27; 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 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(); 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.print("1.00"); ucg.setPrintPos(70,52); ucg.print("0.67"); ucg.setPrintPos(70,90); ucg.print("0.33"); } 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, 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 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(); //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(); // delay(50); //cls(); }