142 lines
4.3 KiB
C++
142 lines
4.3 KiB
C++
#include <Servo.h>
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#include <SPI.h>
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#include "Ucglib.h"
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#define trigPin 6 //超声波模块的Trig口 6#
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#define echoPin 5 //超声波模块的echo口 5#
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#define ServoPin 3 //底座舵机端口 3#
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int Ymax = 128; //屏幕的竖向像素数
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int Xmax = 160; //屏幕的横向像素数
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int Xcent = Xmax / 2; //x中位
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int base = 118; //基线高度
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int scanline = 105; //雷达扫描线长度
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int outcircle=80;
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int midcircle=60;
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int midcircle2=40;
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int incircle=20;
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unsigned long time=0;
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Servo baseServo;
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Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8);
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void setup(void)
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{
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ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕
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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
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pinMode(trigPin, OUTPUT); //设置trigPin端口模式
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pinMode(echoPin, INPUT); //设置echoPin端口模式
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Serial.begin(9600); //设置串口传输率
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baseServo.attach(ServoPin); //初始化舵机
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baseServo.write(180);
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ucg.clearScreen();
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//cls();
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ucg.setFontMode(UCG_FONT_MODE_SOLID);
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ucg.setFont(ucg_font_orgv01_hr);
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}
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void cls()
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{
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//清屏
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ucg.setColor(0, 0, 0, 0);
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for(int s=0;s<128;s+=8)
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for(int t=0;t<160;t+=16)
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{
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ucg.drawBox(t,s,16,8);
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}
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}
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int calculateDistance()
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{
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long duration;
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digitalWrite(trigPin, LOW);
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delayMicroseconds(2);
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digitalWrite(trigPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(trigPin, LOW);
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duration = pulseIn(echoPin, HIGH);
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return duration*0.034/2;
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}
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void fix_font()
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{
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ucg.setColor(0, 180, 0);
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ucg.setPrintPos(70,46);
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ucg.print("1.00");
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ucg.setPrintPos(70,66);
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ucg.print("0.75");
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ucg.setPrintPos(70,86);
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ucg.print("0.50");
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ucg.setPrintPos(70,106);
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ucg.print("0.25");
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}
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void fix()
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{
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ucg.setColor(0, 40, 0);
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//画基线圆盘
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ucg.drawDisc(Xcent, base+1, 3, UCG_DRAW_ALL);
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ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_LEFT);
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ucg.drawCircle(Xcent, base+1, outcircle, UCG_DRAW_UPPER_RIGHT);
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ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_LEFT);
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ucg.drawCircle(Xcent, base+1, midcircle, UCG_DRAW_UPPER_RIGHT);
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ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_LEFT);
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ucg.drawCircle(Xcent, base+1, midcircle2, UCG_DRAW_UPPER_RIGHT);
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ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_LEFT);
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ucg.drawCircle(Xcent, base+1, incircle, UCG_DRAW_UPPER_RIGHT);
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ucg.drawLine(0, base+1, Xmax,base+1);
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ucg.setColor(0, 120, 0);
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}
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void loop(void)
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{
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int distance;
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fix();
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fix_font(); //重绘屏幕背景元素
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Serial.print("clear:");
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Serial.println(millis()-time);
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time=millis();
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for (int x=180; x >= 0; x-=2){ //底座舵机从180~0度循环
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baseServo.write(x); //调整舵机角度
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//测距
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distance = calculateDistance();
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//根据测得距离在对应位置画点
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if (distance < 100)
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{
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ucg.setColor(255,0,0);
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ucg.drawDisc(0.8*distance*cos(radians(x))+Xcent,-0.8*distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
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}
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else
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{ //超过1米以上的，用黄色画在边缘区域示意
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ucg.setColor(255,255,0);
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ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL);
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}
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}
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Serial.print("left:");
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Serial.println(millis()-time);
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time=millis();
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ucg.clearScreen();
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delay(50);
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//cls();
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fix();
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fix_font(); //重绘屏幕背景元素
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Serial.print("clear:");
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Serial.println(millis()-time);
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time=millis();
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for (int x=0; x <= 180; x+=2){
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baseServo.write(x); //调整舵机角度
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//测距
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distance = calculateDistance();
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//根据测得距离在对应位置画点
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if (distance < 100)
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{
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ucg.setColor(255,0,0);
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ucg.drawDisc(0.8*distance*cos(radians(x))+Xcent,-0.8*distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
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}
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else
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{ //超过1米以上的，用黄色画在边缘区域示意
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ucg.setColor(255,255,0);
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ucg.drawDisc((outcircle-1)*cos(radians(x))+Xcent,-(outcircle-1)*sin(radians(x))+base, 1, UCG_DRAW_ALL);
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}
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}
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Serial.print("right:");
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Serial.println(millis()-time);
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time=millis();
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ucg.clearScreen();
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delay(50);
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//cls();
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} |