320 lines
9.9 KiB
C++
320 lines
9.9 KiB
C++
//淘宝『创元素店』https://shop423015102.taobao.com/
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//更新日期 2021/03/06
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//MiniRadar 超声波雷达 程序
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//本程序对应商品 https://item.taobao.com/item.htm?spm=a1z10.1-c.w4004-23815833841.8.4f231fe7qvLFZi&id=649834806872
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//Github版链接： https://github.com/johnsonwust/MiniRadar
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#include <Servo.h>
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#include <SPI.h>
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#include "Ucglib.h"
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//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
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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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//欢迎屏幕
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// ucg.setFontMode(UCG_FONT_MODE_TRANSPARENT);
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// ucg.setColor(0, 0, 100, 0);
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// ucg.setColor(1, 0, 100, 0);
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// ucg.setColor(2, 20, 20,20);
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// ucg.setColor(3, 20, 20, 20);
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// ucg.drawGradientBox(0, 0, 160, 128);
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// ucg.setPrintDir(0);
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// ucg.setColor(0, 5, 0);
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// ucg.setPrintPos(27,42);
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// ucg.setFont(ucg_font_logisoso18_tf);
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// ucg.print("Mini Radar");
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// ucg.setColor(0, 255, 0);
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// ucg.setPrintPos(25,40);
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// ucg.print("Mini Radar");
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// ucg.setFont(ucg_font_helvB08_tf);
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// ucg.setColor(20, 255, 20);
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// ucg.setPrintPos(40,100);
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// ucg.print("Testing...");
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baseServo.write(90);
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//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。
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for(int x=0;x<180;x+=5)
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{ baseServo.write(x);
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delay(50);
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}
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//ucg.print("OK!");
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delay(500);
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//清屏
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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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// delay(1);
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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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//trigPin断电 并 等待2微妙
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digitalWrite(trigPin, LOW);
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delayMicroseconds(2);
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//trigPin加电 延时 10微妙 再断电
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digitalWrite(trigPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(trigPin, LOW);
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//读取echoPin返回声波的传播时间（微妙）
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duration = pulseIn(echoPin, HIGH);
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//将回声时间转换成距离数值
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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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//画刻度表
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// for(int i= 40;i < 140; i+=2)
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// {
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// if (i % 10 == 0)
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// ucg.drawLine(105*cos(radians(i))+Xcent,base - 105*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
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// else
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// ucg.drawLine(110*cos(radians(i))+Xcent,base - 110*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
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// }
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//画一些装饰性图案
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// ucg.setColor(0,200,0);
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// ucg.drawLine(0,0,0,18);
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// for(int i= 0;i < 5; i++)
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// {
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// ucg.setColor(0,random(200)+50,0);
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// ucg.drawBox(2,i*4,random(14)+2,3);
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// }
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// ucg.setColor(0,180,0);
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// ucg.drawFrame(146,0,14,14);
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// ucg.setColor(0,60,0);
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// ucg.drawHLine(148,0,10);
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// ucg.drawVLine(146,2,10);
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// ucg.drawHLine(148,13,10);
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// ucg.drawVLine(159,2,10);
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// ucg.setColor(0,220,0);
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// ucg.drawBox(148,2,4,4);
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// ucg.drawBox(148,8,4,4);
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// ucg.drawBox(154,8,4,4);
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// ucg.setColor(0,100,0);
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// ucg.drawBox(154,2,4,4);
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// ucg.setColor(0,90,0);
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// ucg.drawTetragon(62,123,58,127,98,127,102,123);
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// ucg.setColor(0,160,0);
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// ucg.drawTetragon(67,123,63,127,93,127,97,123);
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// ucg.setColor(0,210,0);
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// ucg.drawTetragon(72,123,68,127,88,127,92,123);
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// ucg.setColor(0,155, 0);
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// ucg.setPrintPos(0,126);
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// ucg.print("DEG: ");
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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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//绘制雷达扫描线
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// int f = x - 4;
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// ucg.setColor(0, 255, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// f+=2;
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// ucg.setColor(0, 128, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// f+=2;
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// ucg.setColor(0, 0, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// ucg.setColor(0,200, 0);
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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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//调试代码，输出角度和测距值
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//Serial.print(x);
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//Serial.print(" , ");
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//Serial.println(distance);
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//if (x > 70 and x < 110) fix_font(); //扫描线和数字重合时，重绘数字
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// ucg.setColor(0,155, 0);
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// ucg.setPrintPos(0,126);
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// ucg.print("DEG: ");
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//ucg.setPrintPos(24,126);
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//ucg.print(x);
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// ucg.print(" ");
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//ucg.setPrintPos(125,126);
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// ucg.print(" ");
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//ucg.print(distance);
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// ucg.print("cm ");
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//delay(10);
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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(); //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();
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delay(50);
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//cls(); //如有频繁白屏情况，可以使用该函数 。或者增加外部供电
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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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//绘制雷达扫描线
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// int f = x + 4;
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// ucg.setColor(0, 255, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// f-=2;
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// ucg.setColor(0, 128, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// f-=2;
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// ucg.setColor(0, 0, 0);
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// ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
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// ucg.setColor(0, 200, 0);
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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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//调试代码，输出角度和测距值
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//Serial.print(x);
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//Serial.print(" , ");
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//Serial.println(distance);
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//if (x > 70 and x < 110) fix_font(); //扫描线和数字重合时，重绘数字
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// ucg.setColor(0,155, 0);
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// ucg.setPrintPos(0,126);
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// ucg.print("DEG: ");
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// ucg.setPrintPos(24,126);
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// ucg.print(x);
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// ucg.print(" ");
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//ucg.setPrintPos(125,126);
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// ucg.print(" ");
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//ucg.print(distance);
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// ucg.print("cm ");
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//delay(10);
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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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} |