ship with detect
This commit is contained in:
parent
3510e3cd16
commit
05ce129d19
|
|
@ -38,10 +38,11 @@ void loop() {
|
|||
sending_signal=0;
|
||||
propeller=analogRead(Rp);
|
||||
rudder=analogRead(Rr);
|
||||
propeller=propeller*1.41;
|
||||
rudder=rudder*1.41;
|
||||
propeller=propeller*1.18;
|
||||
rudder=rudder*1.18;
|
||||
if(propeller>=1000)propeller=999;
|
||||
if(rudder>=1000)rudder=999;
|
||||
rudder=999-rudder;
|
||||
sending_signal+=propeller;
|
||||
sending_signal+=rudder*1000;
|
||||
sending_signal+=1000000;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,110 @@
|
|||
#include <SPI.h>
|
||||
#include<SoftwareSerial.h>
|
||||
#include "Ucglib.h"
|
||||
#define interruptPin 2
|
||||
SoftwareSerial sendingSerial(5,6);
|
||||
int Ymax = 160; //屏幕的竖向像素数
|
||||
int Xmax = 128; //屏幕的横向像素数
|
||||
int Xcent = Xmax / 2; //x中位
|
||||
int base = 100; //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(Xcent-10,26);
|
||||
ucg.print("1.00");
|
||||
ucg.setPrintPos(Xcent-10,46);
|
||||
ucg.print("0.75");
|
||||
ucg.setPrintPos(Xcent-10,66);
|
||||
ucg.print("0.50");
|
||||
ucg.setPrintPos(Xcent-10,86);
|
||||
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.setRotate180(); //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
|
||||
Serial.println(received);
|
||||
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;
|
||||
}
|
||||
}
|
||||
else{
|
||||
rec=false;
|
||||
}
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
|
@ -57,12 +57,9 @@ void setup()
|
|||
pinMode(PWM,OUTPUT);
|
||||
pinMode(A1,INPUT);
|
||||
pinMode(A2,INPUT);
|
||||
MyServo.write(angle);
|
||||
|
||||
RadarServo.write(0);
|
||||
|
||||
delay(1000);
|
||||
MyServo.write(45);
|
||||
RadarServo.write(0);
|
||||
delay(1000);
|
||||
}
|
||||
long confirm(long x){
|
||||
if(x>=1000000&&x<=2000000)return x%1000000;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,238 @@
|
|||
#include<SPI.h>
|
||||
#include "Arduino.h"
|
||||
#include "HardwareSerial.h"
|
||||
#include<SoftwareSerial.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;
|
||||
const int interval=100;
|
||||
String sending="",received="";
|
||||
Servo MyServo;
|
||||
Servo RadarServo;
|
||||
SoftwareSerial bluetoothSerial(7,8);
|
||||
int count =0;
|
||||
int IN1 =9;
|
||||
int IN2 =10;
|
||||
int PWM=6;
|
||||
int angle=90;
|
||||
int period=25;
|
||||
int attachwater;
|
||||
int j;
|
||||
// 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
|
||||
long propeller,rudder;//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;
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
bluetoothSerial.begin(57600);
|
||||
bluetoothSerial.listen();
|
||||
MyServo.attach(4);
|
||||
RadarServo.attach(ServoPin);
|
||||
pinMode(trigPin,OUTPUT);
|
||||
pinMode(echoPin,INPUT);
|
||||
pinMode(IN1,OUTPUT);
|
||||
pinMode(IN2,OUTPUT);
|
||||
pinMode(PWM,OUTPUT);
|
||||
RadarServo.write(0);
|
||||
MyServo.write(45);
|
||||
delay(1000);
|
||||
|
||||
}
|
||||
long confirm(long x){
|
||||
if(x>=1000000&&x<=2000000)return x%1000000;
|
||||
else return -1;
|
||||
}
|
||||
void loop() {
|
||||
int distance=0;
|
||||
attachwater=0;
|
||||
for(j=1;j<=100;j++)
|
||||
{
|
||||
if(analogRead(A1)*5/1023!=4) break;
|
||||
}
|
||||
if(j>=100) attachwater=1;
|
||||
|
||||
|
||||
Serial.println(attachwater);
|
||||
|
||||
// Serial.print("s: ");
|
||||
// Serial.println(status);
|
||||
if(status==0){
|
||||
if(x<180){
|
||||
x+=2;
|
||||
}
|
||||
else{
|
||||
status=2;
|
||||
}
|
||||
RadarServo.write(x); //调整舵机角度
|
||||
//测距
|
||||
distance = calculateDistance();
|
||||
//send distance
|
||||
//response=1000000+x*1000+distance;
|
||||
response=0;
|
||||
response+=distance;
|
||||
//Serial.println(response);
|
||||
response+=(long)x*1000;
|
||||
//Serial.println(response);
|
||||
response+=1000000;
|
||||
//Serial.println(response);
|
||||
}
|
||||
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;
|
||||
response=0;
|
||||
response+=distance;
|
||||
//Serial.println(response);
|
||||
response+=(long)x*1000;
|
||||
//Serial.println(response);
|
||||
response+=1000000;
|
||||
//Serial.println(response);
|
||||
//send distance
|
||||
}
|
||||
else if(status=2){
|
||||
clrtime--;
|
||||
if(clrtime<=0){
|
||||
clrtime=4;
|
||||
if(x>=180){
|
||||
status=1;
|
||||
}
|
||||
else{
|
||||
status=0;
|
||||
}
|
||||
}
|
||||
//send clear
|
||||
response=2000000;
|
||||
}
|
||||
sending=String(response);
|
||||
|
||||
// Serial.print("x: ");
|
||||
// Serial.println(x);
|
||||
// Serial.print("d: ");
|
||||
// Serial.println(distance);
|
||||
// Serial.println(response);
|
||||
//Serial.println(sending);
|
||||
bluetoothSerial.println(sending);
|
||||
delay(interval);
|
||||
//delay(20-distance/17);
|
||||
//Serial.println(distance);
|
||||
while(bluetoothSerial.available()>0){
|
||||
//Serial.println("available!");
|
||||
if(bluetoothSerial.peek()!='\n'){//peek()查看当前字节是不是换行
|
||||
received+=(char)bluetoothSerial.read();
|
||||
//Serial.println(received);
|
||||
//Serial.println("no \n");
|
||||
}
|
||||
else{
|
||||
bluetoothSerial.read();//把换行符读掉
|
||||
Serial.println(received);
|
||||
//Serial.println(received.length());
|
||||
//content=toInt(received);
|
||||
if(received[0]=='1'&&received.length()-1==7){
|
||||
propeller=received.substring(4).toInt();
|
||||
rudder=received.substring(1,4).toInt();
|
||||
if(propeller>550||propeller<449){
|
||||
if(propeller>550){
|
||||
long zheng=0.568*propeller-312.4;
|
||||
digitalWrite(IN2,HIGH);
|
||||
digitalWrite(IN1,LOW);
|
||||
if(attachwater==1)
|
||||
{
|
||||
analogWrite(PWM,zheng);
|
||||
z=zheng;
|
||||
}
|
||||
else
|
||||
{
|
||||
analogWrite(PWM,0);
|
||||
z=0;
|
||||
}
|
||||
//Serial.println("forward propelling");
|
||||
//Serial.println(z);
|
||||
|
||||
}
|
||||
else if(propeller<449){
|
||||
|
||||
long fan=255-0.568*propeller;
|
||||
digitalWrite(IN1,HIGH);
|
||||
digitalWrite(IN2,LOW);
|
||||
if(attachwater==1)
|
||||
{
|
||||
analogWrite(PWM,fan);
|
||||
z=fan;
|
||||
}
|
||||
else
|
||||
{
|
||||
analogWrite(PWM,0);
|
||||
z=0;
|
||||
}
|
||||
//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);
|
||||
}
|
||||
//Serial.println("inputing ruddering");
|
||||
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(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);
|
||||
}
|
||||
}
|
||||
received="";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue