From 3510e3cd16eb9c2ca3d4b72aad139520c9e9ea91 Mon Sep 17 00:00:00 2001
From: clf3 <smh66ccff@outlook.com>
Date: Tue, 12 Sep 2023 01:59:02 +0800
Subject: [PATCH] nearly complete

---
 remote_controler/remote_controler.ino         |  5 ++-
 .../remote_controler_board_2.ino              |  3 +-
 ship/ship.ino                                 | 40 +++++++++----------
 3 files changed, 26 insertions(+), 22 deletions(-)

diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino
index a99c378..d538d6a 100644
--- a/remote_controler/remote_controler.ino
+++ b/remote_controler/remote_controler.ino
@@ -6,13 +6,14 @@ bool flag=false;
 SoftwareSerial sendingSerial(5,6);
 SoftwareSerial bluetoothSerial(7,8);
 String sending="",received="";
-const int Rp=0,Rr=1,interval=100;//Rp,Rr 分别为两个遥杆的接口
+const int Rp=3,Rr=2,interval=100;//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 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
 long time=0;
 void setup() {
+
   Serial.begin(9600);
   sendingSerial.begin(38400);
   bluetoothSerial.begin(57600);
@@ -37,6 +38,8 @@ void loop() {
   sending_signal=0;
   propeller=analogRead(Rp);
   rudder=analogRead(Rr);
+  propeller=propeller*1.41;
+  rudder=rudder*1.41;
   if(propeller>=1000)propeller=999;
   if(rudder>=1000)rudder=999;
   sending_signal+=propeller;
diff --git a/remote_controler_board_2/remote_controler_board_2.ino b/remote_controler_board_2/remote_controler_board_2.ino
index a09d7a9..1731a86 100644
--- a/remote_controler_board_2/remote_controler_board_2.ino
+++ b/remote_controler_board_2/remote_controler_board_2.ino
@@ -2,7 +2,7 @@
 #include<SoftwareSerial.h>
 #include "Ucglib.h"
 #define interruptPin 2
-SoftwareSerial sendingSerial(6,7);
+SoftwareSerial sendingSerial(5,6);
 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
@@ -67,6 +67,7 @@ void loop() {
     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
diff --git a/ship/ship.ino b/ship/ship.ino
index ea53ac9..4c82e55 100644
--- a/ship/ship.ino
+++ b/ship/ship.ino
@@ -70,8 +70,8 @@ long confirm(long x){
 }
 void loop() {
   int distance=0;
-  Serial.print("s: ");
-  Serial.println(status); 
+ // Serial.print("s: ");
+ // Serial.println(status); 
   if(status==0){
     if(x<180){
       x+=2;
@@ -86,11 +86,11 @@ void loop() {
     //response=1000000+x*1000+distance;
     response=0;
     response+=distance;
-    Serial.println(response);
+    //Serial.println(response);
     response+=(long)x*1000;
-    Serial.println(response);
+    //Serial.println(response);
     response+=1000000;
-    Serial.println(response);
+    //Serial.println(response);
   }
   else if(status==1){
     if(x>0){
@@ -105,11 +105,11 @@ void loop() {
     //response=1000000+x*1000+distance;
     response=0;
     response+=distance;
-    Serial.println(response);
+    //Serial.println(response);
     response+=(long)x*1000;
-    Serial.println(response);
+    //Serial.println(response);
     response+=1000000;
-    Serial.println(response);
+    //Serial.println(response);
     //send distance
   }
   else if(status=2){
@@ -128,11 +128,11 @@ void loop() {
   }
   sending=String(response);
 
-  Serial.print("x: ");
-  Serial.println(x);
-  Serial.print("d: ");
-  Serial.println(distance);
-  Serial.println(response);  
+  // Serial.print("x: ");
+  // Serial.println(x);
+  // Serial.print("d: ");
+  // Serial.println(distance);
+  // Serial.println(response);  
   Serial.println(sending);
   bluetoothSerial.println(sending);
   delay(interval);
@@ -147,7 +147,7 @@ void loop() {
     }
     else{
       bluetoothSerial.read();//把换行符读掉
-      //Serial.println(received);
+      Serial.println(received);
       //Serial.println(received.length());
       //content=toInt(received);
       if(received[0]=='1'&&received.length()-1==7){
@@ -160,8 +160,8 @@ void loop() {
             digitalWrite(IN1,LOW);
             analogWrite(PWM,zheng);
             z=zheng;
-            //Serial.println("forward propelling");
-            //Serial.println(z);
+            Serial.println("forward propelling");
+            Serial.println(z);
           }
           else if(propeller<449){
             long fan=255-0.568*propeller;
@@ -169,15 +169,15 @@ void loop() {
             digitalWrite(IN2,LOW);
             analogWrite(PWM,fan);
             z=fan;
-            //Serial.println("back propelling");
-            //Serial.println(z);
+            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("stop propelling");
+          Serial.println(z);
         } 
         //Serial.println("inputing ruddering");
         if(rudder>550||rudder<449)