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RC_Boat_bluetooth
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OA added

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clf3 2023-09-12 21:38:08 +08:00
parent 05ce129d19
commit 5687eb932e
2 changed files with 390 additions and 0 deletions
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75
remote_controler_with_OA/remote_controler_with_OA.ino Normal file
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//player1,remote controler
#include<SPI.h>
#include<SoftwareSerial.h>
//RF24 radio(7,8);//端口可能要改
bool flag=false;
SoftwareSerial sendingSerial(5,6);
SoftwareSerial bluetoothSerial(7,8);
String sending="",received="";
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);
bluetoothSerial.listen();
}
void send(){
// Serial.println(propeller);
// Serial.println(rudder);
// Serial.print("propeller sent ");
// Serial.println(propeller);
// Serial.print("rudder sent ");
// Serial.println(rudder);
// Serial.println(sending_signal);
//Serial.println(millis()-time);
}
void loop() {
// put your main code here, to run repeatedly:
//time=millis();
//Serial.println("send");
sending_signal=0;
propeller=analogRead(Rp);
rudder=analogRead(Rr);
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;
if(digitalRead(4)==HIGH){
sending_signal+=2000000;
digitalWrite(15,HIGH);
}
else{
sending_signal+=1000000;
digitalWrite(15,LOW);
}
sending=String(sending_signal);
bluetoothSerial.println(sending);
Serial.println(sending);
delay(interval);
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);
sendingSerial.print(received);
sendingSerial.print('\n');
received="";
}
}
}

315
ship_with_OA/ship_with_OA.ino Normal file
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#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#
#define propellerFix 75
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;
int distRec[90];
int leftAlert=0;
int frontAlert=0;
int rightAlert=0;
int rudderModify=0;
const int autoTurn1=200;
const int autoTurn2=400;
const int alert=1000;
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;
// 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);
pinMode(A1,INPUT);
pinMode(A2,INPUT);
MyServo.write(45);
RadarServo.write(0);
delay(1000);
}
long confirm(long x){
if(x>=1000000&&x<=2000000)return x%1000000;
else return -1;
}
void loop() {
int distance=0;
// 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();
if(x!=180&&x%2==0)
distRec[x/2]=distance;
//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();
if(x!=180&&x%2==0)
distRec[x/2]=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);
//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>600||propeller<400){
if(propeller>600){
long zheng=0.568*propeller-312.4;
digitalWrite(IN2,HIGH);
digitalWrite(IN1,LOW);
analogWrite(PWM,zheng);
z=zheng;
Serial.println("forward propelling");
Serial.println(z);
}
else if(propeller<400){
long fan=255-0.568*propeller;
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
analogWrite(PWM,fan);
z=fan;
Serial.println("back propelling");
Serial.println(z);
}
}
else if(propeller<=600||propeller>=400){
z=0;
analogWrite(PWM,0);
Serial.println("stop propelling");
Serial.println(z);
}
//Serial.println("inputing ruddering");
if(rudder>600||rudder<400)
{
if(rudder<400){
long fan1=0.1*rudder;
MyServo.write(fan1);
//Serial.println("turn left");
dj=2*fan1-90;
//Serial.println(dj);
}
else if(rudder>600){
long zheng1=0.1*rudder-10.122;
MyServo.write(zheng1);
dj=2*zheng1-90;
//Serial.println("turn right");
//Serial.println(dj);
}
}
else if(rudder<=600||rudder>=400){
dj=0;
MyServo.write(45);
//Serial.println("stop turing");
//Serial.println(dj);
}
}
else if(received[0]=='2'&&received.length()-1==7){
propeller=received.substring(4).toInt();
rudder=received.substring(1,4).toInt();
for(int i=0;i<30;i++){
leftAlert+=distRec[i];
frontAlert+=distRec[i+30];
rightAlert+=distRec[i+60];
}
if(propeller>600||propeller<400){
if(propeller>600){
digitalWrite(IN2,HIGH);
digitalWrite(IN1,LOW);
analogWrite(PWM,propellerFix);
Serial.println("forward propelling");
}
else if(propeller<400){
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
analogWrite(PWM,propellerFix);
Serial.println("back propelling");
}
}
else if(propeller<=600||propeller>=400){
z=0;
analogWrite(PWM,0);
Serial.println("stop propelling");
Serial.println(z);
}
//Serial.println("inputing ruddering");
if(leftAlert<alert&&frontAlert<alert&&rightAlert<alert){
analogWrite(PWM,0);
}
else if(leftAlert<alert&&frontAlert<alert&&rightAlert>=alert){
rudder-=autoTurn2;
if(rudder<0){
rudder=0;
}
}
else if(leftAlert<alert&&frontAlert>=alert&&rightAlert<alert){
}
else if(leftAlert<alert&&frontAlert>=alert&&rightAlert>=alert){
rudder-=autoTurn1;
if(rudder<0){
rudder=0;
}
}
else if(leftAlert>=alert&&frontAlert<alert&&rightAlert<alert){
rudder+=autoTurn2;
if(rudder>999){
rudder=999;
}
}
else if(leftAlert>=alert&&frontAlert<alert&&rightAlert>=alert){
rudder-=autoTurn2;
if(rudder<0){
rudder=0;
}
}
else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert<alert){
rudder+=autoTurn1;
if(rudder>999){
rudder=999;
}
}
else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert>=alert){
}
if(rudder>600||rudder<400)
{
if(rudder<400){
long fan1=0.1*rudder;
MyServo.write(fan1);
//Serial.println("turn left");
dj=2*fan1-90;
//Serial.println(dj);
}
else if(rudder>600){
long zheng1=0.1*rudder-10.122;
MyServo.write(zheng1);
dj=2*zheng1-90;
//Serial.println("turn right");
//Serial.println(dj);
}
}
else if(rudder<=600||rudder>=400){
dj=0;
MyServo.write(45);
//Serial.println("stop turing");
//Serial.println(dj);
}
}
received="";
}
}
}