From 6bc29687da34bf6bb0be304e4c76602d1630e862 Mon Sep 17 00:00:00 2001 From: clf3 Date: Sat, 9 Sep 2023 20:00:13 +0800 Subject: [PATCH] first commit --- radar/radar.ino | 142 +++++++++++++ radar_screen_side/radar_screen_side.ino | 72 +++++++ radar_sensor_side/radar_sensor_side.ino | 77 ++++++++ remote_controler/remote_controler.ino | 75 +++++++ .../remote_controler_board_2.ino | 106 ++++++++++ ship/ship.ino | 186 ++++++++++++++++++ 6 files changed, 658 insertions(+) create mode 100644 radar/radar.ino create mode 100644 radar_screen_side/radar_screen_side.ino create mode 100644 radar_sensor_side/radar_sensor_side.ino create mode 100644 remote_controler/remote_controler.ino create mode 100644 remote_controler_board_2/remote_controler_board_2.ino create mode 100644 ship/ship.ino diff --git a/radar/radar.ino b/radar/radar.ino new file mode 100644 index 0000000..dd3c6ed --- /dev/null +++ b/radar/radar.ino @@ -0,0 +1,142 @@ +#include +#include +#include "Ucglib.h" +#define trigPin 6 //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# +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 +int base = 118; //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; +unsigned long time=0; +Servo baseServo; +Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8); + +void setup(void) +{ + ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕 + 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 + pinMode(trigPin, OUTPUT); //设置trigPin端口模式 + pinMode(echoPin, INPUT); //设置echoPin端口模式 + Serial.begin(9600); //设置串口传输率 + baseServo.attach(ServoPin); //初始化舵机 + baseServo.write(180); + ucg.clearScreen(); + //cls(); + ucg.setFontMode(UCG_FONT_MODE_SOLID); + ucg.setFont(ucg_font_orgv01_hr); +} + +void cls() +{ + //清屏 + ucg.setColor(0, 0, 0, 0); + for(int s=0;s<128;s+=8) + for(int t=0;t<160;t+=16) + { + ucg.drawBox(t,s,16,8); + } +} + +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 fix_font() +{ + ucg.setColor(0, 180, 0); + ucg.setPrintPos(70,46); + ucg.print("1.00"); + ucg.setPrintPos(70,66); + ucg.print("0.75"); + ucg.setPrintPos(70,86); + ucg.print("0.50"); + ucg.setPrintPos(70,106); + 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 loop(void) +{ + int distance; + fix(); + fix_font(); //重绘屏幕背景元素 + Serial.print("clear:"); + Serial.println(millis()-time); + time=millis(); + for (int x=180; x >= 0; x-=2){ //底座舵机从180~0度循环 + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //根据测得距离在对应位置画点 + 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); + } + } + Serial.print("left:"); + Serial.println(millis()-time); + time=millis(); + ucg.clearScreen(); + delay(50); + //cls(); + fix(); + fix_font(); //重绘屏幕背景元素 + Serial.print("clear:"); + Serial.println(millis()-time); + time=millis(); + for (int x=0; x <= 180; x+=2){ + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //根据测得距离在对应位置画点 + 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); + } + } + Serial.print("right:"); + Serial.println(millis()-time); + time=millis(); + ucg.clearScreen(); + delay(50); + //cls(); +} \ No newline at end of file diff --git a/radar_screen_side/radar_screen_side.ino b/radar_screen_side/radar_screen_side.ino new file mode 100644 index 0000000..f4fe99d --- /dev/null +++ b/radar_screen_side/radar_screen_side.ino @@ -0,0 +1,72 @@ +#include +#include "Ucglib.h" +#define interruptPin 2 + +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 +int base = 118; //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; +Ucglib_ST7735_18x128x160_HWSPI ucg(/*cd=*/ 9, /*cs=*/ 10, /*reset=*/ 8); +void fix_font() +{ + ucg.setColor(0, 180, 0); + ucg.setPrintPos(70,46); + ucg.print("1.00"); + ucg.setPrintPos(70,66); + ucg.print("0.75"); + ucg.setPrintPos(70,86); + ucg.print("0.50"); + ucg.setPrintPos(70,106); + 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.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 + Serial.begin(9600); //设置串口传输率 + ucg.clearScreen(); + //cls(); + ucg.setFontMode(UCG_FONT_MODE_SOLID); + ucg.setFont(ucg_font_orgv01_hr); +} + +void loop() { + if(true){ + if(false){ + ucg.clearScreen(); + fix(); + fix_font(); //重绘屏幕背景元素 + 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); + } + } +} diff --git a/radar_sensor_side/radar_sensor_side.ino b/radar_sensor_side/radar_sensor_side.ino new file mode 100644 index 0000000..ffa623a --- /dev/null +++ b/radar_sensor_side/radar_sensor_side.ino @@ -0,0 +1,77 @@ +#include + +#define trigPin 6 //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; +Servo baseServo; +bool increasing=true; +bool clr=false; +//0: increase 1: decrease 2: clr +int status=0; +int clrtime=40; +int x=0; +void setup(void) +{ + pinMode(trigPin, OUTPUT); //设置trigPin端口模式 + pinMode(echoPin, INPUT); //设置echoPin端口模式 + Serial.begin(9600); //设置串口传输率 + baseServo.attach(ServoPin); //初始化舵机 + baseServo.write(0); + +} +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 loop(void) +{ + int distance=0; + if(status==0){ + if(x<180){ + x+=2; + } + else{ + status=2; + } + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance + } + else if(status==1){ + if(x>0){ + x-=2; + } + else{ + status=2; + } + baseServo.write(x); //调整舵机角度 + //测距 + distance = calculateDistance(); + //send distance + } + else if(status=2){ + clrtime--; + if(clrtime<=0){ + clrtime=4; + if(x>=180){ + status=1; + } + else{ + status=0; + } + } + //send clear + } + delay(20-distance/17); +} \ No newline at end of file diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino new file mode 100644 index 0000000..87e9703 --- /dev/null +++ b/remote_controler/remote_controler.ino @@ -0,0 +1,75 @@ +//player1,remote controler +#include +#include +#include +#include +#include +RF24 radio(7,8);//端口可能要改 +SoftwareSerial sendingSerial(5,6); +String sending=""; +const int Rp=0,Rr=1,interval=20;//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); + radio.begin(); + //radio.setChannel(115);//设置信道，115号通道 + radio.setDataRate(RF24_250KBPS); + radio.setRetries(3, 5); + radio.openWritingPipe(addresser); + radio.openReadingPipe(1,addresser); + radio.setPALevel(RF24_PA_MIN); + //Timer1.initialize(interval); + //Timer1.attachInterrupt(send); + radio.startListening(); +} +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; + radio.stopListening(); + propeller=analogRead(Rp); + rudder=analogRead(Rr); + if(propeller>=1000)propeller=999; + if(rudder>=1000)rudder=999; + sending_signal+=propeller; + sending_signal+=rudder*1000; + sending_signal+=1000000; + bool b=radio.write(&sending_signal,sizeof(sending_signal)); + Serial.println(b); + radio.startListening(); + delay(interval); + //Serial.println("loop"); + if(radio.available()){ + Serial.print("response:"); + radio.read(&response,sizeof(response)); + Serial.println(response); + if(response%1000000==1){ + sending=String(response); + sendingSerial.print(sending); + sendingSerial.print('\n'); + } + else if(response==2000000){ + sending=String(response); + sendingSerial.print(sending); + sendingSerial.print('\n'); + } + } +} diff --git a/remote_controler_board_2/remote_controler_board_2.ino b/remote_controler_board_2/remote_controler_board_2.ino new file mode 100644 index 0000000..28dc181 --- /dev/null +++ b/remote_controler_board_2/remote_controler_board_2.ino @@ -0,0 +1,106 @@ +#include +#include +#include "Ucglib.h" +#define interruptPin 2 +SoftwareSerial sendingSerial(6,7); +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 +int base = 118; //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(70,46); + ucg.print("1.00"); + ucg.setPrintPos(70,66); + ucg.print("0.75"); + ucg.setPrintPos(70,86); + ucg.print("0.50"); + ucg.setPrintPos(70,106); + 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.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 + 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 + 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; + } + } + 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; + } +} diff --git a/ship/ship.ino b/ship/ship.ino new file mode 100644 index 0000000..e52aa48 --- /dev/null +++ b/ship/ship.ino @@ -0,0 +1,186 @@ +#include +#include +#include +#include "Arduino.h" +#include "HardwareSerial.h" +#include +#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; + +Servo MyServo; +Servo RadarServo; +RF24 radio(7,8); +int count =0; +int IN1 =9; +int IN2 =10; +int PWM=6; +// int TrigPin=2; +// int EcoPin=3; +// int dAngle=5; +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,content;//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); + 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(angle); + + RadarServo.write(0); + radio.begin(); + //radio.setChannel(114); + radio.openReadingPipe(1,addresses); //接收通道， + radio.openWritingPipe(addresses);//发送通道 + radio.setPALevel(RF24_PA_MIN); //设置功率放大器级别，将其设置为最小值 + delay(1000); + MyServo.write(45); +} +long confirm(long x){ + if(x>=1000000&&x<=2000000)return x%1000000; + else return -1; +} +void loop() { + radio.startListening(); + delay(20); + if(radio.available()){ + radio.read(&content,sizeof(content)); + Serial.println("The content is"); + Serial.println(content);//调试 + content=confirm(content); + if(content!=-1){ + propeller=content%1000; + rudder=(content-propeller)/1000; + if(propeller>550||propeller<449){ + if(propeller>550){ + 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<449){ + 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<=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); + } + } + } + radio.stopListening(); + + int distance=0; + 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; + } + 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; + //send distance + } + else if(status=2){ + clrtime--; + if(clrtime<=0){ + clrtime=4; + if(x>=180){ + status=1; + } + else{ + status=0; + } + } + //send clear + response=2000000; + } + radio.write(&response,sizeof(response)); + //delay(20-distance/17); + Serial.println(distance); +} +