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RC_Boat_bluetooth
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clf3 2023-09-09 20:00:13 +08:00
commit 6bc29687da
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142
radar/radar.ino Normal file
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#include <Servo.h>
#include <SPI.h>
#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();
}

72
radar_screen_side/radar_screen_side.ino Normal file
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#include <SPI.h>
#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);
}
}
}

77
radar_sensor_side/radar_sensor_side.ino Normal file
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#include <Servo.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#
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);
}

75
remote_controler/remote_controler.ino Normal file
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//player1,remote controler
#include<SPI.h>
#include<nRF24L01.h>
#include<RF24.h>
#include<TimerOne.h>
#include<SoftwareSerial.h>
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');
}
}
}

106
remote_controler_board_2/remote_controler_board_2.ino Normal file
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#include <SPI.h>
#include<SoftwareSerial.h>
#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;
}
}

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ship/ship.ino Normal file
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#include<SPI.h>
#include<nRF24L01.h>
#include<RF24.h>
#include "Arduino.h"
#include "HardwareSerial.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;
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);
}