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RC_Boat_bluetooth
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OA module fixed

This commit is contained in:
clf3 2023-09-14 00:58:38 +08:00
parent 5687eb932e
commit a6065fd9c2
1 changed files with 39 additions and 22 deletions
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59
ship_with_OA/ship_with_OA.ino
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@ -20,7 +20,7 @@ int frontAlert=0;
int rightAlert=0;
int rudderModify=0;
const int autoTurn1=200;
const int autoTurn2=400;
const int autoTurn2=450;
const int alert=1000;
const int interval=100;
String sending="",received="";
@ -29,7 +29,7 @@ Servo RadarServo;
SoftwareSerial bluetoothSerial(7,8);
int count =0;
int IN1 =9;
int IN2 =10;
int IN2 =11;
int PWM=6;
int angle=90;
int period=25;
@ -88,6 +88,8 @@ void loop() {
RadarServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
if(distance>=100)
distance=100;
if(x!=180&&x%2==0)
distRec[x/2]=distance;
//send distance
@ -110,6 +112,8 @@ void loop() {
RadarServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
if(distance>=100)
distance=100;
if(x!=180&&x%2==0)
distRec[x/2]=distance;
//response=1000000+x*1000+distance;
@ -143,11 +147,11 @@ void loop() {
// Serial.print("d: ");
// Serial.println(distance);
// Serial.println(response);
Serial.println(sending);
// Serial.println(sending);
bluetoothSerial.println(sending);
delay(interval);
//delay(20-distance/17);
Serial.println(distance);
//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
@ -170,8 +174,8 @@ 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<400){
long fan=255-0.568*propeller;
@ -179,15 +183,15 @@ 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<=600||propeller>=400){
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>600||rudder<400)
@ -218,29 +222,35 @@ void loop() {
propeller=received.substring(4).toInt();
rudder=received.substring(1,4).toInt();
for(int i=0;i<30;i++){
leftAlert+=distRec[i];
rightAlert+=distRec[i];
frontAlert+=distRec[i+30];
rightAlert+=distRec[i+60];
leftAlert+=distRec[i+60];
}
if(propeller>600||propeller<400){
if(propeller>600){
long zheng=(0.568*propeller-312.4)*0.3;
digitalWrite(IN2,HIGH);
digitalWrite(IN1,LOW);
analogWrite(PWM,propellerFix);
Serial.println("forward propelling");
analogWrite(PWM,zheng);
z=zheng;
// Serial.println("forward propelling");
// Serial.println(z);
}
else if(propeller<400){
long fan=(255-0.568*propeller)*0.3;
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
analogWrite(PWM,propellerFix);
Serial.println("back propelling");
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("stop propelling");
// Serial.println(z);
}
//Serial.println("inputing ruddering");
if(leftAlert<alert&&frontAlert<alert&&rightAlert<alert){
@ -257,7 +267,7 @@ void loop() {
}
else if(leftAlert<alert&&frontAlert>=alert&&rightAlert>=alert){
rudder-=autoTurn1;
rudder-=autoTurn2;
if(rudder<0){
rudder=0;
}
@ -275,7 +285,7 @@ void loop() {
}
}
else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert<alert){
rudder+=autoTurn1;
rudder+=autoTurn2;
if(rudder>999){
rudder=999;
}
@ -283,7 +293,14 @@ void loop() {
else if(leftAlert>=alert&&frontAlert>=alert&&rightAlert>=alert){
}
Serial.print(leftAlert);
Serial.print(" ");
Serial.print(frontAlert);
Serial.print(" ");
Serial.println(rightAlert);
leftAlert=0;
frontAlert=0;
rightAlert=0;
if(rudder>600||rudder<400)
{
if(rudder<400){