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RC_Boat_bluetooth
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It's running!!!

This commit is contained in:
clf3 2023-09-09 23:48:56 +08:00
parent 6bc29687da
commit f76e1f5594
3 changed files with 131 additions and 114 deletions
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59
remote_controler/remote_controler.ino
View File

@ -1,31 +1,22 @@
//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
//RF24 radio(7,8);//端口可能要改
bool flag=false;
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
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
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
//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();
bluetoothSerial.begin(57600);
bluetoothSerial.listen();
}
void send(){
@ -41,10 +32,9 @@ void send(){
}
void loop() {
// put your main code here, to run repeatedly:
time=millis();
//time=millis();
//Serial.println("send");
sending_signal=0;
radio.stopListening();
propeller=analogRead(Rp);
rudder=analogRead(Rr);
if(propeller>=1000)propeller=999;
@ -52,24 +42,23 @@ void loop() {
sending_signal+=propeller;
sending_signal+=rudder*1000;
sending_signal+=1000000;
bool b=radio.write(&sending_signal,sizeof(sending_signal));
Serial.println(b);
radio.startListening();
sending=String(sending_signal);
bluetoothSerial.println(sending);
//Serial.println(sending);
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);
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="";
}
}
}

3
remote_controler_board_2/remote_controler_board_2.ino
View File

@ -77,6 +77,9 @@ void loop() {
clr=true;
}
}
else{
rec=false;
}
received="";
}
}

185
ship/ship.ino
View File

@ -1,8 +1,7 @@
#include<SPI.h>
#include<nRF24L01.h>
#include<RF24.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#
@ -14,24 +13,22 @@ bool clr=false;
int status=0;
int clrtime=40;
int x=0;
const int interval=100;
String sending="",received="";
Servo MyServo;
Servo RadarServo;
RF24 radio(7,8);
SoftwareSerial bluetoothSerial(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 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()
@ -49,6 +46,8 @@ int calculateDistance()
void setup()
{
Serial.begin(9600);
bluetoothSerial.begin(57600);
bluetoothSerial.listen();
MyServo.attach(4);
RadarServo.attach(ServoPin);
pinMode(trigPin,OUTPUT);
@ -61,11 +60,7 @@ void setup()
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);
}
@ -74,71 +69,9 @@ long confirm(long x){
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;
Serial.print("s: ");
Serial.println(status);
if(status==0){
if(x<180){
x+=2;
@ -150,7 +83,14 @@ void loop() {
//测距
distance = calculateDistance();
//send distance
response=1000000+x*1000+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){
@ -162,7 +102,14 @@ void loop() {
RadarServo.write(x); //调整舵机角度
//测距
distance = calculateDistance();
response=1000000+x*1000+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){
@ -179,8 +126,86 @@ void loop() {
//send clear
response=2000000;
}
radio.write(&response,sizeof(response));
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>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);
}
}
received="";
}
}
}