187 lines
4.5 KiB
C++
187 lines
4.5 KiB
C++
#include<SPI.h>
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#include<nRF24L01.h>
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#include<RF24.h>
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#include "Arduino.h"
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#include "HardwareSerial.h"
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#include<Servo.h>
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#define trigPin 2 //超声波模块的Trig口 6#
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#define echoPin 5 //超声波模块的echo口 5#
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#define ServoPin 3 //底座舵机端口 3#
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unsigned long time=0;
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bool increasing=true;
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bool clr=false;
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//0: increase 1: decrease 2: clr
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int status=0;
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int clrtime=40;
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int x=0;
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Servo MyServo;
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Servo RadarServo;
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RF24 radio(7,8);
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int count =0;
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int IN1 =9;
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int IN2 =10;
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int PWM=6;
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// int TrigPin=2;
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// int EcoPin=3;
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// int dAngle=5;
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int angle=90;
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int period=25;
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// float dist;
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long dj,z;//dj是舵机，z是螺旋桨转速
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//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）
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//long s_propeller=0,s_rudder=0;//发送的信号
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long propeller,rudder,content;//校验序列、读取内容和解码内容
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long response=0;
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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”
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int calculateDistance()
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{
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long duration;
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digitalWrite(trigPin, LOW);
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delayMicroseconds(2);
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digitalWrite(trigPin, HIGH);
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delayMicroseconds(10);
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digitalWrite(trigPin, LOW);
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duration = pulseIn(echoPin, HIGH);
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return duration*0.034/2;
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}
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void setup()
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{
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Serial.begin(9600);
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MyServo.attach(4);
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RadarServo.attach(ServoPin);
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pinMode(trigPin,OUTPUT);
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pinMode(echoPin,INPUT);
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pinMode(IN1,OUTPUT);
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pinMode(IN2,OUTPUT);
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pinMode(PWM,OUTPUT);
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pinMode(A1,INPUT);
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pinMode(A2,INPUT);
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MyServo.write(angle);
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RadarServo.write(0);
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radio.begin();
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//radio.setChannel(114);
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radio.openReadingPipe(1,addresses); //接收通道，
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radio.openWritingPipe(addresses);//发送通道
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radio.setPALevel(RF24_PA_MIN); //设置功率放大器级别，将其设置为最小值
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delay(1000);
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MyServo.write(45);
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}
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long confirm(long x){
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if(x>=1000000&&x<=2000000)return x%1000000;
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else return -1;
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}
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void loop() {
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radio.startListening();
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delay(20);
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if(radio.available()){
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radio.read(&content,sizeof(content));
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Serial.println("The content is");
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Serial.println(content);//调试
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content=confirm(content);
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if(content!=-1){
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propeller=content%1000;
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rudder=(content-propeller)/1000;
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if(propeller>550||propeller<449){
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if(propeller>550){
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long zheng=0.568*propeller-312.4;
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digitalWrite(IN2,HIGH);
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digitalWrite(IN1,LOW);
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analogWrite(PWM,zheng);
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z=zheng;
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Serial.println("forward propelling");
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Serial.println(z);
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}
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else if(propeller<449){
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long fan=255-0.568*propeller;
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digitalWrite(IN1,HIGH);
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digitalWrite(IN2,LOW);
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analogWrite(PWM,fan);
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z=fan;
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Serial.println("back propelling");
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Serial.println(z);
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}
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}
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else if(propeller<=550||propeller>=449){
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z=0;
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analogWrite(PWM,0);
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Serial.println("stop propelling");
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Serial.println(z);
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}
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Serial.println("inputing ruddering");
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if(rudder>550||rudder<449)
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{
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if(rudder<449){
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long fan1=0.1*rudder;
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MyServo.write(fan1);
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Serial.println("turn left");
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dj=2*fan1-90;
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Serial.println(dj);
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}
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else if(rudder>550){
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long zheng1=0.1*rudder-10.122;
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MyServo.write(zheng1);
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dj=2*zheng1-90;
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Serial.println("turn right");
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Serial.println(dj);
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}
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}
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else if(rudder<=550||rudder>=449){
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dj=0;
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MyServo.write(45);
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Serial.println("stop turing");
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Serial.println(dj);
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}
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}
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}
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radio.stopListening();
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int distance=0;
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if(status==0){
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if(x<180){
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x+=2;
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}
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else{
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status=2;
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}
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RadarServo.write(x); //调整舵机角度
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//测距
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distance = calculateDistance();
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//send distance
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response=1000000+x*1000+distance;
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}
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else if(status==1){
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if(x>0){
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x-=2;
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}
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else{
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status=2;
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}
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RadarServo.write(x); //调整舵机角度
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//测距
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distance = calculateDistance();
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response=1000000+x*1000+distance;
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//send distance
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}
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else if(status=2){
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clrtime--;
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if(clrtime<=0){
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clrtime=4;
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if(x>=180){
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status=1;
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}
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else{
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status=0;
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}
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}
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//send clear
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response=2000000;
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}
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radio.write(&response,sizeof(response));
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//delay(20-distance/17);
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Serial.println(distance);
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}
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