【Landzo C1试用体验】超声波雷达

https://bbs.elecfans.com/jishu_909558_1_1.html

本帖最后由 dvd1478 于 2016-7-5 23:24 编辑

Landzo C1试用体验】自行停车（总结）
https://bbs.elecfans.com/jishu_909558_1_1.html
(出处: 中国电子技术论坛)
说过模块比较少，做的东西比较少。但实际上并不是，决定是思维，思维能多开拓，创造就有多远。

从外文网站看到的，决定分享到这里。就是用超声波+舵机+processing 做的一个超声波雷达
【Landzo C1试用体验】超声测距离
https://bbs.elecfans.com/jishu_909545_1_1.html
【Landzo C1申请】舵机
https://bbs.elecfans.com/jishu_900803_1_1.html

先上个效果图

Arduino 代码

#include
#include
//#include
#include
#include "MotorDC.h"
//const int ledPinRed = 7;
const int ledPinGreen = A0;
Servo myservo; //创建一个舵机控制对象
// 使用Servo类最多可以控制8个舵机
int pos = 0; // 该变量用与存储舵机角度位置
MotorDC motorLeft(3,5);//DC motor Control
MotorDC motorRight(6,11);
#define RECV_PIN 9
IRrecv irrecv(RECV_PIN);//IRremote
decode_results results;
unsigned long _ABVAR_1_control = 0UL ;
#if 0
#define TRIGGER_PIN 7 // Arduino pin tied to trigger pin on the ultrasonic sensor.
#define ECHO_PIN 8 // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 500 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.
#endif
#define TRIG_PIN 7
#define ECHO_PIN 8
SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);
const int numReadings = 2;
long readings[numReadings]; // the readings from the analog input
int readIndex = 0; // the index of the current reading
long total = 0; // the running total
long averageDistance = 0; // the average
void run_led(void)
{
//digitalWrite(ledPinRed, LOW);//亮
digitalWrite(ledPinGreen, HIGH);//暗
}
void stop_led(void)
{
digitalWrite(ledPinGreen, LOW);//亮
//digitalWrite(ledPinRed, HIGH);//暗
}
long unsigned int return_decode() {
if (irrecv.decode(&results)) {
irrecv.resume(); // 接收下一个值
return results.value;
} else {
return 0;
irrecv.resume(); // 接收下一个值
}
}
long get_distance(void )
{
#if 1
// subtract the last reading:
total = total - readings[readIndex];
// read from the sensor:
readings[readIndex] = sr04.Distance();
if(readings[readIndex]>900) //for error
readings[readIndex] = averageDistance;
// add the reading to the total:
total = total + readings[readIndex];
// advance to the next position in the array:
readIndex = readIndex + 1;
// if we're at the end of the array...
if (readIndex >= numReadings)
// ...wrap around to the beginning:
readIndex = 0;
// calculate the averageDistance:
averageDistance = total / numReadings;
#endif
#if 0
Serial.print("Ping: ");
Serial.print(averageDistance); // Send ping, get distance in cm and print result (0 = outside set distance range)
Serial.println("cm");
#endif
return averageDistance;
}
void get_stop(void)
{
long distance = get_distance();
run_led();
motorLeft.setSpeed(255);
motorRight.setSpeed(255);
while(distance > 20)
{
distance = get_distance();
delay( 80 );//mx
}
motorLeft.setSpeed(0);
motorRight.setSpeed(0);
stop_led();
}
void setup() {
Serial.begin(9600);
//pinMode(ledPinRed, OUTPUT);
pinMode(ledPinGreen, OUTPUT);
// put your setup code here, to run once:
myservo.attach(10); // 该舵机由arduino第10脚控制
#if 0
for(pos = 90; pos < 180; pos += 1) { // 从0度到180度运动
// 每次步进一度
myservo.write(pos); // 指定舵机转向的角度
delay(15); // 等待15ms让舵机到达指定位置
}
for(pos = 180; pos>=1; pos-=1) { //从180度到0度运动
myservo.write(pos); // 指定舵机转向的角度
delay(15); // 等待15ms让舵机到达指定位置
}
for(pos = 0; pos < 90; pos += 1) { // 从0度到180度运动
// 每次步进一度
myservo.write(pos); // 指定舵机转向的角度
delay(15); // 等待15ms让舵机到达指定位置
}
#endif
//myservo.detach();
pinMode(RECV_PIN,INPUT);//设置红外接收引脚为输入
irrecv.enableIRIn(); //允许接收红外遥控
motorLeft.setSpeed(0);
motorRight.setSpeed(0);
// initialize all the readings to 0:
for (int thisReading = 0; thisReading < numReadings; thisReading++)
readings[thisReading] = 0;
}
void loop() {
long distance = 0;
for(pos= 0; pos<180; pos++){
myservo.write(pos);
delay(30);
distance = get_distance();
distance = get_distance();
Serial.print("X");
Serial.print(pos);
Serial.print("V");
Serial.println(distance);
}
for(pos= 180; pos>0; pos--){
myservo.write(pos);
delay(30);
distance = get_distance();
distance = get_distance();
Serial.print("X");
Serial.print(pos);
Serial.print("V");
Serial.println(distance);
}
//delay(200); // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
}

复制代码

Processing 代码

import processing.serial.*; // import serial library
Serial myPort; // declare a serial port
float x, y; // variable to store x and y co-ordinates for vertices
int radius = 350; // set the radius of objects
int w = 300; // set an arbitary width value
int degree = 0; // servo position in degrees
int value = 0; // value from sensor
int motion = 0; // value to store which way the servo is panning
int[] newValue = new int[181]; // create an array to store each new sensor value for each servo position
int[] oldValue = new int[181]; // create an array to store the previous values.
PFont myFont; // setup fonts in Processing
int radarDist = 0; // set value to configure Radar distance labels
int firstRun = 0; // value to ignore triggering motion on the first 2 servo sweeps
/* create background and serial buffer */
void setup(){
// setup the background size, colour and font.
size(750, 450);
background (0); // 0 = black
myFont = createFont("verdana", 12);
textFont(myFont);
// setup the serial port and buffer
printArray(Serial.list());// List all the available serial ports
myPort = new Serial(this, Serial.list()[1], 9600);
myPort.bufferUntil('n');
}
/* draw the screen */
void draw(){
fill(0); // set the following shapes to be black
noStroke(); // set the following shapes to have no outline
ellipse(radius, radius, 750, 750); // draw a circle with a width/ height = 750 with its center position (x and y) set by the radius
rectMode(CENTER); // set the following rectangle to be drawn around its center
rect(350,402,800,100); // draw rectangle (x, y, width, height)
if (degree >= 179) { // if at the far right then set motion = 1/ true we're about to go right to left
motion = 1; // this changes the animation to run right to left
}
if (degree <= 1) { // if servo at 0 degrees then we're about to go left to right
motion = 0; // this sets the animation to run left to right
}
/* setup the radar sweep */
/*
We use trigonmetry to create points around a circle.
So the radius plus the cosine of the servo position converted to radians
Since radians 0 start at 90 degrees we add 180 to make it start from the left
Adding +1 (i) each time through the loops to move 1 degree matching the one degree of servo movement
cos is for the x left to right value and sin calculates the y value
since its a circle we plot our lines and vertices around the start point for everything will always be the center.
*/
strokeWeight(7); // set the thickness of the lines
if (motion == 0) { // if going left to right
for (int i = 0; i <= 20; i++) { // draw 20 lines with fading colour each 1 degree further round than the last
stroke(0, (10*i), 0); // set the stroke colour (Red, Green, Blue) base it on the the value of i
line(radius, radius, radius + cos(radians(degree+(180+i)))*w, radius + sin(radians(degree+(180+i)))*w); // line(start x, start y, end x, end y)
}
} else { // if going right to left
for (int i = 20; i >= 0; i--) { // draw 20 lines with fading colour
stroke(0,200-(10*i), 0); // using standard RGB values, each between 0 and 255
line(radius, radius, radius + cos(radians(degree+(180+i)))*w, radius + sin(radians(degree+(180+i)))*w);
}
}
/* Setup the shapes made from the sensor values */
noStroke(); // no outline
/* first sweep */
fill(0,50,0); // set the fill colour of the shape (Red, Green, Blue)
beginShape(); // start drawing shape
for (int i = 0; i < 180; i++) { // for each degree in the array
x = radius + cos(radians((180+i)))*((oldValue[i])); // create x coordinate
y = radius + sin(radians((180+i)))*((oldValue[i])); // create y coordinate
vertex(x, y); // plot vertices
}
endShape(); // end shape
/* second sweep */
fill(0,110,0);
beginShape();
for (int i = 0; i < 180; i++) {
x = radius + cos(radians((180+i)))*(newValue[i]);
y = radius + sin(radians((180+i)))*(newValue[i]);
vertex(x, y);
}
endShape();
/* average */
fill(0,170,0);
beginShape();
for (int i = 0; i < 180; i++) {
x = radius + cos(radians((180+i)))*((newValue[i]+oldValue[i])/2); // create average
y = radius + sin(radians((180+i)))*((newValue[i]+oldValue[i])/2);
vertex(x, y);
}
endShape();
/* if after first 2 sweeps, highlight motion with red circle*/
if (firstRun >= 360) {
stroke(150,0,0);
strokeWeight(1);
noFill();
for (int i = 0; i < 180; i++) {
if (oldValue[i] - newValue[i] > 35 || newValue[i] - oldValue[i] > 35) {
x = radius + cos(radians((180+i)))*(newValue[i]);
y = radius + sin(radians((180+i)))*(newValue[i]);
ellipse(x, y, 10, 10);
}
}
}
/* set the radar distance rings and out put their values, 50, 100, 150 etc.. */
for (int i = 0; i <=6; i++){
noFill();
strokeWeight(1);
stroke(0, 255-(30*i), 0);
ellipse(radius, radius, (100*i), (100*i));
fill(0, 100, 0);
noStroke();
text(Integer.toString(radarDist+50), 380, (305-radarDist), 50, 50);
radarDist+=50;
}
radarDist = 0;
/* draw the grid lines on the radar every 30 degrees and write their values 180, 210, 240 etc.. */
for (int i = 0; i <= 6; i++) {
strokeWeight(1);
stroke(0, 55, 0);
line(radius, radius, radius + cos(radians(180+(30*i)))*w, radius + sin(radians(180+(30*i)))*w);
fill(0, 55, 0);
noStroke();
if (180+(30*i) >= 300) {
text(Integer.toString(180+(30*i)), (radius+10) + cos(radians(180+(30*i)))*(w+10), (radius+10) + sin(radians(180+(30*i)))*(w+10), 25,50);
} else {
text(Integer.toString(180+(30*i)), radius + cos(radians(180+(30*i)))*w, radius + sin(radians(180+(30*i)))*w, 60,40);
}
}
/* Write information text and values. */
noStroke();
fill(0);
rect(350,402,800,100);
fill(0, 100, 0);
text("Degrees: "+Integer.toString(degree), 100, 380, 100, 50); // use Integet.toString to convert numeric to string as text() only outputs strings
text("Distance: "+Integer.toString(value), 100, 400, 100, 50); // text(string, x, y, width, height)
text("Radar screen code at QQ 1696933323", 540, 380, 250, 50);
fill(0);
rect(70,60,150,100);
fill(0, 100, 0);
text("Screen Key:", 100, 50, 150, 50);
fill(0,50,0);
rect(30,53,10,10);
text("First sweep", 115, 70, 150, 50);
fill(0,110,0);
rect(30,73,10,10);
text("Second sweep", 115, 90, 150, 50);
fill(0,170,0);
rect(30,93,10,10);
text("Average", 115, 110, 150, 50);
noFill();
stroke(150,0,0);
strokeWeight(1);
ellipse(29, 113, 10, 10);
fill(150,0,0);
text("Motion", 115, 130, 150, 50);
}
/* get values from serial port */
void serialEvent (Serial myPort) {
try{
String xString = myPort.readStringUntil('n'); // read the serial port until a new line
if (xString != null) { // if theres data in between the new lines
//print(xString);
xString = trim(xString); // get rid of any whitespace just in case
String getX = xString.substring(1, xString.indexOf("V")); // get the value of the servo position
String getV = xString.substring(xString.indexOf("V")+1, xString.length()); // get the value of the sensor reading
degree = Integer.parseInt(getX); // set the values to variables
value = Integer.parseInt(getV);
oldValue[degree] = newValue[degree]; // store the values in the arrays.
newValue[degree] = value;
/* sets a counter to allow for the first 2 sweeps of the servo */
firstRun++;
if (firstRun > 360) {
firstRun = 360; // keep the value at 360
}
}
}
catch(RuntimeException e) {
println("caught error parsing data:");
e.printStackTrace();
}
}