arduino Radar demo

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最新推荐文章于 2025-03-18 13:26:25 发布

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本文介绍如何使用Arduino控制舵机，并通过实例演示了舵机角度控制及超声波测距的应用。涉及Arduino编程、舵机基本操作及超声波模块使用。

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1.attach(接口)——设定舵机的接口，只有9或10接口可利用

2.write(角度)——用于设定舵机旋转角度的语句，可设定的角度范围是0°到180°

3.read(读取)——用于读取舵机角度的语句，可理解为读取最后一条write( )命令中的值

4.attached( )——判断舵机参数是否已发送到舵机所在的接口

5.detach( )——使舵机与其接口分离，该接口(9或10)可继续被用作PWM接口

注：以上语句的书写格式均为“舵机变量名.具体语句（）”例如：myservo.attach(9)。

1) 说明：。

舵机的旋转不像普通电机那样只是转圈圈，它可以根据你的指令旋转到0至180度之间的任意角度然后精准的停下来，常用于控制机器人。
舵机的转动的角度是通过调节PWM（脉冲宽度调制）信号的占空比来实现的。需要使用Arduino上的PWM口控制（数字前带~的），Arduino 的驱动能力有限，所以当需要控制1 个以上的舵机时需要外接电源。一个机器人经常需要很多个舵机同时工作，此时需要加一个舵机控制板，舵机控制板本身是一个单片机，它不但能接16/24/32个舵机，同时也简化了舵机操作命令。
下例中使用的是9g的小舵机，用arduino板上的5V供电，大的舵机有的需要外部供电才能驱动，外接电源时需要将降到舵机指定的电压，否则会烧坏舵机。

2) 硬件：

舵机SG90，Arduino uno，杜邦线

3) 接线：

GND(棕色)接 Arduino GND
PWM(橙色)接 Arduino Digital 10
VCC(红色)接 Arduino 5V

arduino代码：

#include <Servo.h>.
const int trigPin = 10;
const int echoPin = 11;
long duration;
int distance;
Servo myServo; // Creates a servo object for controlling the servo motor
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
Serial.begin(9600);
myServo.attach(12);
}
void loop() {
for(int i=15;i<=165;i++){
myServo.write(i);
delay(30);
distance = calculateDistance();
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
for(int i=165;i>15;i--){
myServo.write(i);
delay(30);
distance = calculateDistance();
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
}
int calculateDistance(){
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance= duration*0.034/2;
return distance;
}

processing代码：

import processing.serial.*;

import java.awt.event.KeyEvent;

import java.io.IOException;

Serial myPort;

String angle="";

String distance="";

String data="";

String noObject;

float pixsDistance;

int iAngle, iDistance;

int index1=0;

int index2=0;

PFont orcFont;

void setup() {

  

 size (1136, 768); //这个分辨率自己根据你的电脑的配置和显示屏幕配置进行更改。别逞强，我的渣渣笔记本就不能1080p

 smooth();

 myPort = new Serial(this,"COM3", 9600);//这个串口号一定要更改。我就做个好人，帮你们改为com3吧。好人注，，，

 myPort.bufferUntil('.');

}

void draw() {

  

  fill(98,245,31);

  noStroke();

  fill(0,4); 

  rect(0, 0, width, height-height*0.065); 

  fill(98,245,31);

  drawRadar(); 

  drawLine();

  drawObject();

  drawText();

}

void serialEvent (Serial myPort) { 

  data = myPort.readStringUntil('.');

  data = data.substring(0,data.length()-1);

  index1 = data.indexOf(",");

  angle= data.substring(0, index1);

  distance= data.substring(index1+1, data.length());

  iAngle = int(angle);

  iDistance=int(distance);

}

void drawRadar() {

  pushMatrix();

  translate(width/2,height-height*0.074);

  noFill();

  strokeWeight(2);

  stroke(98,245,31);

  // draws the arc lines

  arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);

  arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);

  arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);

  arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);

  // draws the angle lines

  line(-width/2,0,width/2,0);

  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));

  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));

  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));

  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));

  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));

  line((-width/2)*cos(radians(30)),0,width/2,0);

  popMatrix();

}

void drawObject() {

  pushMatrix();

  translate(width/2,height-height*0.074);

  strokeWeight(9);

  stroke(255,10,10); // red color

  pixsDistance=iDistance*((height-height*0.1666)*0.025);

  if(iDistance<40){

  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));

  }

  popMatrix();

}

void drawLine() {

  pushMatrix();

  strokeWeight(9);

  stroke(30,250,60);

  translate(width/2,height-height*0.074);

  line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));

  popMatrix();

}

void drawText() { 

  

  pushMatrix();

  if(iDistance>40) {

  noObject = "Out of Range";

  }

  else {

  noObject = "In Range";

  }

  fill(0,0,0);

  noStroke();

  rect(0, height-height*0.0648, width, height);

  fill(98,245,31);

  textSize(25);

  

  text("10cm",width-width*0.3854,height-height*0.0833);

  text("20cm",width-width*0.281,height-height*0.0833);

  text("30cm",width-width*0.177,height-height*0.0833);

  text("40cm",width-width*0.0729,height-height*0.0833);

  textSize(40);

  text("Object: " + noObject, width-width*0.875, height-height*0.0277);

  text("Angle: " + iAngle +" °", width-width*0.48, height-height*0.0277);

  text("Distance: ", width-width*0.26, height-height*0.0277);

  if(iDistance<40) {

  text("        " + iDistance +"cm", width-width*0.225, height-height*0.0277);

  }

  textSize(25);

  fill(98,245,60);

  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));

  rotate(-radians(-60));

  text("30°",0,0);

  resetMatrix();

  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));

  rotate(-radians(-30));

  text("60°",0,0);

  resetMatrix();

  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));

  rotate(radians(0));

  text("90°",0,0);

  resetMatrix();

  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));

  rotate(radians(-30));

  text("120°",0,0);

  resetMatrix();

  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));

  rotate(radians(-60));

  text("150°",0,0);

  popMatrix(); 

}

运行效果：