超声波雷达

相关资源链接：链接：https://pan.baidu.com/s/1DsIPGv7DL-Q0o3hI1J32mA
提取码：w6w6

原件：超声波传感器、舵机，导线若干
步骤：1.先将原件按图接好



2.将舵机和超声波传感器代码烧录进入开发板

// Includes the Servo library
#include <Servo.h>. 
// Defines Tirg and Echo pins of the Ultrasonic Sensor
const int trigPin = 10;
const int echoPin = 11;
// Variables for the duration and the distance
long duration;
int distance;
Servo myServo; // Creates a servo object for controlling the servo motor
void setup() {
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
  Serial.begin(9600);
  myServo.attach(12); // Defines on which pin is the servo motor attached
}
void loop() {
  // rotates the servo motor from 15 to 165 degrees
  for(int i=0;i<=180;i++){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
  
  Serial.print(i); // Sends the current degree into the Serial Port
  Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
  Serial.print(distance); // Sends the distance value into the Serial Port
  Serial.print("."); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
  }
  // Repeats the previous lines from 165 to 15 degrees
  for(int i=180;i>0;i--){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();
  Serial.print(i);
  Serial.print(",");
  Serial.print(distance);
  Serial.print(".");
  }
}
// Function for calculating the distance measured by the Ultrasonic sensor
int calculateDistance(){ 
  
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
  distance= duration*0.034/2;
  return distance;
}

3.安装processing软件并运行程序

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,"COM32", 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(); 
}