day6 - 创新赛 雷达花车 -arduino

//因为csdn不支持视频，所以放上来效果图.
//构想是用彩带围绕小车一圈，然后使用之前提到的红外遥感进行方向控制，同时在电脑上显示雷达图片

//雷达arduino代码
#include<Servo.h>
const int soundTriggerPin = 13;
const int soundEchoPin = 12;
const int motorSignalPin = 3;
const int startingAngle = 15;
const int minimumAngle = 15;
const int maximumAngle = 165;
const int rotationSpeed = 1;

Servo motor;
void setup(void) 
{
    pinMode(soundTriggerPin, OUTPUT);
    pinMode(soundEchoPin, INPUT);
    motor.attach(motorSignalPin);
    Serial.begin(9600);
}
void loop(void)
{
    static int motorAngle = startingAngle;
    static int motorRotateAmount = rotationSpeed;

    motor.write(motorAngle);
    delay(30);
     SerialOutput(motorAngle, CalculateDistance());

motorAngle += motorRotateAmount;
    if(motorAngle <= minimumAngle || motorAngle >= maximumAngle) {
        motorRotateAmount = -motorRotateAmount;
    }}
int CalculateDistance(void)
{
    digitalWrite(soundTriggerPin, LOW);
    delayMicroseconds(2);
    digitalWrite(soundTriggerPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(soundTriggerPin, LOW);
    long duration = pulseIn(soundEchoPin, HIGH);
    float distance = duration * 0.017F;
    return int(distance);
}
void SerialOutput(const int angle, const int distance)
{
    String angleString = String(angle);
    String distanceString = String(distance);
        Serial.println(angleString + "," + distanceString);
}


//雷达processing1.51代码
import processing.serial.*;
import java.awt.event.KeyEvent;
import java.io.IOException;

Serial myPort;
PFont orcFont;
int iAngle;
int iDistance;
void setup() {
size(1350, 760);
    smooth();

    myPort = new Serial(this, "COM9", 9600);
    myPort.clear();
    myPort.bufferUntil('\n');
      orcFont = loadFont("OCRAExtended-30.vlw");
}
void draw() 
{
    fill(98, 245, 31);
    textFont(orcFont);
    noStroke();
    fill(0, 4); 
    rect(0, 0, width, 0.935 * height); 
    fill(98, 245, 31);

    DrawRadar(); 
    DrawLine();
    DrawObject();
    DrawText();
}
void serialEvent (Serial myPort) 
{
    try {
        String data = myPort.readStringUntil('\n');
            if (data == null) {
            return;
        }
         int commaIndex = data.indexOf(",");
        String angle = data.substring(0, commaIndex);
        String distance = data.substring(commaIndex+1, data.length()-1);
   iAngle = StringToInt(angle);
        iDistance = StringToInt(distance);
    } catch(RuntimeException e) {}
}
void DrawRadar() 
{
    pushMatrix();
    translate(width/2, 0.926 * height);
    noFill();
    strokeWeight(2);
    stroke(98, 245, 31);

    // draws the arc lines
    DrawRadarArcLine(0.9375);
    DrawRadarArcLine(0.7300);
    DrawRadarArcLine(0.5210);
    DrawRadarArcLine(0.3130);

    // draws the angle lines
    final int halfWidth = width/2;
    line(-halfWidth, 0, halfWidth, 0);
    for(int angle = 30; angle <= 150; angle+=30) {
        DrawRadarAngledLine(angle);
    }
    line(-halfWidth * cos(radians(30)), 0, halfWidth, 0);
        popMatrix();
}
void DrawRadarArcLine(final float coefficient)
{
    arc(0, 0, coefficient * width, coefficient * width, PI, TWO_PI);
}
void DrawRadarAngledLine(final int angle){
    line(0, 0, (-width/2) * cos(radians(angle)), (-width/2) * sin(radians(angle)));
}
void DrawObject() 
{
    pushMatrix();
    translate(width/2, 0.926 * height);
    strokeWeight(9);
    stroke(255,10,10);
    int pixsDistance = int(iDistance * 0.020835 * height);
    if(iDistance < 40 && iDistance != 0) {
        float cos = cos(radians(iAngle));
        float sin = sin(radians(iAngle));
        int x1 = +int(pixsDistance * cos);
        int y1 = -int(pixsDistance * sin);
        int x2 = +int(0.495 * width * cos);
        int y2 = -int(0.495 * width * sin);

        line(x1, y1, x2, y2);
    }
      popMatrix();
}
void DrawLine() 
{
    pushMatrix();
    strokeWeight(9);
    stroke(30, 250, 60);
    translate(width/2, 0.926 * height);

    float angle = radians(iAngle);
    int x = int(+0.88 * height * cos(angle));
    int y = int(-0.88 * height * sin(angle));
    line(0, 0, x, y);
    popMatrix();
}
void DrawText() 
{
    pushMatrix();
    fill(0, 0, 0);
    noStroke();
    rect(0, 0.9352 * height, width, height);
    fill(98, 245, 31);
    textSize(25);
    text("10cm", 0.6146 * width, 0.9167 * height);
    text("20cm", 0.7190 * width, 0.9167 * height);
    text("30cm", 0.8230 * width, 0.9167 * height);
    text("40cm", 0.9271 * width, 0.9167 * height);

    textSize(40);
    text("Object: " + (iDistance > 40 ? "Out of Range" : "In Range"), 0.125 * width, 0.9723 * height);
    text("Angle: " + iAngle + " °", 0.52 * width, 0.9723 * height);
    text("Distance: ", 0.74 * width, 0.9723 * height);
    if(iDistance < 40) {
        text("        " + iDistance +" cm", 0.775 * width, 0.9723 * height);
    }
     textSize(25);
    fill(98, 245, 60);
    translate(0.5006 * width + width/2 * cos(radians(30)), 0.9093 * height - width/2 * sin(radians(30)));
    rotate(-radians(-60));
    text("30°",0,0);

    resetMatrix();

    translate(0.497 * width + width/2 * cos(radians(60)), 0.9112 * height - width/2 * sin(radians(60)));
    rotate(-radians(-30));
    text("60°",0,0);
     resetMatrix();
     translate(0.493 * width + width/2 * cos(radians(90)), 0.9167 * height - width/2 * sin(radians(90)));
    rotate(radians(0));
    text("90°",0,0);
    resetMatrix();

    translate(0.487 * width + width/2 * cos(radians(120)), 0.92871 * height - width/2 * sin(radians(120)));
    rotate(radians(-30));
    text("120°",0,0);
    resetMatrix();

    translate(0.4896 * width + width/2 * cos(radians(150)), 0.9426 * height - width/2 * sin(radians(150)));
    rotate(radians(-60));
    text("150°",0,0);
    popMatrix(); 
}

int StringToInt(String string)
{
    int value = 0;
    for(int i = 0; i < string.length(); ++i) {
        if(string.charAt(i) >= '0' && string.charAt(i) <= '9') {
            value *= 10;
            value += (string.charAt(i) - '0');
        }}
     return value;}

//这里放入彩带代码
//很无语的代码，在我写的时候本来想实现其他的功能，最后变得面目全非，不喜欢的可以在github上找neopixel的实例代码进行操作
彩虹灯1（红橙黄绿青紫）
#include <Adafruit_NeoPixel.h>
//strip.setPixelColor(n, red, green, blue, white);
//其中，第一个参数n是彩带中LED的编号，最接近单片机引脚的编号为0；
//接下来的三个参数描述像素颜色，分别表示红色、绿色和蓝色的亮度级别，0为最暗，255是最大亮度；
//最后一个white是可选参数，只适用于带独立正白光的全彩LED，即RGBW型LED。

#define PIN D1 //端口
Adafruit_NeoPixel strip = Adafruit_NeoPixel(6, PIN, NEO_GRB + NEO_KHZ800); //第一个参数是控制的灯数量
uint8_t brightness = 0; //LED的亮度
uint8_t fadeAmount = 5; //亮度变化增量
void setup() {
strip.begin();
}
//loop 不断循环
void loop() {
  int k=0;
  brightness=0;
  while(k<=2)
  {
   strip.setPixelColor(k,255,brightness,0);
  strip.show();
  brightness += 255/2;//红黄变换，通过前两个循环改变颜色
  delay(500);
  k++;
}
  delay(500);
 while(k<=4)//只计算到绿色和青色
  {
  brightness -= 255/2;//补上上次循环多加的255一半
  strip.setPixelColor(k,0,brightness,255);
  strip.show();
  delay(500);
  k++;
  }
  delay(500);
  strip.setPixelColor(k,139,0,255);//紫色
  strip.show();

  delay(500);
  k=0;//初始化到第0个灯
  strip.setPixelColor(k,139,0,255);//紫色，倒过来计算
  strip.show();
  k++;
  brightness=127;//处理到绿色和青色
  while(k<=2)
  {
  strip.setPixelColor(k,0,brightness,255);
  strip.show();
  brightness += 255/2;
  delay(500);
  k++;
}
delay(500);
brightness -= 255/2;
  while(k<=5)
  {
  strip.setPixelColor(k,255,brightness,0);
  strip.show();
  brightness -= 255/2;//为了让灯发出橙色的光；165
  delay(500);
  k++;
}
  delay(500);//方便下一次循环的停顿
}