Arduino与Proteus仿真实例-雷达扫描仿真

雷达扫描仿真

本文将通过超声波传感器和舵机模拟雷达扫描仿真。舵机机带动超声波传感器进行周期性扫描，然后将扫描结果实时绘制在LCD中。

在前面的文章中，对舵机的仿真及驱动作了详细的介绍，请参考：

在前面的文章中，对超声波传感的仿真驱动和应用作了详细的介绍，请参考：

在前面的文章中，对LCD的仿真驱动作为详细的介绍，请参考：

1、仿真电路原理图

2、仿真代码实现

本次实例使用到如下开源库：

uclib

第一步，导入依赖头文件及设备创建：

#include <Servo.h>. 

#include <SPI.h>
#include "Ucglib.h"
const int trigPin = 3;
const int echoPin = 4;
int Ymax = 128;
int Xmax = 160;
int base = 8;
int pos = base+6;
int deg=0;
int x;
int val =200;
int j = 2;
Servo myServo; 

long duration;
int distance;
int k;

Ucglib_ST7735_18x128x160_HWSPI ucg(/\*cd=\*/ 9, /\*cs=\*/ 10, /\*reset=\*/ 8);

第二步，初始化设备

void setup(void)
{	
  // 初始化舵机
  myServo.write(80);
  myServo.attach(2); 
  
  // 初始化LCD
  ucg.begin(UCG_FONT_MODE_SOLID);
  ucg.setFont(ucg_font_6x10_tr);
  ucg.clearScreen();
  ucg.setRotate270();
  // 初始化超声波传感器
  pinMode(trigPin, OUTPUT); 
  pinMode(echoPin, INPUT); 
    
  // 初始化串口
  Serial.begin(9600);
}

第三步，超声波测距

int calculateDistance(){ 
  
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2);
  // 将trig引脚拉高10毫秒再拉低
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  // 读取echo引脚返回信号
  duration = pulseIn(echoPin, HIGH); 
  
  // 计算距离
  distance= duration\*0.034/2;
  return distance;
}

第四步，绘制雷达

void drawRadar(){
	ucg.setColor(255, 0, 0);
	ucg.drawDisc(Xmax/2, base, 5, UCG_DRAW_LOWER_RIGHT);
	ucg.drawDisc(Xmax/2, base, 5, UCG_DRAW_LOWER_LEFT);
	ucg.setColor(225, 255, 50);
	ucg.drawCircle(80, base, 115, UCG_DRAW_LOWER_RIGHT);
	ucg.drawCircle(80, base, 115, UCG_DRAW_LOWER_LEFT);  
	  
	ucg.drawCircle(80, base, 78, UCG_DRAW_LOWER_RIGHT);
	ucg.drawCircle(80, base, 78, UCG_DRAW_LOWER_LEFT);

	ucg.drawCircle(80, base, 40, UCG_DRAW_LOWER_RIGHT);
	ucg.drawCircle(80, base, 40, UCG_DRAW_LOWER_LEFT);

	ucg.drawLine(0, base, 160,base);

	ucg.setColor(0, 0, 0);
	ucg.drawBox(100, 0, 30, 8); 
}

最后，周期性扫描及数据绘制

void loop(void)
{
  drawRadar(); 
  // 顺时针扫描
  for ( x=80; x >= 10; x--){ 
    // 测距
    distance = calculateDistance();
    
    // 舵机旋转
    k = map(x, 80, 10, 15,165); 
    myServo.write(k);
   
   // 距离小于30CM绘制红色警报
   if (distance < 30){
      int f = x+6;
      ucg.setColor(255, 0, 0);
      ucg.drawLine(Xmax/2, pos, -val\*cos(radians(f\*2)),val\*sin(radians(f\*2)));
    }
    ucg.setColor(0, 207, 0);
    ucg.drawLine(Xmax/2, pos, -200\*cos(radians(x\*2)),200\*sin(radians(x\*2)));

  int d = x+1;
   ucg.setColor(0, 207, 0);
  int c = x+2;
   ucg.setColor(0, 207, 0);
   int b = x+3;
   ucg.setColor(0, 102, 0);
  int a = x+4;
   ucg.setColor(0, 102, 0);
  int e = x+5;
  ucg.setColor(0, 0, 0);
  ucg.drawLine(Xmax/2, pos, -200\*cos(radians(e\*2)),200\*sin(radians(e\*2)));
  ucg.setColor(255, 0, 0);
  ucg.setPrintPos(160,0);
  ucg.setPrintDir(2);
  ucg.print("Deg :"); 
  deg = map (x, 80, 10 , 0, 180); 
  ucg.setPrintPos(120,0);
  ucg.setPrintDir(2);
  ucg.print(deg);
  ucg.setPrintPos(10,0);
  ucg.print(distance); 
  ucg.setColor(0, 0, 255);
   ucg.setPrintPos(90,38);
  ucg.setPrintDir(2);
  ucg.print("0.25");
  ucg.setPrintPos(90,70);
  ucg.print("0.50");
  ucg.setPrintPos(90,110);
  ucg.print("1.00");
  }
 // ucg.clearScreen();
  
  drawRadar();
 
  // 逆时针扫描
  for ( x=10; x <= 80; x++){  
    distance = calculateDistance();
    Serial.println(distance); 
    k = map(x, 10, 80, 165,15); 
    myServo.write(k);
    if (distance < 10){
      int e = x-5;
      ucg.setColor(255, 0, 0);
      ucg.drawLine(Xmax/2, pos, -val\*cos(radians(e\*2)),val\*sin(radians(e\*2)));
    }
  
  
  ucg.setColor(0, 207, 0);
  ucg.drawLine(Xmax/2, pos, -200\*cos(radians(x\*2)),200\*sin(radians(x\*2)));
  
   int a = x-1;
   
  
   int b = x-2;
   ucg.setColor(0, 102, 0);

     int c = x-3;
     ucg.setColor(0, 102, 0);

     int d = x-4;
     ucg.setColor(0, 0, 0);
      ucg.drawLine(Xmax/2, pos, -200\*cos(radians(d\*2)),200\*sin(radians(d\*2)));
     ucg.setColor(255, 0, 0);
      ucg.setPrintPos(160,0);
      ucg.setPrintDir(2);
      ucg.print("Deg :"); 
      deg = map (x, 10, 80 , 0, 180); 
      ucg.setPrintPos(120,0);
      ucg.setPrintDir(2);
      ucg.print(deg); 
      ucg.setPrintPos(10,0);
      ucg.print(distance); 

      ucg.setColor(0, 0, 255);
      ucg.setPrintPos(90,38);
      ucg.setPrintDir(2);
      ucg.print("0.25");
      ucg.setPrintPos(90,70);
      ucg.print("0.50");
      ucg.setPrintPos(90,110);
      ucg.print("1.00");
 
 
  }
  //ucg.clearScreen();
}