include

include "Ucglib.h"

//显示屏的lib 如果没有该lib请按Ctrl+Shift+I 从库管理器中搜索 ucglib，并安装

define trigPin 6 //超声波模块的Trig口 6

define echoPin 5 //超声波模块的echo口 5

define ServoPin 3 //底座舵机端口 3

int Ymax = 128; //屏幕的竖向像素数 int Xmax = 160; //屏幕的横向像素数 int Xcent = Xmax / 2; //x中位 int base = 118; //基线高度 int scanline = 105; //雷达扫描线长度

Servo baseServo; Ucglib_ST7735_18x128x160_HWSPI ucg(/cd=/ 9, /cs=/ 10, /reset=/ 8);

void setup(void) {

  ucg.begin(UCG_FONT_MODE_SOLID); //初始化屏幕
  ucg.setRotate90();              //设置成横屏  如果屏幕显示方向是反的，可以修改函数 setRotate90 或 setRotate270

  pinMode(trigPin, OUTPUT);       //设置trigPin端口模式
  pinMode(echoPin, INPUT);        //设置echoPin端口模式
  Serial.begin(115200);             //设置串口传输率
  baseServo.attach(ServoPin);     //初始化舵机

  //欢迎屏幕
  ucg.setFontMode(UCG_FONT_MODE_TRANSPARENT);
  ucg.setColor(0, 0, 100, 0);
  ucg.setColor(1, 0, 100, 0);
  ucg.setColor(2, 20, 20,20);
  ucg.setColor(3, 20, 20, 20);
  ucg.drawGradientBox(0, 0, 160, 128);
  ucg.setPrintDir(0);
  ucg.setColor(0, 5, 0);
  ucg.setPrintPos(27,42);
  ucg.setFont(ucg_font_logisoso18_tf);  
  ucg.print("Mini Radar");
  ucg.setColor(0, 255, 0);
  ucg.setPrintPos(25,40);
  ucg.print("Mini Radar");
  ucg.setFont(ucg_font_helvB08_tf);
  ucg.setColor(20, 255, 20);
  ucg.setPrintPos(40,100);
  ucg.print("Testing...");
  baseServo.write(90);

  //测试底座的运行情况，注意检测底座位置和转动姿态，是否有卡住（或者导线缠绕）的情况。
  for(int x=0;x<180;x+=5)
      { baseServo.write(x);
        delay(50);
       }
  ucg.print("OK!");
  delay(500);

  //清屏
  //ucg.clearScreen();
  cls();
  ucg.setFontMode(UCG_FONT_MODE_SOLID);
  ucg.setFont(ucg_font_orgv01_hr);

}

void cls() { //清屏 ucg.setColor(0, 0, 0, 0);

for(int s=0;s<128;s+=8) for(int t=0;t<160;t+=16) { ucg.drawBox(t,s,16,8); // delay(1); }

}

int calculateDistance() { long duration; //trigPin断电并等待2微妙 digitalWrite(trigPin, LOW); delayMicroseconds(2); //trigPin加电延时 10微妙再断电 digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); //读取echoPin返回声波的传播时间（微妙） duration = pulseIn(echoPin, HIGH); //将回声时间转换成距离数值 return duration*0.034/2; }

void fix_font() { ucg.setColor(0, 180, 0); ucg.setPrintPos(70,14); ucg.print("1.00"); ucg.setPrintPos(70,52); ucg.print("0.50"); ucg.setPrintPos(70,90); ucg.print("0.25"); }

void fix() {

  ucg.setColor(0, 40, 0);
  //画基线圆盘
  ucg.drawDisc(Xcent, base+1, 3, UCG_DRAW_ALL); 
  ucg.drawCircle(Xcent, base+1, 115, UCG_DRAW_UPPER_LEFT);
  ucg.drawCircle(Xcent, base+1, 115, UCG_DRAW_UPPER_RIGHT);
  ucg.drawCircle(Xcent, base+1, 78, UCG_DRAW_UPPER_LEFT);
  ucg.drawCircle(Xcent, base+1, 78, UCG_DRAW_UPPER_RIGHT);
  ucg.drawCircle(Xcent, base+1, 40, UCG_DRAW_UPPER_LEFT);
  ucg.drawCircle(Xcent, base+1, 40, UCG_DRAW_UPPER_RIGHT);
  ucg.drawLine(0, base+1, Xmax,base+1);

  ucg.setColor(0, 120, 0);
  //画刻度表
   for(int i= 40;i < 140; i+=2)
   {

    if (i % 10 == 0) 
      ucg.drawLine(105*cos(radians(i))+Xcent,base - 105*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
    else

     ucg.drawLine(110*cos(radians(i))+Xcent,base - 110*sin(radians(i)) , 113*cos(radians(i))+Xcent,base - 113*sin(radians(i)));
   }

   //画一些装饰性图案 
   ucg.setColor(0,200,0);
   ucg.drawLine(0,0,0,18);
   for(int i= 0;i < 5; i++)
   {
      ucg.setColor(0,random(200)+50,0);
      ucg.drawBox(2,i*4,random(14)+2,3);
   }

   ucg.setColor(0,180,0);
   ucg.drawFrame(146,0,14,14);
   ucg.setColor(0,60,0);
   ucg.drawHLine(148,0,10);
   ucg.drawVLine(146,2,10);
   ucg.drawHLine(148,13,10);
   ucg.drawVLine(159,2,10);

   ucg.setColor(0,220,0);
   ucg.drawBox(148,2,4,4);
   ucg.drawBox(148,8,4,4);
   ucg.drawBox(154,8,4,4);
   ucg.setColor(0,100,0);
   ucg.drawBox(154,2,4,4);

   ucg.setColor(0,90,0);
   ucg.drawTetragon(62,123,58,127,98,127,102,123);
   ucg.setColor(0,160,0);
   ucg.drawTetragon(67,123,63,127,93,127,97,123);
   ucg.setColor(0,210,0);
   ucg.drawTetragon(72,123,68,127,88,127,92,123);

}

void loop(void) {

int distance;

fix(); fix_font(); //重绘屏幕背景元素

for (int x=180; x > 4; x-=2){ //底座舵机从180~0度循环

  baseServo.write(x);             //调整舵机角度

  //绘制雷达扫描线
  int f = x - 4; 
  ucg.setColor(0, 255, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  f+=2;
  ucg.setColor(0, 128, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  f+=2;
  ucg.setColor(0, 0, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  ucg.setColor(0,200, 0);
  //测距
  distance = calculateDistance();

  //根据测得距离在对应位置画点
  if (distance < 100)
  {
    ucg.setColor(255,0,0);
    ucg.drawDisc(distance*cos(radians(x))+Xcent,-distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
  }
  else
  { //超过1米以上的，用黄色画在边缘区域示意
    ucg.setColor(255,255,0);
    ucg.drawDisc(116*cos(radians(x))+Xcent,-116*sin(radians(x))+base, 1, UCG_DRAW_ALL);
  }

  //调试代码，输出角度和测距值  
  Serial.print(x); 
  Serial.print("    ,   ");
  Serial.println(distance); 

  if (x > 70 and x < 110)  fix_font();  //扫描线和数字重合时，重绘数字

  ucg.setColor(0,155,  0);
  ucg.setPrintPos(0,126);
  ucg.print("DEG: "); 
  ucg.setPrintPos(24,126);
  ucg.print(x);
  ucg.print("  ");
  ucg.setPrintPos(125,126);
  ucg.print("  ");
  ucg.print(distance);
  ucg.print("cm  ");

} //ucg.clearScreen(); //清屏如果arduino供电不足，可能会引起白屏（显示信号中断）可以用 cls();函数代替 ucg.clearScreen(); delay(50); cls(); //如有频繁白屏情况，可以使用该函数。或者增加外部供电

fix(); fix_font(); //重绘屏幕背景元素

for (int x=1; x < 176; x+=2){
baseServo.write(x); //调整舵机角度

  //绘制雷达扫描线
  int f = x + 4;
  ucg.setColor(0, 255, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  f-=2;
  ucg.setColor(0, 128, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  f-=2;
  ucg.setColor(0, 0, 0);
  ucg.drawLine(Xcent, base, scanline*cos(radians(f))+Xcent,base - scanline*sin(radians(f)));
  ucg.setColor(0, 200, 0);
  //测距
  distance = calculateDistance();

  //根据测得距离在对应位置画点
  if (distance < 100)
  {
    ucg.setColor(255,0,0);
    ucg.drawDisc(distance*cos(radians(x))+Xcent,-distance*sin(radians(x))+base, 1, UCG_DRAW_ALL);
  }
  else
  { //超过1米以上的，用黄色画在边缘区域示意
    ucg.setColor(255,255,0);
    ucg.drawDisc(116*cos(radians(x))+Xcent,-116*sin(radians(x))+base, 1, UCG_DRAW_ALL);
  }

  //调试代码，输出角度和测距值  
  Serial.print(x); 
  Serial.print("    ,   ");
  Serial.println(distance); 

  if (x > 70 and x < 110)  fix_font();  //扫描线和数字重合时，重绘数字

  ucg.setColor(0,155,  0);
  ucg.setPrintPos(0,126);
  ucg.print("DEG: "); 
  ucg.setPrintPos(24,126);
  ucg.print(x);
  ucg.print("   ");
  ucg.setPrintPos(125,126);
  ucg.print("   ");
  ucg.print(distance);
  ucg.print("cm   ");

} //ucg.clearScreen(); // delay(50); cls();

}