//淘宝『创元素店』https://shop423015102.taobao.com/ //更新日期 2021/03/06 //MiniRadar 超声波雷达 程序 //本程序对应商品 https://item.taobao.com/item.htm?spm=a1z10.1-c.w4004-23815833841.8.4f231fe7qvLFZi&id=649834806872

//Github版链接： https://github.com/johnsonwust/MiniRadar

# include

# 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();

}