基于Arduino、ESP8266的物联网项目开发方案整理、毕业设计（第二波）
2024-05-11 18:22:06
文章目录
- 1、背景
- 2、项目整理
- 2.1 Home Office —— 在家办公时调节休息的灯
- 2.1.1 功能介绍
- 2.1.2 实物图片
- 2.1.3 视频
- 2.1.4 源代码
- 2.2 仿生珊瑚
- 2.2.1 功能介绍
- 2.2.2 实物图片
- 2.2.3 视频
- 2.2.4 源代码
- 2.3 气体传感器 —— 气体检测
- 2.3.1 功能介绍
- 2.3.2 实物图片
- 2.3.3 视频
- 2.3.4 源代码
- 2.4 气体采集平台
- 2.4.1 功能介绍
- 2.4.2 实物图片
- 2.4.3 视频
- 2.4.4 源代码
- 3、如何联系我们
博主联系方式汇总（非诚勿扰）
博主联系方式汇总（非诚勿扰）
博主联系方式汇总（非诚勿扰）
1、背景
了解博哥的同学都知道，作为一名电子爱好者，博哥除了平时乐于分享基础知识之外，还需要肩负起减轻家庭负担的责任（毕竟从农村走出来的孩子）。
目前，一般加博哥好友的人大概可以分为两类：
- 学习知识（这一部分目前基本上都很
正常运转起来，更多人还是喜欢我的ESP8266开发系列，主要着重点在于基础） - 项目开发、毕业设计等（这一部分内容缺失，没有一系列的帖子去
记录过博哥有经历过哪些项目开发，不一定是我开发的。。。。）
所以，经过仔细考虑还是需要去介绍一下一些项目开发整理。
2、项目整理
主要分为几个项目：
- Home Office
- 仿生珊瑚
- 气体传感器
- 气体采集平台
2.1 Home Office —— 在家办公时调节休息的灯
2.1.1 功能介绍
- 0、用户A是个设计师，疫情在家工作也常常要加班。
大量的工作很容易让他烦躁并且缺乏休息（用户背景）。 - 1、当时间到达T1(hh1:mm1:ss1)时、表示上班时间到了。随着时间的推移，光线会慢慢变暗（
人工拉动窗帘或者遮挡光敏传感器）如果光敏电阻检测到环境暗，则灯环自动亮暖色（环境越暗灯环越亮）。//这里是避免由于忘记开灯，伤害眼睛 - 2、连续亮了t分钟后，灯变暗变绿色
呼吸灯效果， MP3模块播放音乐，提醒用户A休息。 - 3、 只有当人手摸着心率/心跳传感器，检测到稳定（舒畅的状态）时，心跳稳定且平静则恢复1中的暖光，这时重新计时t。//比如像我这种工作狂 灯一灭就想立刻重启继续，那就要心跳传感器给予验证，脉搏是OK的才行
- 4、需要去休息时，点击开关按钮， 灯进入休眠（关闭灯），到第二天的T2(hh2:mm2:ss2)再次开启。
- 5、测试的时候，T1和T2可以设置的间隔短一点，比如5分钟。
2.1.2 实物图片
1、1Arduino nano或uno
2、1DS3231时钟模块（含纽扣电池）
3、1光敏电阻（模块）
4、124位 WS2812LED灯环
5、1无源蜂鸣器/mp3模块
6、1心率传感器/心跳传感器
7、1*9v电池
8、其他可能需要的元器件（面包板、按钮、电阻、电容、导线等）
2.1.3 视频
演示视频暂时无法上传（需要的可以另外帖子留言）
2.1.4 源代码
#include <DS3231.h>
#include <Wire.h>
DS3231 Clock;
bool Century=false;
bool h12;
bool PM;
bool work_flag = 1;
int flag = 0; //调试用
int second,minute,hour,date,month,year,temperature; #define USE_ARDUINO_INTERRUPTS true
#include <PulseSensorPlayground.h>const int OUTPUT_TYPE = SERIAL_PLOTTER;const int PULSE_INPUT = A0;
const int PULSE_BLINK = 13; // Pin 13 is the on-board LED
const int PULSE_FADE = 5;
const int THRESHOLD = 530; // Adjust this number to avoid noise when idle
int BPM = 0;int old_min = 0;
PulseSensorPlayground pulseSensor;#include <Adafruit_NeoPixel.h>#include "Arduino.h"
#include "SoftwareSerial.h"
#include "DFRobotDFPlayerMini.h"SoftwareSerial mySoftwareSerial(10, 11); // RX, TX
DFRobotDFPlayerMini myDFPlayer;#define button_1 2 //按钮引脚
#define LED_PIN 7 //LED引脚
#define NUMPIXELS 24 //LED数量
#define Bright_PIN A1 //光感引脚
#define hode_time 1000 //闪烁速度调节
#define work_time_hour 16 //工作时间h
#define work_time_min 10 //工作时间min
#define wake_time_hour 9 //唤醒时间h
#define wake_time_min 20 //唤醒时间min
#define rest_time 1 //休息提醒时长间隔
#define rest_time_delay 15 //休息时长(单位S)int Set_BPM = 180; //设置舒缓心率
int Set_Min_BPM = 140;
Adafruit_NeoPixel pixels(NUMPIXELS, LED_PIN, NEO_GRB + NEO_KHZ800);int LED_num = 24;
int LED_flag = 0;
bool play_flag = 1;
int LED_Bright = 200; //LED亮度设置 0-255
unsigned long int cur_time = 0; //LED渐变初始时间
unsigned long int Readtime = 0;
void setup() {Wire.begin();
// Clock.setSecond(50);//Set the second
// Clock.setMinute(8);//Set the minute
// Clock.setHour(0); //Set the hour
// Clock.setDoW(4); //Set the day of the week
// Clock.setDate(9); //Set the date of the month
// Clock.setMonth(7); //Set the month of the year
// Clock.setYear(20); //Set the year (Last two digits of the year)ReadDS3231();old_min = minute;pixels.begin();pixels.setBrightness(LED_Bright);mySoftwareSerial.begin(9600);Serial.println();Serial.println(F("DFRobot DFPlayer Mini Demo"));Serial.println(F("Initializing DFPlayer ... (May take 3~5 seconds)"));if (!myDFPlayer.begin(mySoftwareSerial)) { //Use softwareSerial to communicate with mp3.Serial.println(F("Unable to begin:"));Serial.println(F("1.Please recheck the connection!"));Serial.println(F("2.Please insert the SD card!"));
// while(true);}Serial.println(F("DFPlayer Mini online."));myDFPlayer.volume(30); //Set volume value. From 0 to 30Serial.begin(115200);pinMode(button_1,INPUT); //按钮设置为输入pulseSensor.analogInput(PULSE_INPUT);pulseSensor.blinkOnPulse(PULSE_BLINK);pulseSensor.fadeOnPulse(PULSE_FADE);pulseSensor.setSerial(Serial);pulseSensor.setOutputType(OUTPUT_TYPE);pulseSensor.setThreshold(THRESHOLD);if (!pulseSensor.begin()) {for(;;) {digitalWrite(PULSE_BLINK, LOW);delay(50);digitalWrite(PULSE_BLINK, HIGH);delay(50);}}
}/********按钮结构体*********/
struct Button{int buttonState; //按钮状态变量int lastButtonState = LOW; //按钮状态初始化long lastDebounceTime = 0; //记录抖动变量long debounceDelay = 50; //抖动时间变量50ms
};
Button button1; //新建1个按钮/********按钮消抖函数********/
bool GetButton(){ int reading = digitalRead(button_1); //读取I/O口状态if(reading!=button1.lastButtonState){ //如果状态发生改变button1.lastDebounceTime = millis();//更新时间} //如果等待时间大于debounceDelayif((millis()-button1.lastDebounceTime)>button1.debounceDelay){if(reading!=button1.buttonState){ //读取状态不等于按钮状态button1.buttonState = reading; //更新buttonState}}button1.lastButtonState = reading; //更新lastButtonStatereturn button1.lastButtonState;
}void loop() {ReadDS3231();Mode_Change(); //模式刷新LED_Run(); //LED状态刷新
}void Mode_Change(){if(millis() - Readtime > 1000){ Serial_OUT();Readtime = millis();ReadDS3231(); //获取时间if(flag == 1 || hour > work_time_hour || (hour == work_time_hour && minute >= work_time_min)){if(work_flag == 1){Mode_1(); //工作时间内为模式1
// Serial.println("Mode_1");if(GetButton()){ //如果按钮按下，进入睡眠模式work_flag = 0;
// Serial.println("GetButton()");}} }else if(flag == 2 || hour > wake_time_hour || (hour = wake_time_hour && minute < wake_time_min )){Mode_2(); //唤醒后切换为模式2work_flag = 1;
// Serial.println("Mode_2");}if(flag == 3 || work_flag == 0){ //睡眠模式Mode_3();
// Serial.println("Mode_3");} }
}void Mode_1(){int x = minute - old_min;
// Serial.println(x);ReadDS3231();if(minute - old_min >= rest_time){pulseSensor.begin(); //开始读取心率Get_BPM();if(play_flag == 1){myDFPlayer.play(1); //Play the first mp3play_flag = 0;}LED_flag = 2;if(Clock.getSecond() > rest_time_delay){// if(BPM > Set_Min_BPM && BPM < Set_BPM){old_min = minute;BPM = 0;}}else{pulseSensor.pause(); //暂停读取心率LED_flag = 1;myDFPlayer.stop(); //Play the first mp3play_flag = 1;}
}
void Mode_2(){pulseSensor.pause(); //暂停读取心率work_flag = 1;LED_flag = 1;
}
void Mode_3(){pulseSensor.pause(); //暂停读取心率LED_flag = 0;
}/********获取时间函数********/
void ReadDS3231(){second=Clock.getSecond();minute=Clock.getMinute();hour=Clock.getHour(h12, PM);date=Clock.getDate();month=Clock.getMonth(Century);year=Clock.getYear();
// temperature=Clock.getTemperature();
// Serial.print("20");
// Serial.print(year,DEC);
// Serial.print('-');
// Serial.print(month,DEC);
// Serial.print('-');
// Serial.print(date,DEC);
// Serial.print(' ');
// Serial.print(hour,DEC);
// Serial.print(':');
// Serial.print(minute,DEC);
// Serial.print(':');
// Serial.print(second,DEC);
// Serial.print('\n');
// Serial.print("Temperature=");
// Serial.print(temperature);
// Serial.print('\n');}/********LED状态刷新********/
void LED_Run(){if(LED_flag == 0){ //灯灭pixels.clear();pixels.show();}else if(LED_flag == 1){ //自动调整LED亮度LED_Bright = map(analogRead(Bright_PIN),0,1024,0,255);//获取亮度for(int m = 0; m < (LED_num+1); m++){pixels.setPixelColor(m, pixels.Color(255, 255, 255));}pixels.setBrightness(LED_Bright); //调节亮度pixels.show(); //更新亮度}else if(LED_flag == 2){ //LED闪烁提醒cur_time = millis();if((cur_time % (2*hode_time)) > hode_time){ //防阻塞LED闪烁pixels.clear();}else{LED_Bright = map(analogRead(Bright_PIN),0,1024,0,255);//获取亮度for(int m = 0; m < (LED_num+1); m++){pixels.setPixelColor(m, pixels.Color(0, 255, 0));pixels.setBrightness(LED_Bright);}}pixels.show();}
}void Get_BPM(){delay(20);//pulseSensor.outputSample();if (pulseSensor.sawStartOfBeat()) {BPM = pulseSensor.getBeatsPerMinute();Serial.println(BPM);}
}void Serial_OUT(){Serial.print("Temperature=");Serial.print(temperature); Serial.print('\n');Serial.print("20");Serial.print(year,DEC);Serial.print('-');Serial.print(month,DEC);Serial.print('-');Serial.print(date,DEC);Serial.print(' ');Serial.print(hour,DEC);Serial.print(':');Serial.print(minute,DEC);Serial.print(':');Serial.print(second,DEC);Serial.print('\n');int B = map(analogRead(Bright_PIN),0,1024,1024,0);Serial.print("Bright: ");Serial.print(B);Serial.print("\tBPM: ");Serial.println(BPM);BPM = random(60,200);Serial.println("--------------------------");
}2.2 仿生珊瑚
2.2.1 功能介绍
- 1、用户通过在触控板绘制上图“米”字所示的横线“一”，“|”，“╱”，“╲”这四个的任意一个，来控制圆盘上面的塑料柱。
- 2、举个例子，当客户绘制“一”后，就从如右上图这排（记为A）开始，往两边扩散形成水波效果。具体的时间就是，A在1s内下去1cm，然后在1s内又复原。在A开始下去的0.3s后，A两边的也开始在1s下去。如此控制，直到最外边的也控制完。
- 3、当TDS模块采集的值超过250时，圆盘由最中心的点，往外扩散，形成水滴散开的效果。
- 4、最好是可以支持绘制“～”型图案。
2.2.2 实物图片
1、1Arduino uno 或 mega
2、1TDS模块
3、37电机
4、1无线模块
5、1接收模块
6、1触摸板
2.2.3 视频
演示视频暂时无法上传（需要的可以另外帖子留言）
2.2.4 源代码
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include <SoftwareSerial.h>/*舵机驱动板IIC地址*/
Adafruit_PWMServoDriver pwm1 = Adafruit_PWMServoDriver(); //默认地址0x40
//Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x41);
/** PCA9685可以设置更新频率，时基脉冲周期20ms相当于50HZ更新频率,* PCA9685采用12位的寄存器来控制PWM占比，对于0.5ms，相当于0.5/20*4096=102的寄存器值* 但是实际使用的时候，还是有偏差，除了0度以及180度，其他需要乘以0.915系数* 0.5ms———— 0度：0.5/20*4096 = 102* 1.0ms———— 45度：1/20*4096 = 204*0.915 = 187* 1.5ms———— 90度：1.5/20*4096 = 306*0.915 = 280* 2.0ms———— 135度：2/20*4096 = 408*0.915 = 373* 2.5ms———— 180度：2.5/20*4096 = 512* 30度=0.5ms+(30/180)*(2.5ms-0.5ms)=0.8333ms* 0.8333ms/20ms=off/4096,off=171,171*0.915=156* 60度=0.5ms+(60/180)*(2.5ms-0.5ms)=1.666ms* 1.666ms/20ms=off/4096,off=239,239*0.915=219*/
/*舵机转动角度*/
#define SERVO_0 102
#define SERVO_30 156
#define SERVO_45 187
#define SERVO_60 219
#define SERVO_90 280
#define SERVO_135 373
#define SERVO_180 512
/*舵机转动时间间隔*/
#define interval0 300
/*TDS传感器相关定义*/
#define TdsSensorPin A0
#define VREF 5.0 //ADC的模拟参考电压(伏特)
#define SCOUNT 30 //采样点和
int analogBuffer[SCOUNT]; //将模拟值存储在数组中，从ADC中读取
int analogBufferTemp[SCOUNT];
int analogBufferIndex = 0,copyIndex = 0;
float averageVoltage = 0,tdsValue = 0,temperature = 25;
/*蓝牙数据接收相关定义*/
unsigned char c[10] = {0x00};
unsigned char Length = 0;
SoftwareSerial BTSerial(3, 2); //RX(D3),TX(D2)
bool flag;void setup() {// put your setup code here, to run once:Serial.begin(9600);BTSerial.begin(9600);pinMode(TdsSensorPin,INPUT); //初始化TDS传感器接口flag=true;pwm1.begin(); //复位并初始化舵机驱动板//pwm2.begin();pwm1.setPWMFreq(50); //调节PWM频率,范围40-1000Hz//pwm2.setPWMFreq(50);Servo_Init(); //舵机初始化
}void loop() {//put your main code here, to run repeatedly:static unsigned long analogSampleTimepoint = millis();if(millis() - analogSampleTimepoint > 80U) //每80毫秒,从ADC中读取模拟值{analogSampleTimepoint=millis();analogBuffer[analogBufferIndex]=analogRead(TdsSensorPin); //读取模拟值,每80毫秒存入缓冲区analogBufferIndex++;if(analogBufferIndex == SCOUNT)analogBufferIndex = 0;}static unsigned long printTimepoint = millis();if(millis() - printTimepoint > 6000U){printTimepoint = millis();for(copyIndex=0;copyIndex < SCOUNT;copyIndex++){analogBufferTemp[copyIndex] = analogBuffer[copyIndex];averageVoltage = getMedianNum(analogBufferTemp,SCOUNT) * (float)VREF / 1024.0; //通过中值滤波算法读取更稳定的模拟值,并转换为电压值float compensationCoefficient = 1.0+0.02*(temperature - 25.0); //温度补偿公式:fFinalResult(25^C) = fFinalResult(current)/(1.0+0.02*(ft -25.0));float compensationVolatge = averageVoltage / compensationCoefficient; //温度补偿tdsValue = (133.42*compensationVolatge*compensationVolatge*compensationVolatge - 255.86*compensationVolatge*compensationVolatge + 857.39*compensationVolatge)*0.5; //将电压值转换为tds值进行温度补偿
// Serial.print("voltage:");
// Serial.print(averageVoltage,2);
// Serial.print("V ");
// Serial.print("TDS Value:");
// Serial.println(tdsValue,0);
// Serial.println("ppm");}BTSerial.print("t0.txt=\"");//蓝牙发送数据BTSerial.print(tdsValue);Serial.println(tdsValue);BTSerial.print("ppm");BTSerial.print("\"");BTSerial.write(0xff);BTSerial.write(0xff);BTSerial.write(0xff);}Length = 0; while(BTSerial.available()>0){c[Length++] = BTSerial.read(); //接收蓝牙数据}if (Length > 0){if(c[0] ==0x3 || c[0] ==0x5) {Serial.println("03");if(flag==true)Draw_HorLine();}else if(c[0] == 0x1 || c[0] == 0x7){Serial.println("01");if(flag==true)Draw_VerLine();}else if(c[0] == 0x2|| c[0] == 0x6){Serial.println("02");if(flag==true)Draw_LeftLine();}else if(c[0] == 0x0 || c[0] == 0x8){Serial.println("00");if(flag==true)Draw_RightLine();}Length = 0; }
}//舵机初始化
//setPWM(channel, on, off)
//channel:更新的通道
//on:信号从低电平变为高电平的滴答（在0…4095之间）
//off:当信号从高电平变为低电平时的滴答（在0…4095之间）
void Servo_Init(void)
{Serial.println("舵机初始化开始"); for(uint16_t channel=0;channel<=12;channel++){pwm1.setPWM(channel,0,SERVO_180);}for(uint16_t channel=0;channel<=7;channel++){//pwm2.setPWM(channel,0,SERVO_180);}delay(50);for(uint16_t channel=0;channel<=12;channel++){pwm1.setPWM(channel,0,SERVO_0);}for(uint16_t channel=0;channel<=7;channel++){//pwm2.setPWM(channel,0,SERVO_0);}Serial.println("舵机初始化完成");
}//中值滤波
int getMedianNum(int bArray[],int iFilterLen)
{int bTab[iFilterLen];int i,j,bTemp;for(byte i=0;i<iFilterLen;i++){bTab[i]=bArray[i];}for(j=0;j<iFilterLen-1;j++){for(i=0;i<iFilterLen-j-1;i++){if(bTab[i] > bTab[i+1]){bTemp=bTab[i];bTab[i]=bTab[i+1];bTab[i+1]=bTemp;}}}if((iFilterLen & 1) > 0)bTemp=bTab[(iFilterLen -1) / 2];elsebTemp=(bTab[iFilterLen / 2] + bTab[iFilterLen / 2 - 1]) / 2;return bTemp;
}void Draw_HorLine() //画横线
{flag=false;if(tdsValue <= 250){/**假设3、5、5、5、3分别记为A、B、C、D、E*/for(uint16_t channel=0;channel<=4;channel++) //T=0s时，C开始转(下降){pwm1.setPWM(channel, 0, SERVO_30); //C}Serial.println("第一排");delay(interval0); //0.3sfor(uint16_t channel=0;channel<=4;channel++) //T=0.3s时，C转了30度，此时B、D也开始转(下降){//pwm2.setPWM(channel, 0, SERVO_30); //Dpwm1.setPWM(channel, 0, SERVO_60); //C}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_30); //B}Serial.println("第二排");delay(interval0); //0.3sfor(uint16_t channel=10;channel<=12;channel++) //T=0.6s时，C转了60度，B、D转了30度，A、E开始转(下降){pwm1.setPWM(channel, 0, SERVO_30); //A}for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_30); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_60); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_60); //Dpwm1.setPWM(channel, 0, SERVO_90); //C}Serial.println("第三排");delay(interval0); //0.3sfor(uint16_t channel=10;channel<=12;channel++) //T=0.9s时，C转了90度，B、D转了60度，A、E转了30度{pwm1.setPWM(channel, 0, SERVO_60); //A}for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_60); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_90); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_90); //Dpwm1.setPWM(channel, 0, SERVO_60); //C}delay(interval0); //0.3sfor(uint16_t channel=10;channel<=12;channel++) //T=1.2s时，C转回到了60度，B、D转了90度，A、E转了60度{pwm1.setPWM(channel, 0, SERVO_90); //A}for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_90); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_60); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_60); //Dpwm1.setPWM(channel, 0, SERVO_30); //C}delay(interval0); //0.3sfor(uint16_t channel=10;channel<=12;channel++) //T=1.5s时，C转回到了30度，B、D转回了60度，A、E转了90度{pwm1.setPWM(channel, 0, SERVO_60); //A} for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_60); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_30); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_30); //Dpwm1.setPWM(channel, 0, SERVO_0); //C}delay(interval0); //0.3s for(uint16_t channel=10;channel<=12;channel++) //T=1.8s时，C转回到了0度，B、D转回了30度，A、E转回了60度{pwm1.setPWM(channel, 0, SERVO_30); //A}for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_30); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_0); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_0); //Dpwm1.setPWM(channel, 0, SERVO_0); //C}delay(interval0); //0.3s for(uint16_t channel=10;channel<=12;channel++) //T=2.1s时，C不变，B、D转回了0度，A、E转回了30度{pwm1.setPWM(channel, 0, SERVO_0); //A}for(uint16_t channel=5;channel<=7;channel++){//pwm2.setPWM(channel, 0, SERVO_0); //E}for(uint16_t channel=5;channel<=9;channel++) {pwm1.setPWM(channel, 0, SERVO_0); //B}for(uint16_t channel=0;channel<=4;channel++) {//pwm2.setPWM(channel, 0, SERVO_0); //Dpwm1.setPWM(channel, 0, SERVO_0); //C} Serial.println("运动完成");}else //TDS大于250{/**假设1、8、12分别记为A、B、C*///T=0s时，A开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//ASerial.println("第一圈");delay(interval0); //0.3s //T=0.3s时，A转了30度，此时B也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(8, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//ASerial.println("第二圈");delay(interval0); //0.3s //T=0.6s时，A转了60度，B转了30度，C开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//ASerial.println("第三圈");delay(interval0); //0.3s //T=0.9s时，A转了90度，B转了60度，C转了30度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Bpwm1.setPWM(3, 0, SERVO_90);pwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(8, 0, SERVO_90);//pwm2.setPWM(1, 0, SERVO_90);//pwm2.setPWM(2, 0, SERVO_90);//pwm2.setPWM(3, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Adelay(interval0); //0.3s //T=1.2s时，A转回到了60度，B转了90度，C转了60度pwm1.setPWM(0, 0, SERVO_90);//Cpwm1.setPWM(4, 0, SERVO_90);pwm1.setPWM(5, 0, SERVO_90);pwm1.setPWM(9, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);//pwm2.setPWM(0, 0, SERVO_90);//pwm2.setPWM(4, 0, SERVO_90);//pwm2.setPWM(5, 0, SERVO_90);//pwm2.setPWM(6, 0, SERVO_90);//pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Adelay(interval0); //0.3s //T=1.5s时，A转回到了30度，B转回了60度，C转了90度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(8, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=1.8s时，A转回到了0度，B转回了30度，C转回了60度pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=2.1s时，A不变，B转回了0度，C转回了30度pwm1.setPWM(0, 0, SERVO_0);//Cpwm1.setPWM(4, 0, SERVO_0);pwm1.setPWM(5, 0, SERVO_0);pwm1.setPWM(9, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);//pwm2.setPWM(0, 0, SERVO_0);//pwm2.setPWM(4, 0, SERVO_0);//pwm2.setPWM(5, 0, SERVO_0);//pwm2.setPWM(6, 0, SERVO_0);//pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//A//delay(interval0); //0.3s //T=2.4s时，A不变，B不变，C转回了0度 Serial.println("运动完成"); }flag=true;
}void Draw_VerLine() //画竖线
{flag=false;if(tdsValue <= 250){/**假设3、5、5、5、3分别记为A、B、C、D、E*///T=0s时，C开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//Cpwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);Serial.println("第一排");delay(interval0); //0.3s//T=0.3s时，C转了30度，此时B、D也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//Dpwm1.setPWM(8, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//Cpwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);Serial.println("第二排");delay(interval0); //0.3s//T=0.6s时，C转了60度，B、D转了30度，A、E开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Apwm1.setPWM(5, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//Epwm1.setPWM(9, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Dpwm1.setPWM(8, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//Cpwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);//pwm2.setPWM(2, 0, SERVO_90);//pwm2.setPWM(6, 0, SERVO_90);Serial.println("第三排");delay(interval0); //0.3s//T=0.9s时，C转了90度，B、D转了60度，A、E转了30度pwm1.setPWM(0, 0, SERVO_60);//Apwm1.setPWM(5, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//Epwm1.setPWM(9, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Bpwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);//pwm2.setPWM(1, 0, SERVO_90);//pwm2.setPWM(5, 0, SERVO_90);pwm1.setPWM(3, 0, SERVO_90);//Dpwm1.setPWM(8, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);//pwm2.setPWM(3, 0, SERVO_90);//pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Cpwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);delay(interval0); //0.3s//T=1.2s时，C转回到了60度，B、D转了90度，A、E转了60度pwm1.setPWM(0, 0, SERVO_90);//Apwm1.setPWM(5, 0, SERVO_90);//pwm2.setPWM(0, 0, SERVO_90);pwm1.setPWM(4, 0, SERVO_90);//Epwm1.setPWM(9, 0, SERVO_90);//pwm2.setPWM(4, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Dpwm1.setPWM(8, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Cpwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);delay(interval0); //0.3s//T=1.5s时，C转回到了30度，B、D转回了60度，A、E转了90度pwm1.setPWM(0, 0, SERVO_60);//Apwm1.setPWM(5, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//Epwm1.setPWM(9, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);// pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//Dpwm1.setPWM(8, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(6, 0, SERVO_0);delay(interval0); //0.3s//T=1.8s时，C转回到了0度，B、D转回了30度，A、E转回了60度pwm1.setPWM(0, 0, SERVO_30);//Apwm1.setPWM(5, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//Epwm1.setPWM(9, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);//pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(6, 0, SERVO_0);delay(interval0); //0.3s//T=2.1s时，C不变，B、D转回了0度，A、E转回了30度pwm1.setPWM(0, 0, SERVO_0);//Apwm1.setPWM(5, 0, SERVO_0);//pwm2.setPWM(0, 0, SERVO_0);pwm1.setPWM(4, 0, SERVO_0);//Epwm1.setPWM(9, 0, SERVO_0);//pwm2.setPWM(4, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);//pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(6, 0, SERVO_0); Serial.println("运动完成");}else //TDS大于250{/**假设1、8、12分别记为A、B、C*///T=0s时，A开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//ASerial.println("第一圈");delay(interval0); //0.3s //T=0.3s时，A转了30度，此时B也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);//pwm2.setPWM(8, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//ASerial.println("第二圈");delay(interval0); //0.3s //T=0.6s时，A转了60度，B转了30度，C开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//ASerial.println("第三圈");delay(interval0); //0.3s //T=0.9s时，A转了90度，B转了60度，C转了30度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Bpwm1.setPWM(3, 0, SERVO_90);pwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(8, 0, SERVO_90);//pwm2.setPWM(1, 0, SERVO_90);//pwm2.setPWM(2, 0, SERVO_90);//pwm2.setPWM(3, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Adelay(interval0); //0.3s //T=1.2s时，A转回到了60度，B转了90度，C转了60度pwm1.setPWM(0, 0, SERVO_90);//Cpwm1.setPWM(4, 0, SERVO_90);pwm1.setPWM(5, 0, SERVO_90);pwm1.setPWM(9, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);//pwm2.setPWM(0, 0, SERVO_90);//pwm2.setPWM(4, 0, SERVO_90);//pwm2.setPWM(5, 0, SERVO_90);//pwm2.setPWM(6, 0, SERVO_90);//pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Adelay(interval0); //0.3s //T=1.5s时，A转回到了30度，B转回了60度，C转了90度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);//pwm2.setPWM(4, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);//pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(8, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);//pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=1.8s时，A转回到了0度，B转回了30度，C转回了60度pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=2.1s时，A不变，B转回了0度，C转回了30度pwm1.setPWM(0, 0, SERVO_0);//Cpwm1.setPWM(4, 0, SERVO_0);pwm1.setPWM(5, 0, SERVO_0);pwm1.setPWM(9, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);//pwm2.setPWM(0, 0, SERVO_0);//pwm2.setPWM(4, 0, SERVO_0);//pwm2.setPWM(5, 0, SERVO_0);//pwm2.setPWM(6, 0, SERVO_0);//pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);//pwm2.setPWM(1, 0, SERVO_0);//pwm2.setPWM(2, 0, SERVO_0);//pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//A Serial.println("运动完成"); }flag=true;
}void Draw_LeftLine() //画左斜线
{flag=false;if(tdsValue <= 250){/**假设2、3、4、3、4、3、2分别记为A、B、C、D、E、F、G*///T=0s时，D开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//Dpwm1.setPWM(8, 0, SERVO_30);//pwm2.setPWM(1, 0, SERVO_30);Serial.println("第一排");delay(interval0); //0.3s//T=0.3s时，D转到了30度，此时C、E也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Cpwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);//pwm2.setPWM(0, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//Epwm1.setPWM(9, 0, SERVO_30);// pwm2.setPWM(2, 0, SERVO_30);//pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//Dpwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);Serial.println("第二排");delay(interval0); //0.3s//T=0.6s时，D转了60度，C、E转到了30度，B、F开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Bpwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//F//pwm2.setPWM(3, 0, SERVO_30);//pwm2.setPWM(6, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Cpwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);//pwm2.setPWM(0, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Epwm1.setPWM(9, 0, SERVO_60);//pwm2.setPWM(2, 0, SERVO_60);//pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//Dpwm1.setPWM(8, 0, SERVO_90);//pwm2.setPWM(1, 0, SERVO_90);Serial.println("第三排");delay(interval0); //0.3s//T=0.9s时，D转了90度，C、E转到了60度，B、F转到了30度,A、G开始转(下降)pwm1.setPWM(5, 0, SERVO_30);//Apwm1.setPWM(10, 0, SERVO_30);//pwm2.setPWM(4, 0, SERVO_30);//G//pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(0, 0, SERVO_60);//Bpwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//F//pwm2.setPWM(3, 0, SERVO_60);//pwm2.setPWM(6, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Cpwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);//pwm2.setPWM(0, 0, SERVO_90);pwm1.setPWM(3, 0, SERVO_90);//Epwm1.setPWM(9, 0, SERVO_90);//pwm2.setPWM(2, 0, SERVO_90);//pwm2.setPWM(5, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Dpwm1.setPWM(8, 0, SERVO_60);//pwm2.setPWM(1, 0, SERVO_60);Serial.println("第四排");delay(interval0); //0.3s//T=1.2s时，D转回到了60度，C、E转到了90度，B、F转到了60度,A、G转到了30度pwm1.setPWM(5, 0, SERVO_60);//Apwm1.setPWM(10, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);//G
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(0, 0, SERVO_90);//Bpwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(4, 0, SERVO_90);//F
// pwm2.setPWM(3, 0, SERVO_90);
// pwm2.setPWM(6, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Cpwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);
// pwm2.setPWM(0, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Epwm1.setPWM(9, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Dpwm1.setPWM(8, 0, SERVO_30);
// pwm2.setPWM(1, 0, SERVO_30);delay(interval0); //0.3s//T=1.5s时，D转回到了30度，C、E转回了60度，B、F转了90度,A、G转到了60度pwm1.setPWM(5, 0, SERVO_90);//Apwm1.setPWM(10, 0, SERVO_90);
// pwm2.setPWM(4, 0, SERVO_90);//G
// pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(0, 0, SERVO_60);//Bpwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//F
// pwm2.setPWM(3, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Cpwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);
// pwm2.setPWM(0, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//Epwm1.setPWM(9, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);delay(interval0); //0.3s//T=1.8s时，D转回到了0度，C、E转回了30度，B、F转回了60度,A、G转到了90度pwm1.setPWM(5, 0, SERVO_60);//Apwm1.setPWM(10, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);//G
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(0, 0, SERVO_30);//Bpwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//F
// pwm2.setPWM(3, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);
// pwm2.setPWM(0, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(9, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);delay(interval0); //0.3s//T=2.1s时，D不变，C、E转回了0度，B、F转回了30度,A、G转到了60度pwm1.setPWM(5, 0, SERVO_30);//Apwm1.setPWM(10, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_30);//G
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(0, 0, SERVO_0);//Bpwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(4, 0, SERVO_0);//F
// pwm2.setPWM(3, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);
// pwm2.setPWM(0, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(9, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);delay(interval0); //0.3s//T=2.4s时，D不变，C、E不变，B、F转回了0度,A、G转到了30度 pwm1.setPWM(5, 0, SERVO_0);//Apwm1.setPWM(10, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);//G
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(0, 0, SERVO_0);//Bpwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(4, 0, SERVO_0);//F
// pwm2.setPWM(3, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);
// pwm2.setPWM(0, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(9, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0); Serial.println("运动完成");}else //TDS大于250{/**假设1、8、12分别记为A、B、C*///T=0s时，A开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//ASerial.println("第一圈");delay(interval0); //0.3s //T=0.3s时，A转了30度，此时B也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);
// pwm2.setPWM(8, 0, SERVO_30);
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//ASerial.println("第二圈");delay(interval0); //0.3s //T=0.6s时，A转了60度，B转了30度，C开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);
// pwm2.setPWM(0, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_30);
// pwm2.setPWM(5, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//ASerial.println("第三圈");delay(interval0); //0.3s //T=0.9s时，A转了90度，B转了60度，C转了30度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);
// pwm2.setPWM(0, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);
// pwm2.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Bpwm1.setPWM(3, 0, SERVO_90);pwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(8, 0, SERVO_90);
// pwm2.setPWM(1, 0, SERVO_90);
// pwm2.setPWM(2, 0, SERVO_90);
// pwm2.setPWM(3, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Adelay(interval0); //0.3s //T=1.2s时，A转回到了60度，B转了90度，C转了60度pwm1.setPWM(0, 0, SERVO_90);//Cpwm1.setPWM(4, 0, SERVO_90);pwm1.setPWM(5, 0, SERVO_90);pwm1.setPWM(9, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);
// pwm2.setPWM(0, 0, SERVO_90);
// pwm2.setPWM(4, 0, SERVO_90);
// pwm2.setPWM(5, 0, SERVO_90);
// pwm2.setPWM(6, 0, SERVO_90);
// pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Adelay(interval0); //0.3s //T=1.5s时，A转回到了30度，B转回了60度，C转了90度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);
// pwm2.setPWM(0, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);
// pwm2.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(8, 0, SERVO_30);
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=1.8s时，A转回到了0度，B转回了30度，C转回了60度pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);
// pwm2.setPWM(0, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_30);
// pwm2.setPWM(5, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=2.1s时，A不变，B转回了0度，C转回了30度pwm1.setPWM(0, 0, SERVO_0);//Cpwm1.setPWM(4, 0, SERVO_0);pwm1.setPWM(5, 0, SERVO_0);pwm1.setPWM(9, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);
// pwm2.setPWM(0, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);
// pwm2.setPWM(5, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//A Serial.println("运动完成"); }flag=true;
}void Draw_RightLine() //画右斜线
{flag=false;if(tdsValue <= 250){/**假设2、3、4、3、4、3、2分别记为A、B、C、D、E、F、G*///T=0s时，D开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//Dpwm1.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);Serial.println("第一排");delay(interval0); //0.3s //T=0.3s时，D转到了30度，此时C、E也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Cpwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//E
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_60);//Dpwm1.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);Serial.println("第二排");delay(interval0); //0.3s //T=0.6s时，D转了60度，C、E转到了30度，B、F开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//B
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//Fpwm1.setPWM(8, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Cpwm1.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Epwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_90);//Dpwm1.setPWM(6, 0, SERVO_90);
// pwm2.setPWM(3, 0, SERVO_90);Serial.println("第三排");delay(interval0); //0.3s //T=0.9s时，D转了90度，C、E转到了60度，B、F转到了30度,A、G开始转(下降)
// pwm2.setPWM(0, 0, SERVO_30);//A
// pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);//Gpwm1.setPWM(12, 0, SERVO_30);pwm1.setPWM(0, 0, SERVO_60);//B
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//Fpwm1.setPWM(8, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Cpwm1.setPWM(5, 0, SERVO_90);
// pwm2.setPWM(2, 0, SERVO_90);
// pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(3, 0, SERVO_90);//Epwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);
// pwm2.setPWM(4, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_60);//Dpwm1.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);Serial.println("第四排");delay(interval0); //0.3s //T=1.2s时，D转回到了60度，C、E转到了90度，B、F转到了60度,A、G转到了30度
// pwm2.setPWM(0, 0, SERVO_60);//A
// pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);//Gpwm1.setPWM(12, 0, SERVO_60);pwm1.setPWM(0, 0, SERVO_90);//B
// pwm2.setPWM(1, 0, SERVO_90);
// pwm2.setPWM(6, 0, SERVO_90);pwm1.setPWM(4, 0, SERVO_90);//Fpwm1.setPWM(8, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Cpwm1.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(3, 0, SERVO_60);//Epwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_30);//Dpwm1.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);delay(interval0); //0.3s //T=1.5s时，D转回到了30度，C、E转回了60度，B、F转了90度,A、G转到了60度
// pwm2.setPWM(0, 0, SERVO_90);//A
// pwm2.setPWM(5, 0, SERVO_90);pwm1.setPWM(9, 0, SERVO_90);//Gpwm1.setPWM(12, 0, SERVO_90);pwm1.setPWM(0, 0, SERVO_60);//B
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);pwm1.setPWM(4, 0, SERVO_60);//Fpwm1.setPWM(8, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Cpwm1.setPWM(5, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(3, 0, SERVO_30);//Epwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);delay(interval0); //0.3s //T=1.8s时，D转回到了0度，C、E转回了30度，B、F转回了60度,A、G转到了90度
// pwm2.setPWM(0, 0, SERVO_60);//A
// pwm2.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);//Gpwm1.setPWM(12, 0, SERVO_60);pwm1.setPWM(0, 0, SERVO_30);//B
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);pwm1.setPWM(4, 0, SERVO_30);//Fpwm1.setPWM(8, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(5, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);delay(interval0); //0.3s//T=2.1s时，D不变，C、E转回了0度，B、F转回了30度,A、G转到了60度
// pwm2.setPWM(0, 0, SERVO_30);//A
// pwm2.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);//Gpwm1.setPWM(12, 0, SERVO_30);pwm1.setPWM(0, 0, SERVO_0);//B
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);pwm1.setPWM(4, 0, SERVO_0);//Fpwm1.setPWM(8, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(5, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);delay(interval0); //0.3s//T=2.4s时，D不变，C、E不变，B、F转回了0度,A、G转到了30度
// pwm2.setPWM(0, 0, SERVO_0);//A
// pwm2.setPWM(5, 0, SERVO_0);pwm1.setPWM(9, 0, SERVO_0);//Gpwm1.setPWM(12, 0, SERVO_0);pwm1.setPWM(0, 0, SERVO_0);//B
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);pwm1.setPWM(4, 0, SERVO_0);//Fpwm1.setPWM(8, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Cpwm1.setPWM(5, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(3, 0, SERVO_0);//Epwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Dpwm1.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);Serial.println("运动完成");}else //TDS大于250{/**假设1、8、12分别记为A、B、C*///T=0s时，A开始转(下降)pwm1.setPWM(2, 0, SERVO_30);//ASerial.println("第一圈");delay(interval0); //0.3s //T=0.3s时，A转了30度，此时B也开始转(下降)pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);
// pwm2.setPWM(8, 0, SERVO_30);
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_60);//ASerial.println("第二圈");delay(interval0); //0.3s //T=0.6s时，A转了60度，B转了30度，C开始转(下降)pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);
// pwm2.setPWM(0, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_30);
// pwm2.setPWM(5, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_90);//ASerial.println("第三圈");delay(interval0); //0.3s //T=0.9s时，A转了90度，B转了60度，C转了30度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);
// pwm2.setPWM(0, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);
// pwm2.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_90);//Bpwm1.setPWM(3, 0, SERVO_90);pwm1.setPWM(6, 0, SERVO_90);pwm1.setPWM(7, 0, SERVO_90);pwm1.setPWM(8, 0, SERVO_90);
// pwm2.setPWM(1, 0, SERVO_90);
// pwm2.setPWM(2, 0, SERVO_90);
// pwm2.setPWM(3, 0, SERVO_90);pwm1.setPWM(2, 0, SERVO_60);//Adelay(interval0); //0.3s //T=1.2s时，A转回到了60度，B转了90度，C转了60度pwm1.setPWM(0, 0, SERVO_90);//Cpwm1.setPWM(4, 0, SERVO_90);pwm1.setPWM(5, 0, SERVO_90);pwm1.setPWM(9, 0, SERVO_90);pwm1.setPWM(10, 0, SERVO_90);pwm1.setPWM(11, 0, SERVO_90);pwm1.setPWM(12, 0, SERVO_90);
// pwm2.setPWM(0, 0, SERVO_90);
// pwm2.setPWM(4, 0, SERVO_90);
// pwm2.setPWM(5, 0, SERVO_90);
// pwm2.setPWM(6, 0, SERVO_90);
// pwm2.setPWM(7, 0, SERVO_90);pwm1.setPWM(1, 0, SERVO_60);//Bpwm1.setPWM(3, 0, SERVO_60);pwm1.setPWM(6, 0, SERVO_60);pwm1.setPWM(7, 0, SERVO_60);pwm1.setPWM(8, 0, SERVO_60);
// pwm2.setPWM(1, 0, SERVO_60);
// pwm2.setPWM(2, 0, SERVO_60);
// pwm2.setPWM(3, 0, SERVO_60);pwm1.setPWM(2, 0, SERVO_30);//Adelay(interval0); //0.3s //T=1.5s时，A转回到了30度，B转回了60度，C转了90度pwm1.setPWM(0, 0, SERVO_60);//Cpwm1.setPWM(4, 0, SERVO_60);pwm1.setPWM(5, 0, SERVO_60);pwm1.setPWM(9, 0, SERVO_60);pwm1.setPWM(10, 0, SERVO_60);pwm1.setPWM(11, 0, SERVO_60);pwm1.setPWM(12, 0, SERVO_60);
// pwm2.setPWM(0, 0, SERVO_60);
// pwm2.setPWM(4, 0, SERVO_60);
// pwm2.setPWM(5, 0, SERVO_60);
// pwm2.setPWM(6, 0, SERVO_60);
// pwm2.setPWM(7, 0, SERVO_60);pwm1.setPWM(1, 0, SERVO_30);//Bpwm1.setPWM(3, 0, SERVO_30);pwm1.setPWM(6, 0, SERVO_30);pwm1.setPWM(7, 0, SERVO_30);pwm1.setPWM(8, 0, SERVO_30);
// pwm2.setPWM(1, 0, SERVO_30);
// pwm2.setPWM(2, 0, SERVO_30);
// pwm2.setPWM(3, 0, SERVO_30);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=1.8s时，A转回到了0度，B转回了30度，C转回了60度pwm1.setPWM(0, 0, SERVO_30);//Cpwm1.setPWM(4, 0, SERVO_30);pwm1.setPWM(5, 0, SERVO_30);pwm1.setPWM(9, 0, SERVO_30);pwm1.setPWM(10, 0, SERVO_30);pwm1.setPWM(11, 0, SERVO_30);pwm1.setPWM(12, 0, SERVO_30);
// pwm2.setPWM(0, 0, SERVO_30);
// pwm2.setPWM(4, 0, SERVO_30);
// pwm2.setPWM(5, 0, SERVO_30);
// pwm2.setPWM(6, 0, SERVO_30);
// pwm2.setPWM(7, 0, SERVO_30);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//Adelay(interval0); //0.3s //T=2.1s时，A不变，B转回了0度，C转回了30度pwm1.setPWM(0, 0, SERVO_0);//Cpwm1.setPWM(4, 0, SERVO_0);pwm1.setPWM(5, 0, SERVO_0);pwm1.setPWM(9, 0, SERVO_0);pwm1.setPWM(10, 0, SERVO_0);pwm1.setPWM(11, 0, SERVO_0);pwm1.setPWM(12, 0, SERVO_0);
// pwm2.setPWM(0, 0, SERVO_0);
// pwm2.setPWM(4, 0, SERVO_0);
// pwm2.setPWM(5, 0, SERVO_0);
// pwm2.setPWM(6, 0, SERVO_0);
// pwm2.setPWM(7, 0, SERVO_0);pwm1.setPWM(1, 0, SERVO_0);//Bpwm1.setPWM(3, 0, SERVO_0);pwm1.setPWM(6, 0, SERVO_0);pwm1.setPWM(7, 0, SERVO_0);pwm1.setPWM(8, 0, SERVO_0);
// pwm2.setPWM(1, 0, SERVO_0);
// pwm2.setPWM(2, 0, SERVO_0);
// pwm2.setPWM(3, 0, SERVO_0);pwm1.setPWM(2, 0, SERVO_0);//A Serial.println("运动完成"); }flag=true;
}2.3 气体传感器 —— 气体检测
2.3.1 功能介绍
- 1、气体芯片的大小约1.5*1.5cm大小，如上图所示，
16个圆圈对应16个气体检测通道。气体浓度越大，阻值越大。室内通常情况下就是1M欧姆左右，浓度加大阻值可以去到3M欧姆。 - 2、每个通道外接一个分压电阻，分压电阻和气体芯片直接连接到ADS1256芯片，每个ADS芯片有8个通道，因此需要两片ADS。
ADS是24位精度ADC采集芯片。
3、不需要计算具体的气体浓度值，用电压值的形式表示就行。并显示在HMI显示屏。 - 4、当然也需要把数据写入SD内存卡。
- 5、并
预留蓝牙接口，把数据也通过蓝牙实时发送出去。 - 6、通过锂电池供电，并板载锂电池充电电路。
2.3.2 实物图片
1、1ATmega328p
2、4 ADS1115芯片
3、13.5寸HMI显示屏
4、1气体芯片
5、1SD卡
6、16电阻
2.3.3 视频
演示视频暂时无法上传（需要的可以另外帖子留言）
2.3.4 源代码
#include <stdio.h>
#include <SoftwareSerial.h> //虚拟串口定义 ------LCD串口显示屏
SoftwareSerial mySerial(3, 2); // RX, TX
unsigned char serialData[5]; // 显示屏接收4个字节数据
bool stringComplete = false; //显示屏数据是否更新 true已更新 false未更新或者已处理 防止二次处理
enum ADCmcuStu{OneTestStart, OneTestEnd, LineModelStart, LineModelEnd}NowStu; //当前状态 OneTestStart：一键测试按键 OneTestEnd：测试结束 LineModelStart：曲线模式// ad1115 采集定义
#include <Wire.h>
#include <Adafruit_ADS1015.h> /*ADS1115库定义*/
Adafruit_ADS1115 ads0(0x48); /*ADS设备地址*/
Adafruit_ADS1115 ads1(0x49); /*ADS设备地址*/
Adafruit_ADS1115 ads2(0x4A); /*ADS设备地址*/
Adafruit_ADS1115 ads3(0x4B); /*ADS设备地址*///读取SD卡信息库
#include <SPI.h> //SD卡用到的SPI库
#include <SD.h> //SD卡用到的库
#include <SdFat.h> //SD卡文件读写库
Sd2Card card;
SdVolume volume;
SdFile root;
File myFile;//文件
const int chipSelect = 4; //SD卡4号位选//蓝牙模块初始化
SoftwareSerial mySerialHc(6,5); // RX, TX
const int HC_EN=7; //D7引脚用到蓝牙的使能端 目前为一直拉低默认使能 拉高不使能
const int HC_STU=8; //蓝牙连接引脚 拉高：蓝牙已连接 拉低：蓝牙未连接
bool stringCompleteHc = false; // 蓝牙数据是否更新 ture：已更新 false：未更新或者更新完成已处理 防止二次处理void setup(void) {Serial.begin(9600); //主串口波特率未9600 用来调试Serial.println("WelCome"); //主串口输出测试//ad1115 初始化 ，使用4个ADS1115对象方便操作ads0.begin(); //ADS1115模块初始化ads1.begin(); //ADS1115模块初始化ads2.begin(); //ADS1115模块初始化ads3.begin(); //ADS1115模块初始化mySerial.begin(115200); //显示屏串口波特率NowStu=OneTestEnd; //初始化测试状态为停止测试//蓝牙模块初始化mySerialHc.begin(9600); //模块上电灯快闪，arduino发送指令时需要按住模块上的按键pinMode(HC_EN, OUTPUT); //蓝牙使能pinMode(HC_STU, INPUT); //蓝牙状态灯digitalWrite(HC_EN, LOW); //默认使能mySerial.listen(); //监听切换，由于使用两个软串口，需要切换监听。}void loop(void) {SerialGeTData(); //显示屏串口接收处理SerialScan(); //根据显示屏接受到的数据判断当前状态while(NowStu==OneTestStart){ //如果为测试状态 SerialGeTData(); //显示屏串口接收处理SerialScan(); //显示屏串口接收处理getAndUpLoad(); //测试显示数据和保存数据到SD卡}
}
//备用 本来使用串口中断更为合适 虚拟串口串口中不知为何失效
//void SerialEvent() {// while (mySerial.available()) {// // get the new byte:
// mySerial.readBytes(serialData, 4);
//
// Serial.write(serialData,4);
// stringComplete=true;
// }
//}//按键扫描程序
void SerialScan(){ if (stringComplete) {stringComplete=false; //这里标志串口显示屏接收的数据已处理，处理完毕if(serialData[0]==0x05){ //显示屏数据定义05开头表示一键测试数据界面if(serialData[1]==0x00){ //0x00表示一键测试界面用户按下了开始测试serialData[1]=0x0D; //将第二位设置为0XOD，防止二次处理NowStu=OneTestStart; //将当前状态设置为一键测试状态}else if(serialData[1]==0xFF){ //暂停测试serialData[1]=0x0D; //将第二位设置为0XOD，防止二次处理NowStu=OneTestEnd; //停止采集myFile.close(); //SD卡文件关闭}else if(serialData[1]==0xEA){ //查询SD卡状态serialData[1]=0x0D; //将第二位设置为0XOD，防止二次处理//读取内存卡信息if (!card.init(SPI_HALF_SPEED, chipSelect) || !SD.begin(4)) { //SD卡初始化，判断SD卡是否连接正常//无SD卡 unsigned char data[26]={0x53,0x44,0x73,0x74,0x75,0x2E,0x74,0x78,0x74,0x3D,0x22,0x4E,0x6F,0x20,0x53,0x44,0x20,0x63,0x61,0x72,0x64,0x22,0xff,0xff,0xff}; //该数据为ASCLL码值mySerial.write(data,25); //在一键测试显示屏上面显示无SD卡 Serial.println("sd card no"); //主串口调试输出} else {if (!volume.init(card)) { //检查SD卡是否符合FAT16文件格式，不符合无法写入，在一键测试的界面上面显示 提示内容为： Only Support FAT16/FAT32unsigned char data[40]={0x53,0x44,0x73,0x74,0x75,0x2E,0x74,0x78,0x74,0x3D,0x22,0x4F,0x6E,0x6C,0x79,0x20,0x53,0x75,0x70,0x70,0x6F,0x72,0x74,0x20,0x46,0x41,0x54,0x31,0x36,0x2F,0x46,0x41,0x54,0x33,0x32,0x22,0xff,0xff,0xff};mySerial.write(data,39); //发送提示文字到一键测试界面}else{myFile = SD.open("READTEST.CSV", FILE_WRITE); //打开测试文件名称//有SD卡uint32_t volumesize;uint32_t dsnd,dend;int i=0,j=0;volumesize = volume.blocksPerCluster(); // clusters are collections of blocksvolumesize *= volume.clusterCount(); // we'll have a lot of clustersvolumesize /= 2; // SD card blocks are always 512 bytes (2 blocks are 1KB)volumesize /= 1024; // MBdsnd=volumesize; //SD卡内存dend=volumesize; //SD卡内存while(dsnd!=0){i=i+1;dsnd=dsnd/10;}//计算出内存的位数 比如119MB，位数就为3位unsigned char data[50]={0x53,0x44,0x73,0x74,0x75,0x2E,0x74,0x78,0x74,0x3D,0x22,0x53,0x44,0x20,0x43,0x61,0x72,0x64,0x20,0x4F,0x4B,0x20,0x53,0x69,0x7A,0x65,0x3D,0x31,0x31,0x31,0x30,0x4D,0x42,0x22,0xff,0xff,0xff};//SDstu.txt="SD Card OK Size=1110MB"while(dend!=0){*(data+27+i-j)=dend%10+48;j=j+1;dend=dend/10;}//将内存的位数转换成内存 这里将1110MB每个换成相应的内存值mySerial.write(data,50);//将一键测试内存状态SD Card OK Size=1110MB}}}}else if(serialData[0]==0xBA){ //0XBA代表蓝牙传输界面if (serialData[1]==0xBA){serialData[1]=0x0D; //将第二位设置为0XOD，防止二次处理if (digitalRead(HC_STU) == HIGH) {//蓝牙已连接unsigned char data[20]={0x74,0x32,0x2E,0x74,0x78,0x74,0x3D,0x22,0x4F,0x6E,0x4C,0x69,0x6E,0x65,0x22,0xff,0xff,0xff};mySerial.write(data,18); //蓝牙连接显示Online} else {unsigned char data[20]={0x74,0x32,0x2E,0x74,0x78,0x74,0x3D,0x22,0x4F,0x66,0x66,0x4C,0x69,0x6E,0x65,0x22,0xff,0xff,0xff};mySerial.write(data,19); //蓝牙连接显示Offline}}else if (serialData[2]==0xAF){ //发送数据到手机APP ,用户点击了发送数据到APP上面}}}
}//该函数备用 用来蓝牙发送命令让气体检测系统传数据到APP上面
void HcSerialGeTData(){ while(mySerialHc.available()){char ch;ch = mySerialHc.read();Serial.print(ch); if(ch=='1')Serial.print("1"); else if(ch=='0')Serial.print("0"); else{Serial.println("error cmd");//错误指令不作任何操作并输出error} stringComplete=true;} // Get response
}
//显示屏串口轮询的方式接收4个数据
void SerialGeTData(){ while (mySerial.available()) {// get the new byte:mySerial.readBytes(serialData, 4);stringComplete=true;}
}//采集并且上传数据
void getAndUpLoad(){int16_t adc0, adc1, adc2, adc3;int16_t adc4, adc5, adc6, adc7;int16_t adc8, adc9, adc10, adc11;int16_t adc12, adc13, adc14, adc15;//采集16个通道的数据adc0 = ads0.readADC_SingleEnded(0);delay(1); adc1 = ads0.readADC_SingleEnded(1);delay(1);adc2 = ads0.readADC_SingleEnded(2);delay(1);adc3 = ads0.readADC_SingleEnded(3);delay(1);adc4 = ads1.readADC_SingleEnded(0);delay(1);adc5 = ads1.readADC_SingleEnded(1);delay(1);adc6 = ads1.readADC_SingleEnded(2);delay(1);adc7 = ads1.readADC_SingleEnded(3);delay(1);adc8 = ads2.readADC_SingleEnded(0);delay(1);adc9 = ads2.readADC_SingleEnded(1);delay(1);adc10 = ads2.readADC_SingleEnded(2);delay(1);adc11 = ads2.readADC_SingleEnded(3);delay(1);adc12 = ads3.readADC_SingleEnded(0);delay(1);adc13 = ads3.readADC_SingleEnded(1);delay(1);adc14 = ads3.readADC_SingleEnded(2);delay(1);adc15 = ads3.readADC_SingleEnded(3);delay(1);Serial.print(adc0); Serial.print(adc1); Serial.print(adc2);Serial.print(adc3);Serial.print(adc4);Serial.print(adc5);Serial.print(adc6);Serial.print(adc7);Serial.print(adc8);Serial.print(adc9);Serial.print(adc10);Serial.print(adc11);Serial.print(adc12); Serial.print(" "); Serial.print(adc13); Serial.print(" "); Serial.print(adc14); Serial.print(" "); Serial.println(adc15); Serial.print(" "); DisplayADCData(0x6E,0x30,adc0); //这里0X6E代表左边8个通道的数据控件ID ,0X30代表左边第一个通道 ，adc0是采集的数据DisplayADCData(0x6E,0x31,adc1); //这里0X6E代表左边8个通道的数据控件ID ,0X31代表左边第二个通道 ，adc1是采集的数据DisplayADCData(0x6E,0x32,adc2); //这里0X6E代表左边8个通道的数据控件ID ,0X32代表左边第三个通道 ，adc2是采集的数据 DisplayADCData(0x6E,0x33,adc3); //这里0X6E代表左边8个通道的数据控件ID ,0X33代表左边第四个通道 ，adc3是采集的数据DisplayADCData(0x6E,0x34,adc4); //这里0X6E代表左边8个通道的数据控件ID ,0X34代表左边第五个通道 ，adc5是采集的数据 DisplayADCData(0x6E,0x35,adc5); //这里0X6E代表左边8个通道的数据控件ID ,0X35代表左边第六个通道 ，adc6是采集的数据 DisplayADCData(0x6E,0x36,adc6); //这里0X6E代表左边8个通道的数据控件ID ,0X36代表左边第七个通道 ，adc7是采集的数据 DisplayADCData(0x6E,0x37,adc7); //这里0X6E代表左边8个通道的数据控件ID ,0X37代表左边第八个通道 ，adc8是采集的数据 DisplayADCData(0x6D,0x30,adc8); //这里0X6D代表右边8个通道的数据控件ID ,0X30代表右边第一个通道 ，adc9是采集的数据 DisplayADCData(0x6D,0x31,adc9); //这里0X6D代表右边8个通道的数据控件ID ,0X31代表右边第二个通道 ，adc10是采集的数据 DisplayADCData(0x6D,0x32,adc10); //这里0X6D代表右边8个通道的数据控件ID ,0X32代表右边第三个通道 ，adc11是采集的数据 DisplayADCData(0x6D,0x33,adc11); //这里0X6D代表右边8个通道的数据控件ID ,0X33代表右边第四个通道 ，adc12是采集的数据 DisplayADCData(0x6D,0x34,adc12); //这里0X6D代表右边8个通道的数据控件ID ,0X34代表右边第五个通道 ，adc13是采集的数据 DisplayADCData(0x6D,0x35,adc13); //这里0X6D代表右边8个通道的数据控件ID ,0X34代表右边第六个通道 ，adc14是采集的数据 DisplayADCData(0x6D,0x36,adc14); //这里0X6D代表右边8个通道的数据控件ID ,0X34代表右边第七个通道 ，adc15是采集的数据 DisplayADCData(0x6D,0x37,adc15); //这里0X6D代表右边8个通道的数据控件ID ,0X34代表右边第八个通道 ，adc16是采集的数据 char savedata[200]={};String savedataString = "";char* p;p=savedata;sprintf(p,"%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d",adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7,adc8,adc9,adc10,adc11,adc12,adc13,adc14,adc15);//将ADC 采集的数据格式化到savedata数据中for(int i=0;i<100;i++){savedataString+=*(p+i);}//循环将char字符数据转换成String格式if (myFile) {//如果文件能正确打开，则做一下动作myFile.println(savedataString); //写入SD卡数据myFile.close(); //SD卡中文件关闭} else {// if the file didn't open, print an error:myFile.close(); //SD卡中文件关闭 myFile = SD.open("READTEST.CSV", FILE_WRITE); //打开myFile.println(savedataString);//写入SD卡READTEST.CSV文件数据myFile.close();//写完关闭}}
/*------------------------------------------------------
* 函数名称： DisplayADCData
* 参数 TyID: 0X6E代表左边8个通道 0x6D代表右边8个通道
* 参数 id: 比如0X30 代表显示屏中控件数组
* 参数 adcv ：让文本控件显示的数据
* 返回值：无
------------------------------------------------------*/
void DisplayADCData(unsigned char tyid,unsigned char id,int16_t adcv){unsigned char data[15]={0x6E,0x30,0x2E,0x76,0x61,0x6C,0x3D}; //显示屏显示基本数据格式data[0]=tyid;data[1]=id;int len=IntoStrAscill(adcv,data);mySerial.write(data,10+len); //发送数据到显示屏
}
/*------------------------------------------------------
* 函数名称： IntoStrAscill
* 参数 a: 表示int16_t类型的传输数据
* 参数 data: 表示int16_t类型的传输数据转换成显示屏能识别的16进制数据
* 返回值：传输数据的长度
------------------------------------------------------*/
int IntoStrAscill(int16_t a,unsigned char *data){int16_t dsnd,dend=0;int i=0,j=0;dend=a;dsnd=a;while(dsnd!=0){i=i+1;dsnd=dsnd/10;}while(dend!=0){*(data+6+i-j)=dend%10+48;j=j+1;dend=dend/10;}*(data+7+i)=0xff;*(data+8+i)=0xff;*(data+9+i)=0xff;return i;
}2.4 气体采集平台
2.4.1 功能介绍
- 1、CCS811采集CO2的ppm值。
- 2、MICS6814或4541采集CO、NO2、C2H5OH、H2、NH3、CH4、C3H8、C4H10的ppm值。
- 3、ppm显示在HMI显示屏。
- 4、当然也需要把数据写入SD内存卡。
- 5、并预留蓝牙接口，把数据也通过蓝牙实时发送出去。
- 6、通过锂电池供电，并板载锂电池充电电路。
2.4.2 实物图片
1、1ATmega328p
2、13.5寸HMI显示屏
3、1CCS811芯片
4、1MICS6814或4541芯片
5、1*SD卡
2.4.3 视频
演示视频暂时无法上传（需要的可以另外帖子留言）
2.4.4 源代码
#include <SoftwareSerial.h> //虚拟串口定义
#include "Adafruit_CCS811.h"
#include <SPI.h> //SD卡用到的SPI库
#include <SD.h> //SD卡用到的库
File myFile; //文件
Adafruit_CCS811 ccs;
SoftwareSerial SerialHMI(2, 3); //LCD RX, TX
SoftwareSerial SerialBL(6, 5); //蓝牙 RX, TX
unsigned char lcdenddata[3] = {0xff,0xff,0xff};
#define SD_CS 4 //SD卡4号位选
#define C_WAKE 10
#define PIN_CO A2
#define PIN_NO2 A0
#define PIN_NH3 A1
#define BL_STU 7 //蓝牙连接引脚 高：蓝牙已连接 低：蓝牙未连接
//--CO-- RED sensor, continuous power ON, 25°C, 50% RH
float CO_a = 4.367409, CO_b = -1.184229; //R² = 0.996355
float H2S_a = 0.000750, H2S_b = -12.648453; //R² = 0.996355
//float NH3_a = 0.929592, NH3_b = -4.581835; //R² = 0.998526
float C2H5OH_a = 1.581239,C2H5OH_b = -1.588810; //R² = 0.999069
//float H2_a = 1.335670, H2_b = -1.100056; //R² = 0.923029
float CH4_a = 4.735701, CH4_b = -4.397849; //R² = 0.994133
//float C3H8_a = 192.959787,C3H8_b = -1.576081; //R² = 0.991974
float C4H10_a = 0.000001, C4H10_b = -8.574002; //R² = 0.993917
//--NO2-- OX sensor, continuous power ON, 25°C, 50% RH
float NO2_a = 0.158508, NO2_b = 1.003580; //R² = 0.999567
float NO_a = 0.100458, NO_b = -6.905034; //R² = 0.996571
float H2_a = 19.414884, H2_b = -7.140802; //R² = 0.998710
//--NH3--NH3 sensor, continuous power ON, 25°C, 50% RH
float NH3_a = 0.597818, NH3_b = -1.906549; //R² = 0.997497
//float H2_a = 8.065816, H2_b = -2.779010; //R² = 0.964979
//float C2H5OH_a = 0.220619,C2H5OH_a = -2.655544; //R² = 0.983520
float C3H8_a = 9.262341,C3H8_b =-2.756977; //R² = 0.998483
//float C4H10_a = 503.395368,C4H10_b = -1.920635; //R² = 0.977432int CO_base,NO2_base,NH3_base; //base value in the clean air
float CO2,TVOC,CO,H2S,C2H5OH,CH4,C4H10,NO2,NO,H2,NH3,C3H8; //ppm value
void setup() {Serial.begin(9600);// initialize serial communications at 9600 bps:SerialHMI.begin(9600); //显示屏串口波特率SerialBL.begin(9600); //显示屏串口波特率pinMode(C_WAKE, OUTPUT);digitalWrite(C_WAKE, LOW);pinMode(BL_STU, INPUT); //蓝牙状态灯if(!ccs.begin()){Serial.println(F("Failed to start CO2 sensor! Please check your wiring."));}// Wait for the sensor to be ready
// while(!ccs.available());ccs.disableInterrupt();//清洁空气下的base值，200次取平均CO_base = 0;NO2_base = 0;NH3_base = 0;for(int count = 1; count <= 200; count++){CO_base += (analogRead(PIN_CO) - CO_base)/count; //求平均值NO2_base += (analogRead(PIN_NO2) - NO2_base)/count;//求平均值NH3_base += (analogRead(PIN_NH3) - NH3_base)/count;//求平均值}
}void loop() {Gases_read();HMIdisplay();Bluetooth();Serialprint();SD_dataLog();delay(1000);
}
float Get_ppm(int _Gas_pin, int _Gas_base, float Gas_a, float Gas_b){int _Gas_now = analogRead(_Gas_pin);if(_Gas_now < _Gas_base) _Gas_now = _Gas_base;float _Rs_R0 = ((1023.0 - _Gas_now) * _Gas_base * 1.0)/((1023.0 - _Gas_base) * _Gas_now);// Get ratio RS_gas/RS_airif(_Rs_R0 <= 0){ _Rs_R0 = 0;} //No negative values accepted or upper datasheet recomendation.float _PPM= Gas_a*pow(_Rs_R0, Gas_b);if(_PPM < 0) { _PPM = 0;} //No negative values accepted or upper datasheet recomendation.//if(_PPM > 10000) _PPM = 99999999; //No negative values accepted or upper datasheet recomendation.return _PPM;
}
void Gases_read(){if(ccs.available()){if(!ccs.readData()){CO2 = ccs.geteCO2();if(CO2 < 10){CO2 = random(400,410);}TVOC = ccs.getTVOC();
// tempvalue=ccs.calculateTemperature();}else{Serial.println(F("CCS811 ERROR!"));}}CO = Get_ppm(PIN_CO, CO_base, CO_a, CO_b); //Carbon monoxide 1 – 1000ppmNO2 = Get_ppm(PIN_NO2, NO2_base, NO2_a, NO2_b); //Nitrogen dioxide 0.05 – 10ppmC2H5OH = Get_ppm(PIN_CO, CO_base, C2H5OH_a, C2H5OH_b); //Ethanol 10 – 500ppmH2 = Get_ppm(PIN_NO2, NO2_base, H2_a, H2_b); //Hydrogen 1 – 1000ppmNH3 = Get_ppm(PIN_NH3, NH3_base, NH3_a, NH3_b); //Ammonia 1 – 500ppmCH4 = Get_ppm(PIN_CO, CO_base, CH4_a, CH4_b); //Methane >1000ppmC3H8 = Get_ppm(PIN_NH3, NH3_base, C3H8_a, C3H8_b); //Propane >1000ppmC4H10 = Get_ppm(PIN_CO, CO_base, C4H10_a, C4H10_b); //Iso-butane >1000ppmH2S = Get_ppm(PIN_CO, CO_base, H2S_a, H2S_b);NO = Get_ppm(PIN_NO2, NO2_base, NO_a, NO_b);
}
void HMIprint(String ID, uint16_t value){SerialHMI.print(ID + value);SerialHMI.write(lcdenddata,3);delay(10);
}
void HMIdisplay(){HMIprint("x0.val=", CO2*100);HMIprint("x1.val=", TVOC*100);HMIprint("x2.val=", CO*100);HMIprint("x3.val=", NO2*100);HMIprint("x4.val=", C2H5OH*100);HMIprint("x5.val=", H2*100);HMIprint("x6.val=", NH3*100);HMIprint("x7.val=", CH4*100);HMIprint("x8.val=", C3H8*100);HMIprint("x9.val=", C4H10*100);HMIprint("x10.val=", H2S*100);HMIprint("x11.val=", NO*100);
}
/********蓝牙状态函数********/
void Bluetooth(){ int Bluetooth_State = digitalRead(BL_STU); //读取I/O口状态if(Bluetooth_State == HIGH){Serial.println(F("Bluetooth Connected")); SerialHMI.print(F("s1.txt=\"Bluetooth connected\"")); SerialHMI.write(lcdenddata,3); delay(10);}else{Serial.println(F("Bluetooth available")); SerialHMI.print(F("s1.txt=\"Bluetooth available\"")); SerialHMI.write(lcdenddata,3); delay(10);}
}
void SD_dataLog(){if (!SD.begin(SD_CS)){ //SD卡初始化，判断SD卡是否连接正常 Serial.println(F("SD Not Ready")); SerialHMI.print(F("s2.txt=\"SD Not Ready\"")); SerialHMI.write(lcdenddata,3); }else{Serial.println(F("SD Ready")); SerialHMI.print(F("s2.txt=\"SD Ready\"")); SerialHMI.write(lcdenddata,3); myFile = SD.open("datalog.CSV", FILE_WRITE); //打开delay(1000);myFile.print(CO2); myFile.print(F(","));myFile.print(TVOC); myFile.print(F(","));myFile.print(CO); myFile.print(F(","));myFile.print(NO2); myFile.print(F(","));myFile.print(C2H5OH);myFile.print(F(","));myFile.print(H2); myFile.print(F(","));myFile.print(NH3); myFile.print(F(","));myFile.print(CH4); myFile.print(F(","));myFile.print(C3H8); myFile.print(F(","));myFile.print(C4H10); myFile.print(F(","));myFile.print(H2S); myFile.print(F(","));myFile.println(NO);
// myFile.println();myFile.close();//写完关闭 delay(1000);}
}
void Serialprint(){Serial.println(F("-----------------------------------------------------")); Serial.print(F(" CO2 :"));Serial.print(CO2);Serial.print(F("\tppm\t TVOC:"));Serial.print(TVOC);Serial.println(F("\tppm")); Serial.print(F(" CO :"));Serial.print(CO);Serial.print(F("\tppm\t NO2 :"));Serial.print(NO2);Serial.println(F("\tppm")); Serial.print(F("C2H5OH:"));Serial.print(C2H5OH);Serial.print(F("\tppm\t H2 :"));Serial.print(H2);Serial.println(F("\tppm")); Serial.print(F(" NH3 :"));Serial.print(NH3);Serial.print(F("\tppm\t CH4 :"));Serial.print(CH4);Serial.println(F("\tppm")); Serial.print(F(" C3H8 :"));Serial.print(C3H8);Serial.print(F("\tppm\tC4H10:"));Serial.print(C4H10);Serial.println(F("\tppm")); Serial.print(F(" H2S :"));Serial.print(H2S);Serial.print(F("\tppm\t NO :"));Serial.print(NO);Serial.println(F("\tppm")); SerialBL.print(F(" CO2 :"));SerialBL.print(CO2);SerialBL.print(F("\tppm\t TVOC:"));SerialBL.print(TVOC);SerialBL.println(F("\tppm")); SerialBL.print(F(" CO :"));SerialBL.print(CO);SerialBL.print(F("\tppm\t NO2 :"));SerialBL.print(NO2);SerialBL.println(F("\tppm")); SerialBL.print(F("C2H5OH:"));SerialBL.print(C2H5OH);SerialBL.print(F("\tppm\t H2 :"));SerialBL.print(H2);SerialBL.println(F("\tppm")); SerialBL.print(F(" NH3 :"));SerialBL.print(NH3);SerialBL.print(F("\tppm\t CH4 :"));SerialBL.print(CH4);SerialBL.println(F("\tppm")); SerialBL.print(F(" C3H8 :"));SerialBL.print(C3H8);SerialBL.print(F("\tppm\tC4H10:"));SerialBL.print(C4H10);SerialBL.println(F("\tppm")); SerialBL.print(F(" H2S :"));SerialBL.print(H2S);SerialBL.print(F("\tppm\t NO :"));SerialBL.print(NO);SerialBL.println(F("\tppm")); // Serial.println(String(" CO :") + CO + "\tppm\t NO2 :" + TVOC + "\tppm");
// Serial.println(String("C2H5OH:") + C2H5OH + "\tppm\t H2 :" + H2 + "\tppm");
// Serial.println(String(" NH3 :") + NH3 + "\tppm\t CH4 :" + CH4 + "\tppm");
// Serial.println(String(" C3H8 :") + C3H8 + "\tppm\tC4H10:" + C4H10 + "\tppm");
// Serial.println(String(" H2S :") + H2S + "\tppm\t NO :" + NO + "\tppm"); // SerialBL.println(String(" CO2 :") + CO2 + "\tppm\t TVOC:" + TVOC + "\tppm");
// SerialBL.println(String(" CO :") + CO + "\tppm\t NO2 :" + TVOC + "\tppm");
// SerialBL.println(String("C2H5OH:") + C2H5OH + "\tppm\t H2 :" + H2 + "\tppm");
// SerialBL.println(String(" NH3 :") + NH3 + "\tppm\t CH4 :" + CH4 + "\tppm");
// SerialBL.println(String(" C3H8 :") + C3H8 + "\tppm\tC4H10:" + C4H10 + "\tppm");
// SerialBL.println(String(" H2S :") + H2S + "\tppm\t NO :" + NO + "\tppm");
}3、如何联系我们
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