Ardiuno制作2019年电赛电磁炮 -

标题: Ardiuno制作2019年电赛电磁炮 [打印本页]

作者: 枫麟胤 时间: 2021-7-24 10:13
标题: Ardiuno制作2019年电赛电磁炮
花了几天时间做出来的电磁炮。三种模式：模式一，调距离射靶。模式二，调角度，距离射靶。模式三，全自动射靶（利用激光测距来瞄靶）
#################################程序###########################

//遥控
#include <IRremote.h>
//LCD1602
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27,16,2);//0x27 0x3F
//舵机
#include <Servo.h>
Servo myservo;
Servo myservo2;
const int irReceiverPin =7;//遥控引脚
const int relayPin =3;//继电器引脚
int tu=0;//模式
int JL=0;//距离
int JL2=0;//模式2距离
unsigned int JL3;//模式3距离
int jiaodu=0;//角度
int jiaodu2=0;//模式2角度
int jiaodu3=0;//模式三角度
int zh=0;//模式2切换
int pin =4;//激光
int jishi;
int jiaodu4=0;
int JL4=0;
int jiaodu5=0;
unsigned long duration;//模式三激光探测距离

IRrecv irrecv(irReceiverPin); //Creates a variable of type IRrecv
decode_results results;
void setup() {
  // put your setup code here, to run once:
pinMode(relayPin, OUTPUT);//使能继电器
Serial.begin(9600);//波特率
myservo2.attach(8); myservo.attach(9);//舵机使能
irrecv.enableIRIn(); //遥控
lcd.init(); //LCD1602
lcd.backlight();
   pinMode(pin, INPUT);
}
void loop() {
      myservo.write(60);
      while(1){
         //遥控串口
         if (irrecv.decode(&results)) //if the ir receiver module receiver data
            {
                  /*
                     Serial.print("irCode: "); //print"irCode: "
                     Serial.print(results.value, HEX); //print the value in hexdecimal
                     Serial.print(", bits: "); //print" , bits: "
                     Serial.print(JL);
                     Serial.print(" ");
                     Serial.print(tu);
                     Serial.print(" ");
                     Serial.println(results.bits); //print the bits
                     */
                     irrecv.resume(); // Receive the next value
         }
//  delay(20);
if(tu==0){
            myservo.write(0);myservo2.write(90);
            lcd.setCursor(0, 0);
            lcd.print("Electromagnetic");
            lcd.setCursor(0, 1);
            lcd.print("Gun          ");
      }else if(tu==1){
            lcd.setCursor(0, 0);
            lcd.print("Model: 1 ");
            lcd.setCursor(0, 1);
            lcd.print(" Distance");
            lcd.setCursor(9, 1);
            lcd.print(JL);
            lcd.setCursor(12, 1);
            lcd.print("cm");
      }else if(tu==2){
            lcd.setCursor(0, 0);
            lcd.print("Model: 2 ");
            lcd.setCursor(0, 1);
            lcd.print("JL:");
            lcd.setCursor(4, 1);
            lcd.print(JL2);
            lcd.setCursor(8, 1);
            lcd.print("JD:");
            lcd.setCursor(12, 1);
            lcd.print(jiaodu2);
      }
      switch(results.value){
         case 0xFFA25D://CH-
                  tu=1;
            results.value=0xFFFFFF;
                  break;
         case 0xFF629D://CH
         if(tu==1){
            jiaodu=(JL/10)-5;
                  myservo.write(jiaodu);
                  delay(50);
                  digitalWrite(relayPin,HIGH);
                  delay(500);
                  digitalWrite(relayPin,LOW);
                  JL=0;tu=0;jiaodu=0;
                  results.value=0xFFFFFF;
         }else if((tu==2)&&(zh==1)&&(JL2>199)){
                  jiaodu2=jiaodu2+60;
                  myservo2.write(jiaodu2);
                  jiaodu=(JL2/10)-5;
                  myservo.write(jiaodu);
                  delay(100);
                  digitalWrite(relayPin,HIGH);
                  delay(500);
                  digitalWrite(relayPin,LOW);
                  JL=0;tu=0;jiaodu2=0;jiaodu=0;zh=0;JL2=0;
                  results.value=0xFFFFFF;
         }else results.value=0xFFFFFF;
                  break;
         case 0xFFE21D://CH+
                  tu=2;
            results.value=0xFFFFFF;
                  break;
         case 0xFF22DD://|<<
               if((tu==2)&&(zh==1)){
                     zh=0;
                     results.value=0xFFFFFF;
                  }
                  break;
         case 0xFF02FD://>>|
         if((tu==2)&&(zh==0)){
                     zh=1;
                     results.value=0xFFFFFF;
                  }else results.value=0xFFFFFFF;
                  break;
         case 0xFFC23D://>||
                     tu=3;jiaodu3=60;
                     myservo2.write(60);
                  results.value=0xFFFFFFF;
                  break;
         case 0xFFE01F://-
         if((tu==1)&&(JL>199)){
                  JL--;
                  lcd.setCursor(9, 1);
                  lcd.print(JL);
                  results.value=0xFFFFFFF;
         }else if((tu==2)&&(zh==0)&&(JL2>199)){
                  JL2--;
                  lcd.setCursor(4, 1);
                  lcd.print(JL2);
                  results.value=0xFFFFFFF;
         }else if((tu==2)&&(zh==1)&&(jiaodu2>0)){
                  jiaodu2--;
                     lcd.setCursor(12, 1);
                     lcd.print(jiaodu2);
                  results.value=0xFFFFFFF;
            }else results.value=0xFFFFFFF;
                  break;
         case 0xFFA857://+
         if((tu==1)&&(JL<301)){
                  JL++;
                  results.value=0xFFFFFFF;
         }else if((tu==2)&&(zh==0)&&(JL2<301)){
                  JL2++;
                  results.value=0xFFFFFFF;
         }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                  jiaodu++;
                  results.value=0xFFFFFFF;
            }else results.value=0xFFFFFFF;
                  break;
         case 0xFF906F://EQ
                  break;
         case 0xFF6897://0
                     if(tu==1){
                        JL=0;
                        lcd.setCursor(9, 1);
                           lcd.print(" ");
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)){
                     lcd.setCursor(4, 1);
                     lcd.print(" ");
                        JL2=0;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)){
                        lcd.setCursor(12, 1);
                        lcd.print("  ");
                           jiaodu2=0;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF9867://100+
                  if((tu==1)&&(JL<301)){
                        JL=JL+100;
                  results.value=0xFFFFFFF;
                  }else if((tu==2)&&(zh==0)&&(JL2<301)){
                        JL2=JL2+100;
                        results.value=0xFFFFFFF;
                  }else results.value=0xFFFFFFF;
                  break;
         case 0xFFB04F://200+
                  if((tu==1)&&(JL<301)){
                        JL=JL+200;
                  results.value=0xFFFFFFF;
                  }else if((tu==2)&&(zh==0)&&(JL2<301)){
                        JL2=JL2+200;
                        results.value=0xFFFFFFF;
                  }else results.value=0xFFFFFFF;
                  break;
         case 0xFF30CF://1
                  if((tu==1)&&(JL<301)){
                        JL=JL+1;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+1;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+1;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF18E7://2
                     if((tu==1)&&(JL<301)){
                        JL=JL+2;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+2;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+2;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF7A85://3
                  if((tu==1)&&(JL<301)){
                        JL=JL+3;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+3;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+3;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF10EF://4
                     if((tu==1)&&(JL<301)){
                        JL=JL+4;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+4;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+4;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF38C7://5
                     if((tu==1)&&(JL<301)){
                        JL=JL+5;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+5;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+5;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF5AA5://6
                     if((tu==1)&&(JL<301)){
                        JL=JL+6;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+6;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+6;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF42BD://7
                     if((tu==1)&&(JL<301)){
                        JL=JL+7;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+7;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+7;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF4AB5://8
                     if((tu==1)&&(JL<301)){
                        JL=JL+8;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+8;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(JL<301)){
                           JL2=JL2+8;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
         case 0xFF52AD://9
                     if((tu==1)&&(JL<301)){
                        JL=JL+9;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==0)&&(JL<301)){
                        JL2=JL2+9;
                     results.value=0xFFFFFFF;
                     }else if((tu==2)&&(zh==1)&&(jiaodu2<61)){
                        jiaodu2=jiaodu2+9;
                           results.value=0xFFFFFFF;
                     }else results.value=0xFFFFFFF;
                  break;
            }
            //
            if(tu==3){
            myservo.write(0);
            lcd.setCursor(0, 0);
            lcd.print("Model: 3 ");
            lcd.setCursor(0, 1);
            /*
            Serial.print(" JL3: ");
            Serial.print(JL3);
            Serial.println("us");
         */
            //扫描
               JL3= pulseIn(pin, HIGH);
            while((JL3>30001)||(JL3<19999)){
            if((zh==0)&&(jiaodu3<121)){
                  jiaodu3++;
                  myservo2.write(jiaodu3);
                  if(jiaodu3==120)zh=1;
                  delay(30);
               }else if((zh==1)&&(jiaodu3>58)){
                  jiaodu3--;
                     myservo2.write(jiaodu3);
                  if(jiaodu3==60)zh=0;
                  delay(30);
                  }
                  JL3= pulseIn(pin, HIGH);

               /* Serial.print(" JL3: ");
                  Serial.print(JL3);
                  Serial.println("cm");
               */
               JL4=JL3/100;jiaodu4=(JL4/10)-5;
               jiaodu5=jiaodu3-60;
               if((JL3>0)&&(JL3<40000)){
                     lcd.print("JL:");
                  lcd.setCursor(3, 1);
                     lcd.print(JL4);
                     lcd.setCursor(7, 1);
                     lcd.print("cm");
                     lcd.setCursor(9, 1);
                     lcd.print("JD:");
                     lcd.setCursor(12, 1);
                     lcd.print(jiaodu5);
                     lcd.print(".c");
               }
            }
            for(jishi=0;jishi<5;jishi++){
                  delay(300);
               }if(jishi==5){
                  jiaodu4=(JL4/10)-5;
                     Serial.print(" jiaodu4: ");
                     Serial.print(jiaodu4);
                  myservo.write(jiaodu4);
                  delay(50);
                  digitalWrite(relayPin,HIGH);
                  delay(500);
                  digitalWrite(relayPin,LOW);
                  tu=0;jiaodu4=0;JL3=0;JL4=0;
                  myservo.write(0);myservo2.write(90);
                  }
         }
      }
}

作者: 公司的 时间: 2021-7-28 11:21
楼主，能不能发一下原理图呢

作者: 枫麟胤 时间: 2021-7-28 20:43

公司的发表于 2021-7-28 11:21
楼主，能不能发一下原理图呢

很多都是用模块的，只有升压的是自己做的。里面有1602，红外遥控，继电器模块，舵机云台，激光传感器。最主要的就是线圈问题，捆的话超80圈吧。升压这边建议用可控硅对电容放电来控制

作者: 枫麟胤 时间: 2021-7-28 20:48
发射台下面的那白色的一坨是充电宝，充电宝是给Arduino供给的。靠近电容两层最上面那层是可控硅控制电容放电给电磁炮的。黑的接地，红的接12伏。
蓝色的继电器模块因为是5伏控制的，所以用了稳压芯片到5伏再控制的。

51hei图片_20210728203908.jpg (160.49 KB, 下载次数: 133)

51hei图片_20210728203919.jpg (131.9 KB, 下载次数: 130)

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