超声波模拟雷达扫描仪
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<p class=MsoNormal align=center style='text-align:center'><b><span
style='font-size:24.0pt'>超声波模拟雷达扫描仪</span></b></p>
<p class=MsoNormal style='text-indent:15.0pt'><span style='font-size:15.0pt'>（备注：本帖默认你已经对<span
lang=EN-US>WeeeCode 3.0</span>系列软件有一定程度的了解）</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>开门见山吧，本帖讲述利用<span
lang=EN-US>Scratch</span>的舞台做交互界面，再借助硬件电子模块——<span lang=EN-US>RGB</span>超声波模块、<span
lang=EN-US>M995</span>舵机、<span lang=EN-US>ELF</span>主控的加持，简易模拟雷达扫描仪。</span></p>
<p class=MsoNormal><span style='font-size:14.0pt'>嗯哼，实现的效果如下：</span></p>
<p class=MsoNormal align=center style='text-align:center'><span lang=EN-US
style='font-size:12.0pt;font-family:宋体'><video src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:超声波模拟雷达扫描演示.mp4" controls="controls">Your
browser does not support the video tag. </span></p>
</video>
<p class=MsoNormal style='text-indent:28.0pt'><span lang=EN-US
style='font-size:14.0pt'>OK</span><span style='font-size:14.0pt'>，咱来康康怎么实现的吧。</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><s><span style='font-size:14.0pt'>天才第一步，雀氏纸尿裤，啊呸</span></s></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span style='font-size:14.0pt'>第一步：</span></b><span
style='font-size:14.0pt'>硬件搭建。</span></p>
<p class=MsoNormal style='text-indent:56.0pt'><span style='font-size:14.0pt'>①将电子模块与主控板连接起来；</span></p>
<p class=MsoNormal style='text-indent:56.0pt'><span style='font-size:14.0pt'>②<b>重要的一个环节就是固定好舵机以及将超声波模块固定在舵机舵盘上</b>。我的搭建上几个图如下：</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
style='font-size:14.0pt'>俯瞰照</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'><img width=981 height=562
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-163554.png"></span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span lang=EN-US
style='font-size:14.0pt'> </span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
style='font-size:14.0pt'>正脸照<s>（别说颜值还挺高）</s></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'><img width=846 height=660
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-163609.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'> </span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
style='font-size:14.0pt'>关键结构细节照</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'><img width=746 height=894
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-163616.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'> </span></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span style='font-size:14.0pt'>第二步：</span></b><span
style='font-size:14.0pt'>软件搭建。</span></p>
<p class=MsoNormal style='margin-left:21.0pt;text-indent:28.0pt'><span
style='font-size:14.0pt'>①由于要与<span lang=EN-US>Scratch</span>进行交互，就得使硬件传感器检测到值反馈回电脑到，这样<span
lang=EN-US>Scratch</span>舞台角色才能调用这些数据，所以需要使用联机模式，在<span lang=EN-US>WeeeCode</span>里面，我们称之为“在线调试”模式”。打开<span
lang=EN-US>WeeeCode</span>软件，连接主控板，下载“在线调试固件”：</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US><img width=1429 height=775
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-163623.png"></span></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span lang=EN-US
style='font-size:14.0pt'> </span></b></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>②各个角色编程。</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span style='font-size:14.0pt'>雷达圈：</span></b><span
style='font-size:14.0pt'>只需固定不动即可。</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US><img width=1413 height=765
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-164104.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><b><span
lang=EN-US style='font-size:14.0pt'> </span></b></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span style='font-size:14.0pt'>扫描：</span></b><span
style='font-size:14.0pt'>与舵机同步运行，并记录下旋转角度β。</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US><img width=1411 height=764
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-164112.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'> </span></p>
<p class=MsoNormal style='text-indent:28.0pt'><b><span style='font-size:14.0pt'>目标：</span></b><span
style='font-size:14.0pt'>根据超声波检测，当在某方向测得目标物体离超声波<span lang=EN-US>50cm</span>及以内，计算目标坐标值，并显示目标角色（红方块）。</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US><img width=1405 height=761
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-164121.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'> </span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>③目标坐标计算以及实际测距映射到舞台坐标：</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>看图看图：</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:28.0pt'><span
lang=EN-US style='font-size:14.0pt'><img width=1137 height=691
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-164128.png"></span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>解：由图可得，<span
lang=EN-US>X=d*cos</span>β；<span lang=EN-US>Y=d*sin</span>β。</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>什么，你得不出来？那得去问问你的<b><s>体育老师</s></b>数学老师。</span></p>
<p class=MsoNormal style='text-indent:28.0pt'><span style='font-size:14.0pt'>还有一点，就是坐标值要做映射，<span
lang=EN-US>WeeeCode</span>里面舞台上的坐标是确定，我的项目中，雷达圈的半径是<span lang=EN-US>150</span>，于是<span
lang=EN-US>d</span>∈<span lang=EN-US></span>；圆心的坐标是（<span lang=EN-US>0,0</span>）<span
lang=EN-US>[</span><b><i>由于这个前提就导致我的目标物体的坐标就是按照上图的情况</i></b><span lang=EN-US>]</span>，而我超声波测距的有效值是<span
lang=EN-US></span>，所以为了交互效果较好，需将<span lang=EN-US></span>映射到<span
lang=EN-US></span>，所以就有了以下的计算：</span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US><img width=814 height=154
src="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:pasted:20200622-164133.png"></span></p>
<p class=MsoNormal align=center style='text-align:center;text-indent:21.0pt'><span
lang=EN-US> </span></p>
<p class=MsoNormal style='text-indent:21.0pt'><b><span lang=EN-US
style='font-size:16.0pt'><a
href="/wiki/lib/exe/fetch.php?media=wm_wiki:rgb_ultrasonic_sensor:%E9%9B%B7%E8%BE%BE%E6%89%AB%E6%8F%8F%E4%BB%AA.rar"><span
lang=EN-US><span lang=EN-US>点此</span></span><span lang=EN-US><span lang=EN-US>下载WeeeCode</span></span><span
lang=EN-US><span lang=EN-US>程序</span></span></a></span></b></p>
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