FINAL PROJECT

In our life, we find that if we forcus on our phone while walking, we may be easy to bump into some obstacles. So we decide to make a BERG HAT which can inform you where you can go.

And we've made our protype.

Here is our code.

const int echopin=A0; // echo接5端口
const int trigpin=4; // trig接4端口  左侧超声波测距器


const int echopin2=A1;
const int trigpin2=2;// 右侧超声波测距器


const int echopin3=A2;
const int trigpin3=7;// 前方超声波测距器
float F,R,L ;

 int ColDataInput = 8;
 int ColConfirm = 9;
 int ColData = 10;

int RowDataInput = 11;
int RowConfirm = 12;
int RowData = 13;

void setup()
{
  Serial.begin(9600);  
  pinMode(echopin,INPUT); //设定echo为输入模式
  pinMode(trigpin,OUTPUT);//设定trig为输出模式
  pinMode(echopin2,INPUT);
  pinMode(trigpin2,OUTPUT);
  pinMode(echopin3,INPUT);
  pinMode(trigpin3,OUTPUT);
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  
  pinMode(11, OUTPUT);  
   pinMode(12, OUTPUT);  
   pinMode(13, OUTPUT);  

  
}
void ConfirmRowDataInput()  
 {  
   digitalWrite(RowDataInput, HIGH);  
   digitalWrite(RowDataInput, LOW);  
 }  
  
void ConfirmRowDataAll()  
 {  
   digitalWrite(RowConfirm, HIGH);  
   digitalWrite(RowConfirm, LOW);  
 }  
  
void ConfirmColDataInput()  
 {  
   digitalWrite(ColDataInput, HIGH);  
   digitalWrite(ColDataInput, LOW);  
 }  
  
void ConfirmColDataAll()  
 {  
   digitalWrite(ColConfirm, HIGH);  
   digitalWrite(ColConfirm, LOW);  
 }  
  
void SelectRow(int ID)  
 {  
   for (int i = 1; i <= 8; i++)  
   {  
     if (i == ID)  
     {  
       digitalWrite(RowData, LOW);  
     }  
     else  
     {  
       digitalWrite(RowData, HIGH); 
     }  
  
    ConfirmRowDataInput();  
  
  }  
   ConfirmRowDataAll();  
 }  
  
void SelectCol(char Data[8])  
 {  
   for (int i = 0; i < 8; i++)  
   {  
     if (Data[i] == '0')  
       digitalWrite(ColData, LOW); 
     else  
       digitalWrite(ColData, HIGH); 
     ConfirmColDataInput(); 
   }  
  ConfirmColDataAll(); 
 }  
  
void ClearAll()  
 {  
   for (int i = 1; i <= 8; i++)  
   {  
     digitalWrite(RowData, HIGH);
     ConfirmRowDataInput(); 
   }  
   ConfirmRowDataAll();  
  
  for (int i = 1; i <= 8; i++)  
   {  
     digitalWrite(ColData, LOW); 
     ConfirmColDataInput(); 
   }  
   ConfirmColDataAll(); 
  
}  
  
void turnLeft()  
 {  
   ClearAll();  
   SelectRow(1);  
   SelectCol("00010000"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(2);  
   SelectCol("00110000"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(3);  
   SelectCol("01011111"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(4);  
   SelectCol("10000001"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(5);  
   SelectCol("10000001");  
   delay(1);  
  
  ClearAll();  
   SelectRow(6);  
   SelectCol("01011111"); 
   delay(1);  
    
  ClearAll();  
   SelectRow(7);  
   SelectCol("00110000"); 
   delay(1);  

    
  ClearAll();  
   SelectRow(8);  
   SelectCol("00010000"); 
   delay(1);  
}  
  
void turnRight()  
 {  
   ClearAll();  
   SelectRow(1);  
   SelectCol("00001000"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(2);  
   SelectCol("00001100"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(3);  
   SelectCol("11111010"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(4);  
   SelectCol("10000001"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(5);  
   SelectCol("10000001");  
   delay(1);  
  
  ClearAll();  
   SelectRow(6);  
   SelectCol("11111010"); 
   delay(1);  
    
  ClearAll();  
   SelectRow(7);  
   SelectCol("00001100"); 
   delay(1);  

    
  ClearAll();  
   SelectRow(8);  
   SelectCol("00001000"); 
   delay(1);  
}  


void nowhere()  
 {  
   ClearAll();  
   SelectRow(1);  
   SelectCol("10000001"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(2);  
   SelectCol("01000010"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(3);  
   SelectCol("00100100"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(4);  
   SelectCol("00011000"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(5);  
   SelectCol("00011000");  
   delay(1);  
  
  ClearAll();  
   SelectRow(6);  
   SelectCol("00100100"); 
   delay(1);  
    
  ClearAll();  
   SelectRow(7);  
   SelectCol("01000010"); 
   delay(1);  

    
  ClearAll();  
   SelectRow(8);  
   SelectCol("10000001"); 
   delay(1);  
}  

void everywhere()  
 {  
   ClearAll();  
   SelectRow(1);  
   SelectCol("11100111"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(2);  
   SelectCol("10100101"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(3);  
   SelectCol("11100111"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(4);  
   SelectCol("00000000"); 
   delay(1);  
  
  ClearAll();  
   SelectRow(5);  
   SelectCol("00000000");  
   delay(1);  
  
  ClearAll();  
   SelectRow(6);  
   SelectCol("10000001"); 
   delay(1);  
    
  ClearAll();  
   SelectRow(7);  
   SelectCol("01000010"); 
   delay(1);  

    
  ClearAll();  
   SelectRow(8);  
   SelectCol("00111100"); 
   delay(1);  
}  
void loop()
{
  // *********************************** 左方测距******/
  digitalWrite(trigpin,LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin,HIGH);
  delayMicroseconds(10);
  digitalWrite(trigpin,LOW); //发一个10ms的高脉冲去触发TrigPin
  float distanceL = pulseIn(echopin,HIGH);//接收高电平时间
  distanceL = distanceL/58.0;//计算距离
        if (distanceL > 400)
  {
    distanceL = L;
  }
  else{
    L = distanceL;
  }
  Serial.println(distanceL);


/*******************右方测距******************************************/

  digitalWrite(trigpin2,LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin2,HIGH);
  delayMicroseconds(10);
  digitalWrite(trigpin2,LOW); //发一个10ms的高脉冲去触发TrigPin
  float distanceR = pulseIn(echopin2,HIGH);//接收高电平时间
  distanceR = distanceR/58.0;//计算距离
        if (distanceR > 400)
  {
    distanceR = R;
  }
  else{
    R = distanceR;
  }
  Serial.println(distanceR);

// *******************前方测距********************************************/
  digitalWrite(trigpin3,LOW);
  delayMicroseconds(2);
  digitalWrite(trigpin3,HIGH);
  delayMicroseconds(10);
  digitalWrite(trigpin3,LOW); //发一个10ms的高脉冲去触发TrigPin 
  float distanceF = pulseIn(echopin3,HIGH);//接收高电平时间
  distanceF = distanceF/58.0;//计算距离
   
    if (distanceF > 400)
  {
    distanceF = F;
  }
  else{
    F = distanceF;
  }



 Serial.println(distanceF);
  if (distanceF <=50){
    if (distanceL>distanceR){
      if(distanceL<40){
  for (int i = 0 ; i < 200 ; i++)
  {
    nowhere();
  }
        }else{
  for (int i = 0 ; i < 200 ; i++)
  {
    turnLeft();
  }
        }
    }else{
      if(distanceR<40){
  for (int i = 0 ; i < 200 ; i++)
  {
    nowhere();
  }
        }else{
  for (int i = 0 ; i < 200 ; i++)
  {
    turnRight();
  }
        }
    }
  }
  else{
  for (int i = 0 ; i < 200 ; i++)
  {
    everywhere();
  }
  }
ClearAll();
delay(100);

}