[OTTO GO] 超音波控制虎嘴

 Arduino:

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#include <SPI.h> #include <Adafruit_GFX.h> #include <Adafruit_ST7789.h> // ===== TFT pins (OTTO GO) ===== #define TFT_MOSI 19 #define TFT_SCLK 18 #define TFT_CS 5 #define TFT_DC 16 #define TFT_RST 23 // ===== Ultrasonic pins (OTTO GO) ===== #define US_TRIG 27 #define US_ECHO 39 // ESP32 輸入專用腳，適合 ECHO Adafruit_ST7789 tft = Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST); static inline uint16_t RGB565(uint8_t r, uint8_t g, uint8_t b) { return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3); } // ================== 虎嘴繪圖 ================== void drawMuzzleBase(int cx, int cy) { uint16_t furLight = RGB565(235, 228, 210); uint16_t shadow = RGB565(160, 150, 135); uint16_t dotDark = RGB565(70, 70, 70); tft.fillScreen(ST77XX_BLACK); // 口鼻白毛區 tft.fillCircle(cx - 55, cy + 10, 55, furLight); tft.fillCircle(cx + 55, cy + 10, 55, furLight); tft.fillRoundRect(cx - 90, cy - 25, 180, 110, 28, furLight); // 下巴陰影 tft.fillRoundRect(cx - 85, cy + 60, 170, 22, 12, shadow); tft.fillRoundRect(cx - 40, cy + 55, 80, 10, 5, RGB565(120,110,100)); // 鬍鬚點 int dotY1 = cy + 6; int dotY2 = cy + 26; for (int k = 0; k < 3; k++) { tft.fillCircle(cx - 55 - k * 12, dotY1 + k * 2, 2, dotDark); tft.fillCircle(cx - 55 - k * 12, dotY2 + k * 2, 2, dotDark); tft.fillCircle(cx + 55 + k * 12, dotY1 + k * 2, 2, dotDark); tft.fillCircle(cx + 55 + k * 12, dotY2 + k * 2, 2, dotDark); } } void drawMouthClosed(int cx, int cy) { uint16_t lineDark = RGB565(40, 40, 40); // 人中線 tft.drawLine(cx, cy - 5, cx, cy + 20, lineDark); tft.drawLine(cx - 1, cy - 5, cx - 1, cy + 20, RGB565(80,80,80)); // 上唇弧線 int mouthY = cy + 18; for (int i = 0; i < 34; i++) { int y = mouthY + (i * i) / 95; tft.drawPixel(cx - i, y, lineDark); tft.drawPixel(cx - i, y + 1, lineDark); tft.drawPixel(cx + i, y, lineDark); tft.drawPixel(cx + i, y + 1, lineDark); } // 嘴角 tft.fillCircle(cx - 36, mouthY + 12, 3, lineDark); tft.fillCircle(cx + 36, mouthY + 12, 3, lineDark); // 嘴中間小暗線 tft.fillRoundRect(cx - 10, mouthY + 20, 20, 4, 2, RGB565(90,80,70)); } void drawMouthOpen(int cx, int cy) { uint16_t lineDark = RGB565(40, 40, 40); uint16_t mouthIn = RGB565(15, 15, 15); uint16_t tongue = RGB565(210, 120, 120); // 人中線（到上唇） tft.drawLine(cx, cy - 5, cx, cy + 10, lineDark); tft.drawLine(cx - 1, cy - 5, cx - 1, cy + 10, RGB565(80,80,80)); // 上唇弧線（更彎） int mouthY = cy + 16; for (int i = 0; i < 36; i++) { int y = mouthY + (i * i) / 85; tft.drawPixel(cx - i, y, lineDark); tft.drawPixel(cx - i, y + 1, lineDark); tft.drawPixel(cx + i, y, lineDark); tft.drawPixel(cx + i, y + 1, lineDark); } // 嘴角 tft.fillCircle(cx - 38, mouthY + 14, 3, lineDark); tft.fillCircle(cx + 38, mouthY + 14, 3, lineDark); // 口腔 int w = 90, h = 45; int x = cx - w / 2; int y0 = cy + 28; tft.fillRoundRect(x, y0, w, h, 18, mouthIn); tft.fillCircle(cx, y0 + h, 22, mouthIn); // 舌頭 tft.fillRoundRect(cx - 22, y0 + 18, 44, 20, 10, tongue); tft.fillCircle(cx, y0 + 36, 14, tongue); } bool mouthOpen = false; void drawTigerMouth(bool open) { int cx = tft.width() / 2; int cy = tft.height() / 2; drawMuzzleBase(cx, cy); if (open) drawMouthOpen(cx, cy); else drawMouthClosed(cx, cy); // 顯示距離用的小區塊（可刪） tft.setTextSize(2); tft.setTextColor(ST77XX_YELLOW, ST77XX_BLACK); tft.setCursor(10, 10); tft.print(open ? "MOUTH: OPEN " : "MOUTH: CLOSE"); } // ================== 超音波測距 ================== long readDistanceCM() { // 觸發 10us 脈衝 digitalWrite(US_TRIG, LOW); delayMicroseconds(2); digitalWrite(US_TRIG, HIGH); delayMicroseconds(10); digitalWrite(US_TRIG, LOW); // 讀回波時間（避免卡住，加 timeout） // 30ms 約等於 5m（足夠） unsigned long duration = pulseIn(US_ECHO, HIGH, 30000UL); if (duration == 0) return -1; // 代表沒量到 // 距離(cm) = 時間(us) / 58 return (long)(duration / 58UL); } // ================== 主程式：距離控制開闔 ================== // 遲滯門檻：靠近到 OPEN_CM 才張開；遠離到 CLOSE_CM 才閉合 const int OPEN_CM = 15; const int CLOSE_CM = 20; // 更新間隔 const unsigned long UPDATE_MS = 80; unsigned long lastUpdateMs = 0; // 讓距離比較穩：簡單做 3 次取中位數 long median3(long a, long b, long c) { if (a > b) { long t=a; a=b; b=t; } if (b > c) { long t=b; b=c; c=t; } if (a > b) { long t=a; a=b; b=t; } return b; } void setup() { // TFT SPI.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS); tft.init(240, 320); // 若你確定是 170x320 才改 tft.setRotation(1); // Ultrasonic pinMode(US_TRIG, OUTPUT); pinMode(US_ECHO, INPUT); // 初始狀態 mouthOpen = false; drawTigerMouth(mouthOpen); } void loop() { unsigned long now = millis(); if (now - lastUpdateMs < UPDATE_MS) return; lastUpdateMs = now; long d1 = readDistanceCM(); long d2 = readDistanceCM(); long d3 = readDistanceCM(); long d = median3(d1, d2, d3); // 沒量到就不改狀態 if (d < 0) return; // 在畫面顯示距離（可刪） tft.fillRect(10, 30, 140, 24, ST77XX_BLACK); tft.setTextSize(2); tft.setTextColor(ST77XX_CYAN, ST77XX_BLACK); tft.setCursor(10, 30); tft.print("D="); tft.print(d); tft.print("cm"); bool newState = mouthOpen; if (!mouthOpen && d <= OPEN_CM) newState = true; // 靠近 -> 張開 if ( mouthOpen && d >= CLOSE_CM) newState = false; // 遠離 -> 閉合 if (newState != mouthOpen) { mouthOpen = newState; drawTigerMouth(mouthOpen); } }