Interactive Wearable Cat Ear Hairpin Based on Arduino

Swing cat ears and flash lights in different ways according to your heart rate.

Mar 16, 2022

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1 respects

wearables

art

toys

Components and supplies

plush cloth for decoration

battery 1.5V

SG90 Micro-servo motor

Jumper wires (generic)

Arduino UNO

pulse sensor/heartrate sensor

Ultrasonic Sensor - HC-SR04 (Generic)

Project description

Code

open source code

arduino

1#define USE_ARDUINO_INTERRUPTS true
2
3#include <Servo.h>
4#include  <PulseSensorPlayground.h>
5
6// Pulse Sensor
7const int PulseWire = A0;
8int  Threshold = 550;
9
10// AdjustPulseSensor
11int count=0;
12int test_heartrate[10];
13int  u=0;
14int IdealAverage=70;
15int BPM_current=0;
16int BPM_former=0;
17
18//  Servo
19int pos = 0;
20int minus=0;
21int pos_9=minus-pos;
22
23
24// ultrasonic
25const  int TrigPin=3;                                                                                                      
26const  int EchoPin=4;
27float distance;
28boolean distance_judge=false;
29int count2=0;
30int  count3=0;
31
32// buzzer
33int buzzer=12;
34
35//LED
36const int redPin =  A1; // 红色引脚
37const int greenPin = A3; // 绿色引脚
38const int bluePin = A5; // 蓝色引脚
39
40//  Initialize
41Servo servo_9;
42Servo servo_10;
43PulseSensorPlayground pulseSensor;
44
45
46void  setup() {
47  // Open Monitor
48  Serial.begin(9600);
49
50  // PulseSensor
51  pulseSensor.analogInput(PulseWire);
52  pulseSensor.setThreshold(Threshold);   
53  
54  if (pulseSensor.begin()) {
55    Serial.println("Pulse Sensor Start!");\\
56  }
57  
58  // ultrasonic
59  pinMode(TrigPin,OUTPUT);
60  pinMode(EchoPin,INPUT);
61
62  // buzzer
63  pinMode(buzzer,OUTPUT);
64
65  // Servo
66  servo_9.attach(9,  500,2500);
67  servo_10.attach(10, 500,2500);
68  
69  servo_9.write(0);
70  servo_10.write(30);
71
72}
73
74void loop() {
75  
76  // Heartrate
77  BPM_current= AdjustPulseSensor();
78
79 if(BPM_current==0){
80  BPM_current=BPM_former;
81  }
82
83  if(count>10  && Ultrasonic()){
84    if(BPM_current<80){
85      sweep2();
86      show(0);
87    }else{
88      if(BPM_current<110){
89        sweep1();
90        show(1);
91      }else{
92        swing();
93        show(2);
94      }
95    }
96  }
97
98  BPM_former=BPM_current;
99}
100
101
102// Heartrate
103int  AdjustPulseSensor(){
104  
105  int BPM=pulseSensor.getBeatsPerMinute(); //PulseSensorPlayground自带函数
106
107  if(pulseSensor.sawStartOfBeat() && BPM<130 && BPM>50){
108    count+=1; //计数器
109    if(count<=5){
110      /*
111       * 经过多次试验观测得出，前5次测量数据(count 1~5)非常不稳定，建议摒弃
112       */
113       Serial.print("Adjusting……");
114       Serial.println(count);
115       Serial.println("-------------------------------");
116    }else{
117      if(count<=10){
118        /*
119         * 前5到前10次数据(count 06~10)作为测试数据，以得出本次测量的平均心率
120         */
121         test_heartrate[count-6]=BPM;
122         Serial.println("Testing……");
123         Serial.print("Test BPM:");
124         Serial.println(BPM);
125         Serial.println("-------------------------------");
126      }else{
127        if(count==11){
128          /*
129           * 从第11次开始测量，数据可以正式使用
130           */
131           for(int i=0;i<5;i++){
132            u+=test_heartrate[i];
133           }
134           u=u/5;
135           Serial.print("Test finished!Your  average heartrate is:");
136           Serial.println(u);
137           Serial.print("Your  BPM:");
138           Serial.println(BPM-u+IdealAverage);
139           Serial.println("-------------------------------");
140        }else{
141          Serial.print("Your BPM:");
142          Serial.println(BPM-u+IdealAverage);
143          Serial.println("-------------------------------");
144        }
145      }
146    }
147  }else{
148    return 0;
149  }
150
151  delay(20);
152
153  return BPM-u+IdealAverage;
154}
155
156//ultrasonic
157boolean Ultrasonic(){
158  
159  // ultrasonic activation
160  digitalWrite(TrigPin,LOW);
161  delayMicroseconds(2);
162  digitalWrite(TrigPin,HIGH);
163  delayMicroseconds(2);
164  digitalWrite(TrigPin,LOW);
165
166  // distance
167  distance=pulseIn(EchoPin,HIGH)/58.00;
168  Serial.print(distance);
169  Serial.print("cm");
170  Serial.println();
171
172  if(distance<100){
173      distance_judge=true;
174    }else{
175      distance_judge=false;
176    }
177  if(distance_judge && count3<5  ){
178    digitalWrite(buzzer, LOW);//发声
179    delay(200);
180    
181    digitalWrite(buzzer,  HIGH);//不发声
182
183    digitalWrite(buzzer, LOW);//发声
184    delay(200);
185    
186    digitalWrite(buzzer, HIGH);//不发声
187    
188    count3+=1;
189
190    servo_9.write(40);
191    servo_10.write(10);
192    show(3);
193    return false;
194  }else{
195    return  true;
196  }
197
198  return true;
199}
200
201//LED
202void show(int mode){
203  if(mode==0){
204    setColor(0xff, 0xff, 0xff);//白色
205    setColor(0, 0xff, 0xff);  // 青色
206  }
207  if(mode==1){
208    setColor(0xff, 0xff, 0xff);//白色
209    setColor(0,  0, 0xff); // 蓝色
210  }
211  if(mode==2){
212    setColor(0xff, 0xff, 0xff);//白色
213    setColor(0, 0xff, 0); // 绿色
214  }
215  if(mode==3){
216    setColor(0xff, 0xff,  0xff);//白色
217    setColor(0, 0xff, 0x88); 
218  }
219}
220
221// Servo
222void  sweep2(){
223  for (pos = 0; pos <= 30; pos += 1) {
224    servo_10.write(pos);
225    servo_9.write(30-pos);
226    delay(15);
227  }
228  for (pos = 30; pos >= 0;  pos -= 1) {
229    servo_10.write(pos);
230    servo_9.write(30-pos);
231    delay(15);
232  }
233}
234
235void sweep1(){
236  for (pos = 0; pos <= 30; pos += 3) {
237    servo_9.write(pos);
238    servo_10.write(30-pos);
239    if(pos==30){
240        delay(1000);
241    }
242    delay(15);
243  }
244    servo_9.write(0);
245    servo_10.write(30);
246}
247
248void  swing(){
249  for (pos = 30; pos <= 90; pos += 15) {
250    servo_10.write(pos);
251    delay(500);
252  }
253  for (pos = 90; pos >= 30; pos -= 15) {
254    servo_10.write(pos);
255    delay(500);
256  }
257}
258
259
260// 设置LED的颜色
261void setColor(int red, int  green, int blue)
262{
263  #ifdef COMMON_ANODE
264    red = 255 - red;
265    green  = 255 - green;
266    blue = 255 - blue;
267  #endif
268
269  // 设置RGB针脚的电压，有效值0-255，对应0-5V电压
270  analogWrite(redPin, red);
271  analogWrite(greenPin, green);
272  analogWrite(bluePin,  blue);  
273}

#define USE_ARDUINO_INTERRUPTS true

#include <Servo.h>
#include  <PulseSensorPlayground.h>

// Pulse Sensor
const int PulseWire = A0;
int  Threshold = 550;

// AdjustPulseSensor
int count=0;
int test_heartrate[10];
int  u=0;
int IdealAverage=70;
int BPM_current=0;
int BPM_former=0;

//  Servo
int pos = 0;
int minus=0;
int pos_9=minus-pos;


// ultrasonic
const  int TrigPin=3;                                                                                                      
const  int EchoPin=4;
float distance;
boolean distance_judge=false;
int count2=0;
int  count3=0;

// buzzer
int buzzer=12;

//LED
const int redPin =  A1; // 红色引脚
const int greenPin = A3; // 绿色引脚
const int bluePin = A5; // 蓝色引脚

//  Initialize
Servo servo_9;
Servo servo_10;
PulseSensorPlayground pulseSensor;


void  setup() {
  // Open Monitor
  Serial.begin(9600);

  // PulseSensor
  pulseSensor.analogInput(PulseWire);
  pulseSensor.setThreshold(Threshold);   
  
  if (pulseSensor.begin()) {
    Serial.println("Pulse Sensor Start!");\\
  }
  
  // ultrasonic
  pinMode(TrigPin,OUTPUT);
  pinMode(EchoPin,INPUT);

  // buzzer
  pinMode(buzzer,OUTPUT);

  // Servo
  servo_9.attach(9,  500,2500);
  servo_10.attach(10, 500,2500);
  
  servo_9.write(0);
  servo_10.write(30);

}

void loop() {
  
  // Heartrate
  BPM_current= AdjustPulseSensor();

 if(BPM_current==0){
  BPM_current=BPM_former;
  }

  if(count>10  && Ultrasonic()){
    if(BPM_current<80){
      sweep2();
      show(0);
    }else{
      if(BPM_current<110){
        sweep1();
        show(1);
      }else{
        swing();
        show(2);
      }
    }
  }

  BPM_former=BPM_current;
}


// Heartrate
int  AdjustPulseSensor(){
  
  int BPM=pulseSensor.getBeatsPerMinute(); //PulseSensorPlayground自带函数

  if(pulseSensor.sawStartOfBeat() && BPM<130 && BPM>50){
    count+=1; //计数器
    if(count<=5){
      /*
       * 经过多次试验观测得出，前5次测量数据(count 1~5)非常不稳定，建议摒弃
       */
       Serial.print("Adjusting……");
       Serial.println(count);
       Serial.println("-------------------------------");
    }else{
      if(count<=10){
        /*
         * 前5到前10次数据(count 06~10)作为测试数据，以得出本次测量的平均心率
         */
         test_heartrate[count-6]=BPM;
         Serial.println("Testing……");
         Serial.print("Test BPM:");
         Serial.println(BPM);
         Serial.println("-------------------------------");
      }else{
        if(count==11){
          /*
           * 从第11次开始测量，数据可以正式使用
           */
           for(int i=0;i<5;i++){
            u+=test_heartrate[i];
           }
           u=u/5;
           Serial.print("Test finished!Your  average heartrate is:");
           Serial.println(u);
           Serial.print("Your  BPM:");
           Serial.println(BPM-u+IdealAverage);
           Serial.println("-------------------------------");
        }else{
          Serial.print("Your BPM:");
          Serial.println(BPM-u+IdealAverage);
          Serial.println("-------------------------------");
        }
      }
    }
  }else{
    return 0;
  }

  delay(20);

  return BPM-u+IdealAverage;
}

//ultrasonic
boolean Ultrasonic(){
  
  // ultrasonic activation
  digitalWrite(TrigPin,LOW);
  delayMicroseconds(2);
  digitalWrite(TrigPin,HIGH);
  delayMicroseconds(2);
  digitalWrite(TrigPin,LOW);

  // distance
  distance=pulseIn(EchoPin,HIGH)/58.00;
  Serial.print(distance);
  Serial.print("cm");
  Serial.println();

  if(distance<100){
      distance_judge=true;
    }else{
      distance_judge=false;
    }
  if(distance_judge && count3<5  ){
    digitalWrite(buzzer, LOW);//发声
    delay(200);
    
    digitalWrite(buzzer,  HIGH);//不发声

    digitalWrite(buzzer, LOW);//发声
    delay(200);
    
    digitalWrite(buzzer, HIGH);//不发声
    
    count3+=1;

    servo_9.write(40);
    servo_10.write(10);
    show(3);
    return false;
  }else{
    return  true;
  }

  return true;
}

//LED
void show(int mode){
  if(mode==0){
    setColor(0xff, 0xff, 0xff);//白色
    setColor(0, 0xff, 0xff);  // 青色
  }
  if(mode==1){
    setColor(0xff, 0xff, 0xff);//白色
    setColor(0,  0, 0xff); // 蓝色
  }
  if(mode==2){
    setColor(0xff, 0xff, 0xff);//白色
    setColor(0, 0xff, 0); // 绿色
  }
  if(mode==3){
    setColor(0xff, 0xff,  0xff);//白色
    setColor(0, 0xff, 0x88); 
  }
}

// Servo
void  sweep2(){
  for (pos = 0; pos <= 30; pos += 1) {
    servo_10.write(pos);
    servo_9.write(30-pos);
    delay(15);
  }
  for (pos = 30; pos >= 0;  pos -= 1) {
    servo_10.write(pos);
    servo_9.write(30-pos);
    delay(15);
  }
}

void sweep1(){
  for (pos = 0; pos <= 30; pos += 3) {
    servo_9.write(pos);
    servo_10.write(30-pos);
    if(pos==30){
        delay(1000);
    }
    delay(15);
  }
    servo_9.write(0);
    servo_10.write(30);
}

void  swing(){
  for (pos = 30; pos <= 90; pos += 15) {
    servo_10.write(pos);
    delay(500);
  }
  for (pos = 90; pos >= 30; pos -= 15) {
    servo_10.write(pos);
    delay(500);
  }
}


// 设置LED的颜色
void setColor(int red, int  green, int blue)
{
  #ifdef COMMON_ANODE
    red = 255 - red;
    green  = 255 - green;
    blue = 255 - blue;
  #endif

  // 设置RGB针脚的电压，有效值0-255，对应0-5V电压
  analogWrite(redPin, red);
  analogWrite(greenPin, green);
  analogWrite(bluePin,  blue);  
}

open source code

arduino

1#define USE_ARDUINO_INTERRUPTS true
2
3#include <Servo.h>
4#include
5  <PulseSensorPlayground.h>
6
7// Pulse Sensor
8const int PulseWire = A0;
9int
10  Threshold = 550;
11
12// AdjustPulseSensor
13int count=0;
14int test_heartrate[10];
15int
16  u=0;
17int IdealAverage=70;
18int BPM_current=0;
19int BPM_former=0;
20
21//
22  Servo
23int pos = 0;
24int minus=0;
25int pos_9=minus-pos;
26
27
28// ultrasonic
29const
30  int TrigPin=3;                                                                                                      
31const
32  int EchoPin=4;
33float distance;
34boolean distance_judge=false;
35int count2=0;
36int
37  count3=0;
38
39// buzzer
40int buzzer=12;
41
42//LED
43const int redPin =
44  A1; // 红色引脚
45const int greenPin = A3; // 绿色引脚
46const int bluePin = A5; // 蓝色引脚
47
48//
49  Initialize
50Servo servo_9;
51Servo servo_10;
52PulseSensorPlayground pulseSensor;
53
54
55void
56  setup() {
57  // Open Monitor
58  Serial.begin(9600);
59
60  // PulseSensor
61
62  pulseSensor.analogInput(PulseWire);
63  pulseSensor.setThreshold(Threshold);
64   
65  
66  if (pulseSensor.begin()) {
67    Serial.println("Pulse Sensor Start!");\\
68
69  }
70  
71  // ultrasonic
72  pinMode(TrigPin,OUTPUT);
73  pinMode(EchoPin,INPUT);
74
75
76  // buzzer
77  pinMode(buzzer,OUTPUT);
78
79  // Servo
80  servo_9.attach(9,
81  500,2500);
82  servo_10.attach(10, 500,2500);
83  
84  servo_9.write(0);
85
86  servo_10.write(30);
87
88}
89
90void loop() {
91  
92  // Heartrate
93
94  BPM_current= AdjustPulseSensor();
95
96 if(BPM_current==0){
97  BPM_current=BPM_former;
98
99  }
100
101  if(count>10  && Ultrasonic()){
102    if(BPM_current<80){
103      sweep2();
104
105      show(0);
106    }else{
107      if(BPM_current<110){
108        sweep1();
109
110        show(1);
111      }else{
112        swing();
113        show(2);
114      }
115
116    }
117  }
118
119  BPM_former=BPM_current;
120}
121
122
123// Heartrate
124int
125  AdjustPulseSensor(){
126  
127  int BPM=pulseSensor.getBeatsPerMinute(); //PulseSensorPlayground自带函数
128
129
130  if(pulseSensor.sawStartOfBeat() && BPM<130 && BPM>50){
131    count+=1; //计数器
132
133    if(count<=5){
134      /*
135       * 经过多次试验观测得出，前5次测量数据(count 1~5)非常不稳定，建议摒弃
136
137       */
138       Serial.print("Adjusting……");
139       Serial.println(count);
140
141       Serial.println("-------------------------------");
142    }else{
143      if(count<=10){
144
145        /*
146         * 前5到前10次数据(count 06~10)作为测试数据，以得出本次测量的平均心率
147         */
148
149         test_heartrate[count-6]=BPM;
150         Serial.println("Testing……");
151
152         Serial.print("Test BPM:");
153         Serial.println(BPM);
154         Serial.println("-------------------------------");
155
156      }else{
157        if(count==11){
158          /*
159           * 从第11次开始测量，数据可以正式使用
160
161           */
162           for(int i=0;i<5;i++){
163            u+=test_heartrate[i];
164
165           }
166           u=u/5;
167           Serial.print("Test finished!Your
168  average heartrate is:");
169           Serial.println(u);
170           Serial.print("Your
171  BPM:");
172           Serial.println(BPM-u+IdealAverage);
173           Serial.println("-------------------------------");
174
175        }else{
176          Serial.print("Your BPM:");
177          Serial.println(BPM-u+IdealAverage);
178
179          Serial.println("-------------------------------");
180        }
181
182      }
183    }
184  }else{
185    return 0;
186  }
187
188  delay(20);
189
190
191  return BPM-u+IdealAverage;
192}
193
194//ultrasonic
195boolean Ultrasonic(){
196
197  
198  // ultrasonic activation
199  digitalWrite(TrigPin,LOW);
200  delayMicroseconds(2);
201
202  digitalWrite(TrigPin,HIGH);
203  delayMicroseconds(2);
204  digitalWrite(TrigPin,LOW);
205
206
207  // distance
208  distance=pulseIn(EchoPin,HIGH)/58.00;
209  Serial.print(distance);
210
211  Serial.print("cm");
212  Serial.println();
213
214  if(distance<100){
215      distance_judge=true;
216
217    }else{
218      distance_judge=false;
219    }
220  if(distance_judge && count3<5
221  ){
222    digitalWrite(buzzer, LOW);//发声
223    delay(200);
224    
225    digitalWrite(buzzer,
226  HIGH);//不发声
227
228    digitalWrite(buzzer, LOW);//发声
229    delay(200);
230    
231
232    digitalWrite(buzzer, HIGH);//不发声
233    
234    count3+=1;
235
236    servo_9.write(40);
237
238    servo_10.write(10);
239    show(3);
240    return false;
241  }else{
242    return
243  true;
244  }
245
246  return true;
247}
248
249//LED
250void show(int mode){
251
252  if(mode==0){
253    setColor(0xff, 0xff, 0xff);//白色
254    setColor(0, 0xff, 0xff);
255  // 青色
256  }
257  if(mode==1){
258    setColor(0xff, 0xff, 0xff);//白色
259    setColor(0,
260  0, 0xff); // 蓝色
261  }
262  if(mode==2){
263    setColor(0xff, 0xff, 0xff);//白色
264
265    setColor(0, 0xff, 0); // 绿色
266  }
267  if(mode==3){
268    setColor(0xff, 0xff,
269  0xff);//白色
270    setColor(0, 0xff, 0x88); 
271  }
272}
273
274// Servo
275void
276  sweep2(){
277  for (pos = 0; pos <= 30; pos += 1) {
278    servo_10.write(pos);
279
280    servo_9.write(30-pos);
281    delay(15);
282  }
283  for (pos = 30; pos >= 0;
284  pos -= 1) {
285    servo_10.write(pos);
286    servo_9.write(30-pos);
287    delay(15);
288
289  }
290}
291
292void sweep1(){
293  for (pos = 0; pos <= 30; pos += 3) {
294    servo_9.write(pos);
295
296    servo_10.write(30-pos);
297    if(pos==30){
298        delay(1000);
299    }
300
301    delay(15);
302  }
303    servo_9.write(0);
304    servo_10.write(30);
305}
306
307void
308  swing(){
309  for (pos = 30; pos <= 90; pos += 15) {
310    servo_10.write(pos);
311
312    delay(500);
313  }
314  for (pos = 90; pos >= 30; pos -= 15) {
315    servo_10.write(pos);
316
317    delay(500);
318  }
319}
320
321
322// 设置LED的颜色
323void setColor(int red, int
324  green, int blue)
325{
326  #ifdef COMMON_ANODE
327    red = 255 - red;
328    green
329  = 255 - green;
330    blue = 255 - blue;
331  #endif
332
333  // 设置RGB针脚的电压，有效值0-255，对应0-5V电压
334
335  analogWrite(redPin, red);
336  analogWrite(greenPin, green);
337  analogWrite(bluePin,
338  blue);  
339}

#define USE_ARDUINO_INTERRUPTS true

#include <Servo.h>
#include
  <PulseSensorPlayground.h>

// Pulse Sensor
const int PulseWire = A0;
int
  Threshold = 550;

// AdjustPulseSensor
int count=0;
int test_heartrate[10];
int
  u=0;
int IdealAverage=70;
int BPM_current=0;
int BPM_former=0;

//
  Servo
int pos = 0;
int minus=0;
int pos_9=minus-pos;


// ultrasonic
const
  int TrigPin=3;                                                                                                      
const
  int EchoPin=4;
float distance;
boolean distance_judge=false;
int count2=0;
int
  count3=0;

// buzzer
int buzzer=12;

//LED
const int redPin =
  A1; // 红色引脚
const int greenPin = A3; // 绿色引脚
const int bluePin = A5; // 蓝色引脚

//
  Initialize
Servo servo_9;
Servo servo_10;
PulseSensorPlayground pulseSensor;


void
  setup() {
  // Open Monitor
  Serial.begin(9600);

  // PulseSensor

  pulseSensor.analogInput(PulseWire);
  pulseSensor.setThreshold(Threshold);
   
  
  if (pulseSensor.begin()) {
    Serial.println("Pulse Sensor Start!");\\

  }
  
  // ultrasonic
  pinMode(TrigPin,OUTPUT);
  pinMode(EchoPin,INPUT);


  // buzzer
  pinMode(buzzer,OUTPUT);

  // Servo
  servo_9.attach(9,
  500,2500);
  servo_10.attach(10, 500,2500);
  
  servo_9.write(0);

  servo_10.write(30);

}

void loop() {
  
  // Heartrate

  BPM_current= AdjustPulseSensor();

 if(BPM_current==0){
  BPM_current=BPM_former;

  }

  if(count>10  && Ultrasonic()){
    if(BPM_current<80){
      sweep2();

      show(0);
    }else{
      if(BPM_current<110){
        sweep1();

        show(1);
      }else{
        swing();
        show(2);
      }

    }
  }

  BPM_former=BPM_current;
}


// Heartrate
int
  AdjustPulseSensor(){
  
  int BPM=pulseSensor.getBeatsPerMinute(); //PulseSensorPlayground自带函数


  if(pulseSensor.sawStartOfBeat() && BPM<130 && BPM>50){
    count+=1; //计数器

    if(count<=5){
      /*
       * 经过多次试验观测得出，前5次测量数据(count 1~5)非常不稳定，建议摒弃

       */
       Serial.print("Adjusting……");
       Serial.println(count);

       Serial.println("-------------------------------");
    }else{
      if(count<=10){

        /*
         * 前5到前10次数据(count 06~10)作为测试数据，以得出本次测量的平均心率
         */

         test_heartrate[count-6]=BPM;
         Serial.println("Testing……");

         Serial.print("Test BPM:");
         Serial.println(BPM);
         Serial.println("-------------------------------");

      }else{
        if(count==11){
          /*
           * 从第11次开始测量，数据可以正式使用

           */
           for(int i=0;i<5;i++){
            u+=test_heartrate[i];

           }
           u=u/5;
           Serial.print("Test finished!Your
  average heartrate is:");
           Serial.println(u);
           Serial.print("Your
  BPM:");
           Serial.println(BPM-u+IdealAverage);
           Serial.println("-------------------------------");

        }else{
          Serial.print("Your BPM:");
          Serial.println(BPM-u+IdealAverage);

          Serial.println("-------------------------------");
        }

      }
    }
  }else{
    return 0;
  }

  delay(20);


  return BPM-u+IdealAverage;
}

//ultrasonic
boolean Ultrasonic(){

  
  // ultrasonic activation
  digitalWrite(TrigPin,LOW);
  delayMicroseconds(2);

  digitalWrite(TrigPin,HIGH);
  delayMicroseconds(2);
  digitalWrite(TrigPin,LOW);


  // distance
  distance=pulseIn(EchoPin,HIGH)/58.00;
  Serial.print(distance);

  Serial.print("cm");
  Serial.println();

  if(distance<100){
      distance_judge=true;

    }else{
      distance_judge=false;
    }
  if(distance_judge && count3<5
  ){
    digitalWrite(buzzer, LOW);//发声
    delay(200);
    
    digitalWrite(buzzer,
  HIGH);//不发声

    digitalWrite(buzzer, LOW);//发声
    delay(200);
    

    digitalWrite(buzzer, HIGH);//不发声
    
    count3+=1;

    servo_9.write(40);

    servo_10.write(10);
    show(3);
    return false;
  }else{
    return
  true;
  }

  return true;
}

//LED
void show(int mode){

  if(mode==0){
    setColor(0xff, 0xff, 0xff);//白色
    setColor(0, 0xff, 0xff);
  // 青色
  }
  if(mode==1){
    setColor(0xff, 0xff, 0xff);//白色
    setColor(0,
  0, 0xff); // 蓝色
  }
  if(mode==2){
    setColor(0xff, 0xff, 0xff);//白色

    setColor(0, 0xff, 0); // 绿色
  }
  if(mode==3){
    setColor(0xff, 0xff,
  0xff);//白色
    setColor(0, 0xff, 0x88); 
  }
}

// Servo
void
  sweep2(){
  for (pos = 0; pos <= 30; pos += 1) {
    servo_10.write(pos);

    servo_9.write(30-pos);
    delay(15);
  }
  for (pos = 30; pos >= 0;
  pos -= 1) {
    servo_10.write(pos);
    servo_9.write(30-pos);
    delay(15);

  }
}

void sweep1(){
  for (pos = 0; pos <= 30; pos += 3) {
    servo_9.write(pos);

    servo_10.write(30-pos);
    if(pos==30){
        delay(1000);
    }

    delay(15);
  }
    servo_9.write(0);
    servo_10.write(30);
}

void
  swing(){
  for (pos = 30; pos <= 90; pos += 15) {
    servo_10.write(pos);

    delay(500);
  }
  for (pos = 90; pos >= 30; pos -= 15) {
    servo_10.write(pos);

    delay(500);
  }
}


// 设置LED的颜色
void setColor(int red, int
  green, int blue)
{
  #ifdef COMMON_ANODE
    red = 255 - red;
    green
  = 255 - green;
    blue = 255 - blue;
  #endif

  // 设置RGB针脚的电压，有效值0-255，对应0-5V电压

  analogWrite(redPin, red);
  analogWrite(greenPin, green);
  analogWrite(bluePin,
  blue);  
}

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