#define ultrasonic_trig1_PIN 9
#define ultrasonic_echo1_PIN 10

#define ultrasonic_trig2_PIN 7
#define ultrasonic_echo2_PIN 8

#define ultrasonic_trig3_PIN 5
#define ultrasonic_echo3_PIN 6


#define photosensitive_PIN A0  //光敏

#define led_PIN 2   //led灯
#define buzz_PIN 3   //蜂鸣器
#define gps_rx_PIN 12  //gps接受引脚

#define mp3_tx_PIN 11  //mp3控制引脚

#define vibration_PIN 4  //振动马达引脚


void setup() {
  Serial.begin(9600);

  pinMode(ultrasonic_trig1_PIN, OUTPUT);
  pinMode(ultrasonic_echo1_PIN, INPUT);
  pinMode(ultrasonic_trig2_PIN, OUTPUT);
  pinMode(ultrasonic_echo2_PIN, INPUT);
  pinMode(ultrasonic_trig3_PIN, OUTPUT);
  pinMode(ultrasonic_echo3_PIN, INPUT);

  pinMode(led_PIN,  OUTPUT);
  pinMode(buzz_PIN, OUTPUT);
  pinMode(vibration_PIN,  OUTPUT);
  pinMode(photosensitive_PIN, INPUT);
  digitalWrite(led_PIN,HIGH);
  digitalWrite(buzz_PIN,HIGH);
  digitalWrite(vibration_PIN,LOW);


}
uint32_t old_time = 0;
double lat=0,lng=0;
void loop() {
  float d1 = readDistanceCM(ultrasonic_trig1_PIN, ultrasonic_echo1_PIN);  //获取距离1
  float d2 = readDistanceCM(ultrasonic_trig2_PIN, ultrasonic_echo2_PIN);  //获取距离2
  float d3 = readDistanceCM(ultrasonic_trig3_PIN, ultrasonic_echo3_PIN);  //获取距离3
  int lux = 1024-analogRead(photosensitive_PIN);   //获取照度
  float d_min = min(d1,min(d2,d3));  //得到3个距离中的最小距离
  
  if(lux<=80){    //天黑亮灯
    digitalWrite(led_PIN,LOW);
  }else if(lux>=100){
    digitalWrite(led_PIN,HIGH);
  }

 if(d_min<=30){    //距离过近振动
    digitalWrite(vibration_PIN,HIGH);
  }else if(d_min>=50){
    digitalWrite(vibration_PIN,LOW);
  }




  Serial.print("最小距离："+String(d1) + ",照度"+String(lux)+",纬度"+String(lng)+",经度"+String(lat)+"迭代一次时间");
  Serial.println(millis() - old_time);  //测试程序性能
  old_time = millis();
}

float readDistanceCM(byte _trig_pin, byte _echo_pin) {
  digitalWrite(_trig_pin, LOW);
  delayMicroseconds(2);
  digitalWrite(_trig_pin, HIGH);
  delayMicroseconds(10);
  digitalWrite(_trig_pin, LOW);
  int duration = pulseIn(_echo_pin, HIGH);
  return duration * 0.034 / 2;
}