---

#include <Servo.h>
#include <Stepper.h>

Servo servo;
const int stepsPerRevolution = 2048;
Stepper motor(stepsPerRevolution, 8, 9, 10, 11);

const int trig = 12;
const int echo = 13;

int rotationAngle = 90;
char mode = 'M';

void setup() {
  Serial.begin(9600);
  servo.attach(6);
  pinMode(trig, OUTPUT);
  pinMode(echo, INPUT);
  servo.write(rotationAngle);
  motor.setSpeed(15);
}

void loop() {
  digitalWrite(trig, LOW);
  delayMicroseconds(2);
  digitalWrite(trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(trig, LOW);
  long duration = pulseIn(echo, HIGH);
  int distance = constrain(duration * 0.034 / 2, 0, 150);

  Serial.print("Distance:");
  Serial.println(distance);

  if (Serial.available()) {
    char command = Serial.read();
    if (command == 'M') mode = 'M';
    if (command == 'A') mode = 'A';

    if (mode == 'M') {
      if (command == 'U') motor.step(100);
      if (command == 'D') motor.step(-100);
      if (command == 'L') {
        rotationAngle = max(0, rotationAngle - 15);
        servo.write(rotationAngle);
      }
      if (command == 'R') {
        rotationAngle = min(180, rotationAngle + 15);
        servo.write(rotationAngle);
      }
    }
  }
  delay(50);
}








import serial
import tkinter as tk
from PIL import Image, ImageTk

serial_port = serial.Serial('COM3', 9600, timeout=0.01)

def send(cmd):
    serial_port.write(cmd.encode())

def update():
    while serial_port.in_waiting:
        line = serial_port.readline().decode().strip()
        if line.startswith("Distance:"):
            dist_label.config(text=line.split(":")[1] + " см")
    root.after(50, update)

def manual():
    send('M')
    mode_label.config(text="Ручной")

def auto():
    send('A')
    mode_label.config(text="Автомат")

root = tk.Tk()
root.title("Управление дроном")
root.geometry("350x450")

tk.Label(root, text="Расстояние до препятствия:").pack(pady=(10,0))
dist_label = tk.Label(root, text="0 см", font=("Arial", 20))
dist_label.pack()

mode_frame = tk.Frame(root)
mode_frame.pack(pady=10)
tk.Button(mode_frame, text="Ручной режим", command=manual, width=12).pack(side="left", padx=5)
tk.Button(mode_frame, text="Автомат режим", command=auto, width=12).pack(side="left", padx=5)
mode_label = tk.Label(root, text="Ручной")
mode_label.pack()

img_up = ImageTk.PhotoImage(Image.open("вверх.png"))
img_down = ImageTk.PhotoImage(Image.open("вниз.png"))
img_left = ImageTk.PhotoImage(Image.open("влево.png"))
img_right = ImageTk.PhotoImage(Image.open("вправо.png"))

btn_frame = tk.Frame(root)
btn_frame.pack(pady=20)

tk.Button(btn_frame, image=img_up, command=lambda: send('U'), bd=0).grid(row=0, column=1, padx=5, pady=5)
tk.Button(btn_frame, image=img_down, command=lambda: send('D'), bd=0).grid(row=1, column=1, padx=5, pady=5)
tk.Button(btn_frame, image=img_left, command=lambda: send('L'), bd=0).grid(row=1, column=0, padx=5, pady=5)
tk.Button(btn_frame, image=img_right, command=lambda: send('R'), bd=0).grid(row=1, column=2, padx=5, pady=5)

root.after(100, update)
root.mainloop()