Burn-E Paper Craft Robot

1// Includes the Servo library
2#include <Servo.h>. 
3// Defines Tirg   and Echo pins of the Ultrasonic Sensor
4const int trigPin = 10;
5const int echoPin   = 11;
6// Variables for the duration and the distance
7long duration;
8int   distance;
9Servo myServo; // Creates a servo object for controlling the servo   motor
10void setup() {
11  pinMode(trigPin, OUTPUT); // Sets the trigPin as an   Output
12  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
13  Serial.begin(9600);
14   myServo.attach(12); // Defines on which pin is the servo motor attached
15}
16void   loop() {
17  // rotates the servo motor from 15 to 165 degrees
18  for(int i=15;i<=165;i++){   
19  myServo.write(i);
20  delay(30);
21  distance = calculateDistance();//   Calls a function for calculating the distance measured by the Ultrasonic sensor   for each degree
22  
23  Serial.print(i); // Sends the current degree into the   Serial Port
24  Serial.print(","); // Sends addition character right next to   the previous value needed later in the Processing IDE for indexing
25  Serial.print(distance);   // Sends the distance value into the Serial Port
26  Serial.print("."); // Sends   addition character right next to the previous value needed later in the Processing   IDE for indexing
27  }
28  // Repeats the previous lines from 165 to 15 degrees
29   for(int i=165;i>15;i--){  
30  myServo.write(i);
31  delay(30);
32  distance   = calculateDistance();
33  Serial.print(i);
34  Serial.print(",");
35  Serial.print(distance);
36   Serial.print(".");
37  }
38}
39// Function for calculating the distance measured   by the Ultrasonic sensor
40int calculateDistance(){ 
41  
42  digitalWrite(trigPin,   LOW); 
43  delayMicroseconds(2);
44  // Sets the trigPin on HIGH state for 10   micro seconds
45  digitalWrite(trigPin, HIGH); 
46  delayMicroseconds(10);
47   digitalWrite(trigPin, LOW);
48  duration = pulseIn(echoPin, HIGH); // Reads the   echoPin, returns the sound wave travel time in microseconds
49  distance= duration*0.034/2;
50   return distance;
51}

1/*   Arduino Radar Project
2 *
3 *   Updated version. Fits any screen  resolution!
4 *   Just change the values in the size() function,
5 *   with  your screen resolution.
6 *      
7 *  by Dejan Nedelkovski, 
8 *  www.HowToMechatronics.com
9  *  
10 */
11import processing.serial.*; // imports library for serial communication
12import  java.awt.event.KeyEvent; // imports library for reading the data from the serial  port
13import java.io.IOException;
14Serial myPort; // defines Object Serial
15//  defubes variables
16String angle="";
17String distance="";
18String data="";
19String  noObject;
20float pixsDistance;
21int iAngle, iDistance;
22int index1=0;
23int  index2=0;
24PFont orcFont;
25void setup() {
26  
27 size (1920, 1080); // ***CHANGE  THIS TO YOUR SCREEN RESOLUTION***
28 smooth();
29 myPort = new Serial(this,"COM4",  9600); // starts the serial communication
30 myPort.bufferUntil('.'); // reads  the data from the serial port up to the character '.'. So actually it reads this:  angle,distance.
31 orcFont = loadFont("OCRAExtended-30.vlw");
32}
33void draw()  {
34  
35  fill(98,245,31);
36  textFont(orcFont);
37  // simulating motion  blur and slow fade of the moving line
38  noStroke();
39  fill(0,4); 
40  rect(0,  0, width, height-height*0.065); 
41  
42  fill(98,245,31); // green color
43  // calls the functions for drawing the radar
44  drawRadar(); 
45  drawLine();
46  drawObject();
47  drawText();
48}
49void serialEvent (Serial myPort) { // starts  reading data from the Serial Port
50  // reads the data from the Serial Port up  to the character '.' and puts it into the String variable "data".
51  data =  myPort.readStringUntil('.');
52  data = data.substring(0,data.length()-1);
53  
54  index1 = data.indexOf(","); // find the character ',' and puts it into  the variable "index1"
55  angle= data.substring(0, index1); // read the data  from position "0" to position of the variable index1 or thats the value of the  angle the Arduino Board sent into the Serial Port
56  distance= data.substring(index1+1,  data.length()); // read the data from position "index1" to the end of the data  pr thats the value of the distance
57  
58  // converts the String variables into  Integer
59  iAngle = int(angle);
60  iDistance = int(distance);
61}
62void drawRadar()  {
63  pushMatrix();
64  translate(width/2,height-height*0.074); // moves the starting  coordinats to new location
65  noFill();
66  strokeWeight(2);
67  stroke(98,245,31);
68  // draws the arc lines
69  arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
70  arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
71  arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
72  arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
73  // draws the  angle lines
74  line(-width/2,0,width/2,0);
75  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
76  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
77  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
78  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
79  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
80  line((-width/2)*cos(radians(30)),0,width/2,0);
81  popMatrix();
82}
83void  drawObject() {
84  pushMatrix();
85  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
86  strokeWeight(9);
87  stroke(255,10,10);  // red color
88  pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers  the distance from the sensor from cm to pixels
89  // limiting the range to 40  cms
90  if(iDistance<40){
91    // draws the object according to the angle and  the distance
92  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
93  }
94  popMatrix();
95}
96void drawLine() {
97  pushMatrix();
98  strokeWeight(9);
99  stroke(30,250,60);
100  translate(width/2,height-height*0.074); // moves the starting  coordinats to new location
101  line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));  // draws the line according to the angle
102  popMatrix();
103}
104void drawText()  { // draws the texts on the screen
105  
106  pushMatrix();
107  if(iDistance>40)  {
108  noObject = "Out of Range";
109  }
110  else {
111  noObject = "In Range";
112  }
113  fill(0,0,0);
114  noStroke();
115  rect(0, height-height*0.0648, width,  height);
116  fill(98,245,31);
117  textSize(25);
118  
119  text("10cm",width-width*0.3854,height-height*0.0833);
120  text("20cm",width-width*0.281,height-height*0.0833);
121  text("30cm",width-width*0.177,height-height*0.0833);
122  text("40cm",width-width*0.0729,height-height*0.0833);
123  textSize(40);
124  text("Object: " + noObject, width-width*0.875, height-height*0.0277);
125  text("Angle:  " + iAngle +" ", width-width*0.48, height-height*0.0277);
126  text("Distance:  ", width-width*0.26, height-height*0.0277);
127  if(iDistance<40) {
128  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
129  }
130  textSize(25);
131  fill(98,245,60);
132  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
133  rotate(-radians(-60));
134  text("30",0,0);
135  resetMatrix();
136  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
137  rotate(-radians(-30));
138  text("60",0,0);
139  resetMatrix();
140  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
141  rotate(radians(0));
142  text("90",0,0);
143  resetMatrix();
144  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
145  rotate(radians(-30));
146  text("120",0,0);
147  resetMatrix();
148  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
149  rotate(radians(-60));
150  text("150",0,0);
151  popMatrix(); 
152}

1// Includes the Servo library
2#include <Servo.h>. 
3// Defines Tirg  and Echo pins of the Ultrasonic Sensor
4const int trigPin = 10;
5const int echoPin  = 11;
6// Variables for the duration and the distance
7long duration;
8int  distance;
9Servo myServo; // Creates a servo object for controlling the servo  motor
10void setup() {
11  pinMode(trigPin, OUTPUT); // Sets the trigPin as an  Output
12  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
13  Serial.begin(9600);
14  myServo.attach(12); // Defines on which pin is the servo motor attached
15}
16void  loop() {
17  // rotates the servo motor from 15 to 165 degrees
18  for(int i=15;i<=165;i++){  
19  myServo.write(i);
20  delay(30);
21  distance = calculateDistance();//  Calls a function for calculating the distance measured by the Ultrasonic sensor  for each degree
22  
23  Serial.print(i); // Sends the current degree into the  Serial Port
24  Serial.print(","); // Sends addition character right next to  the previous value needed later in the Processing IDE for indexing
25  Serial.print(distance);  // Sends the distance value into the Serial Port
26  Serial.print("."); // Sends  addition character right next to the previous value needed later in the Processing  IDE for indexing
27  }
28  // Repeats the previous lines from 165 to 15 degrees
29  for(int i=165;i>15;i--){  
30  myServo.write(i);
31  delay(30);
32  distance  = calculateDistance();
33  Serial.print(i);
34  Serial.print(",");
35  Serial.print(distance);
36  Serial.print(".");
37  }
38}
39// Function for calculating the distance measured  by the Ultrasonic sensor
40int calculateDistance(){ 
41  
42  digitalWrite(trigPin,  LOW); 
43  delayMicroseconds(2);
44  // Sets the trigPin on HIGH state for 10  micro seconds
45  digitalWrite(trigPin, HIGH); 
46  delayMicroseconds(10);
47  digitalWrite(trigPin, LOW);
48  duration = pulseIn(echoPin, HIGH); // Reads the  echoPin, returns the sound wave travel time in microseconds
49  distance= duration*0.034/2;
50  return distance;
51}