Arduino Two Ultrasonic Sensor Radar - 360 degrees Rotation

1//this is the whole code running via Processing 3.3.6. (MicroLab-Greece)
2//All   parts tests carried out in Arduino IDE. The plastic parts are made via 3D printer
3import   processing.serial.*; //import library in order serial interface data
4import java.awt.event.KeyEvent;   //import library for reading data from serial port
5import java.io.IOException;
6Serial   myPort;//defines serial object
7//variable definition
8String angle="";
9String   distance="";
10String data="";
11String noObject;
12float pixsDistance;
13int   iAngle, iDistance;
14int index1=0;
15int index2=0;
16PFont orcFont;
17
18void   setup() {
19 
20  size (860, 860); 
21
22 smooth();
23 myPort = new Serial(this,"COM5",   57600); //starting communication with specofic port
24 myPort.bufferUntil('.');   //reads data from port delimited by '.'
25
26}
27
28void draw() {
29 
30 fill(98,245,31);   
31 //simulation of moving line (motion and fade)
32 noStroke();
33 fill(0,4);   
34 rect(0, 0, width, height); 
35 fill(7,246,23);
36//draws the radar calling   functions
37 drawRadar(); 
38 drawLine();
39 drawObject();
40 drawText();
41}
42
43void   serialEvent (Serial myPort) { //start reading data from specified port
44 //reads   data from port delimited by (.) and assigns them in string defined variable "data"
45   data = myPort.readStringUntil('.');
46 data = data.substring(0,data.length()-1);
47
48   index1 = data.indexOf(","); //detect charachter ',' and assign it to the defined   string variable 'index1'
49 angle= data.substring(0, index1); // read the data   from position "0" to position of the variable index1 or the value of the angle,   via bluetooth, sents into the Serial Port
50 distance= data.substring(index1+1,   data.length()); //reads the data from index() from first to last (distance)
51   //convert stings variables into integer
52 iAngle = int(angle);
53 iDistance =   int(distance);
54}
55
56void drawRadar() {
57 pushMatrix();
58 translate(420,420);   //moving the coordinats start
59 noFill();
60 strokeWeight(1);
61 stroke(255,245,255);
62   // draws the arc lines
63  arc(0,0,860,860,0,TWO_PI);
64 arc(0,0,720,720,0,TWO_PI);
65   arc(0,0,580,580,0,TWO_PI);
66 arc(0,0,440,440,0,TWO_PI);
67 arc(0,0,300,300,0,TWO_PI);
68   arc(0,0,160,160,0,TWO_PI);
69 arc(0,0,20,20,0,TWO_PI);
70//darw of angle lines
71   line(-width/2.0,0,width/2.0,0);
72 line(0,0,-width*cos(radians(30)),-width*sin(radians(30)));
73   line(0,0,-width*cos(radians(60)),-width*sin(radians(60)));
74 line(0,0,-width*cos(radians(90)),-width*sin(radians(90)));
75   line(0,0,-width*cos(radians(120)),-width*sin(radians(120)));
76 line(0,0,-width*cos(radians(150)),-width*sin(radians(150)));
77   line(0,0,-width*cos(radians(180)),-width*sin(radians(180)));
78 line(0,0,-width*cos(radians(210)),-width*sin(radians(210)));
79   line(0,0,-width*cos(radians(240)),-width*sin(radians(240)));
80 line(0,0,-width*cos(radians(270)),-width*sin(radians(270)));
81   line(0,0,-width*cos(radians(300)),-width*sin(radians(300)));
82 line(0,0,-width*cos(radians(330)),-width*sin(radians(330)));
83   line(0,0,-width*cos(radians(360)),-width*sin(radians(360)));
84 line(-width*cos(radians(30)),0,width/2.0,0);
85   popMatrix();
86}
87 //this function draws the detected object converting the distance   into pixels on screen according the angle
88void drawObject() {
89 pushMatrix();
90   translate(420,420);
91 strokeWeight(3);
92 stroke(255,10,10); 
93 pixsDistance   = iDistance*2; //converting distance from cm into pixels
94 //with (if) we define   the limit range to 2meter  (200cm) ! anyone can change the limits according to sensors   specifications and drwas the line converting distance into pixel
95 if(iDistance<200){
96    line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
97   }
98 popMatrix();
99}
100//this function draws the radar rotatable line
101void   drawLine() {
102 pushMatrix();
103 strokeWeight(6);
104 stroke(10,74,250);
105 translate(420,420);   
106 line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle))); 
107 popMatrix();
108}
109//function   drawing text on screen nad its values taking from sensors
110void drawText() {
111   
112 pushMatrix();
113 
114 fill(0,0,0);
115 noStroke();
116 rect(0, 1010, width,   600);
117 textSize(15);
118 fill(5,255,5);
119 
120 translate(640,294);
121 rotate(-radians(-5));
122   text("30°",0,0);
123 resetMatrix();
124 translate(548,200);
125 rotate(-radians(-5));
126   text("60°",0,0);
127 resetMatrix();
128 translate(420,160);
129 rotate(radians(0));
130   text("90°",0,0);
131 resetMatrix();
132 translate(292,199);
133 rotate(radians(-30));
134   text("120°",0,0);
135 resetMatrix();
136 translate(202,296);
137 rotate(radians(-60));
138   text("150°",0,0);
139 resetMatrix();
140 translate(166,422);
141 rotate(radians(-90));
142   text("180°",0,0);
143 resetMatrix();
144 translate(197,550);
145 rotate(radians(-110));
146   text("210°",0,0);
147 resetMatrix();
148 translate(292,641);
149 rotate(radians(360));
150   text("240°",0,0);
151 resetMatrix();
152 
153 translate(420,677);
154 rotate(radians(-360));
155   text("270°",0,0);
156 resetMatrix();
157 
158 translate(544,640);
159 rotate(radians(-380));
160   text("300°",0,0);
161 resetMatrix();
162 
163 translate(641,547);
164 rotate(radians(-5));
165   text("330°",0,0);
166 resetMatrix();
167 
168  translate(674,422);
169 rotate(radians(-360));
170   text("360°",0,0);
171 resetMatrix();
172 
173 translate(50,50);
174 rotate(radians(0));
175   textSize(17);
176 fill(255,103,1);
177 text("MicroLab Radar",0,0);
178 
179 resetMatrix();
180   
181 if(iDistance>200) {
182noObject = "Out of Range";
183}
184else {
185noObject   = "In Range";
186}
187fill(0,0,0);
188noStroke();
189rect(0, 1010, width, 1080);
190fill(26,230,32);
191
192textSize(20);
193text("Object:   " + noObject, 250, 50);
194text("Angle: " + iAngle +" °", 500, 50);
195text("Distance:   ", 650, 50);
196if(iDistance<200) {
197text(" " + iDistance +" cm", 750, 50);
198}
199   
200 popMatrix(); 
201 
202 
203
204 }

1//This sketch defines and regulate the 2-phased stepper motor
2int trigPinA  =13;
3int echoPinA=12;
4volatile unsigned long durationA;
5volatile int distanceA;
6volatile  uint16_t counter;
7
8
9int trigPinB =11;
10int echoPinB=10;
11long durationB;
12int  distanceB;
13
14volatile unsigned long Start;
15unsigned long  timer1_counter;
16void  setup() {
17  // put your setup code here, to run once:
18  // Arduino initializations
19Serial.begin(9600);
20
21Serial.write("AT+NAMERADAR");
22
23  delay(1000);
24
25  Serial.write("AT+PIN1234");
26
27  delay(1000);
28  Serial.write("AT+BAUD8");
29
30
31  delay(1000);
32
33Serial.end();
34
35  
36  Serial.begin(115200);
37
38 //pinMode(2,INPUT);
39 pinMode(2, OUTPUT);
40
41  pinMode(3,OUTPUT);
42 pinMode(9,OUTPUT);
43  pinMode(10,INPUT);
44   pinMode(12,INPUT);
45  pinMode(11,OUTPUT);
46 pinMode(13,OUTPUT);
47 digitalWrite(2,LOW);
48 digitalWrite(9,LOW);
49  digitalWrite(2,HIGH);
50 //pinMode(2,OUTPUT);
51
52
53
54  // initialize timer1  
55  noInterrupts();           // disable all interrupts
56  TCCR1A = 0;
57  TCCR1B  = 0;
58
59  // Set timer1_counter to the correct value for our interrupt interval
60  timer1_counter = 65505;   // preload timer 65536-16MHz/256/100Hz
61  //timer1_counter  = 64286;   // preload timer 65536-16MHz/256/50Hz
62  //timer1_counter = 34286;   // preload timer 65536-16MHz/256/2Hz
63  
64  TCNT1 = timer1_counter;   //  preload timer
65  TCCR1B |= (1 << CS12);    // 256 prescaler 
66  TIMSK1 |= (1  << TOIE1);   // enable timer overflow interrupt
67  interrupts();             //  enable all interrupts
68
69
70}
71
72
73ISR(TIMER1_OVF_vect)        // interrupt  service routine 
74{
75  TCNT1 = timer1_counter;   // preload timer
76  digitalWrite(3,  digitalRead(3) ^ 1);
77  counter++;
78  if (counter>=12800*2)
79  counter=0;
80}
81
82void  loop() {
83
84
85digitalWrite(trigPinA, LOW);
86delayMicroseconds(2);
87//  Sets the trigPin on HIGH state for 10 micro seconds
88digitalWrite(trigPinA, HIGH);
89delayMicroseconds(10);
90
91digitalWrite(trigPinA,  LOW);
92//Reads the echoPin, returns the sound wave travel time in microseconds
93durationA=  pulseIn(echoPinA, HIGH);
94distanceA= durationA*0.029/2;
95    noInterrupts();  
96    int i=(counter/2)/35.5555;
97    interrupts();
98  Serial.print(i);
99  Serial.print(",");
100  Serial.print(distanceA,DEC);
101  Serial.print(".");
102
103
104digitalWrite(trigPinB,  LOW);
105delayMicroseconds(2);
106// Sets the trigPin on HIGH state for 10 micro  seconds
107digitalWrite(trigPinB, HIGH);
108delayMicroseconds(10);
109
110digitalWrite(trigPinB,  LOW);
111//Reads the echoPin, returns the sound wave travel time in microseconds
112durationB=  pulseIn(echoPinB, HIGH);
113distanceB= durationB*0.029/2;
114    noInterrupts();  
115     i=(180+(counter/2)/35.5555);
116     if(i>360)
117     i=i-360;
118    interrupts();
119  Serial.print(i);
120  Serial.print(",");
121  Serial.print(distanceB,DEC);
122  Serial.print(".");
123
124
125
126delay(0);
127
128
129
130}
131

1//This sketch defines and regulate the 2-phased stepper motor
2int trigPinA   =13;
3int echoPinA=12;
4volatile unsigned long durationA;
5volatile int distanceA;
6volatile   uint16_t counter;
7
8
9int trigPinB =11;
10int echoPinB=10;
11long durationB;
12int   distanceB;
13
14volatile unsigned long Start;
15unsigned long  timer1_counter;
16void   setup() {
17  // put your setup code here, to run once:
18  // Arduino initializations
19Serial.begin(9600);
20
21Serial.write("AT+NAMERADAR");
22
23   delay(1000);
24
25  Serial.write("AT+PIN1234");
26
27  delay(1000);
28   Serial.write("AT+BAUD8");
29
30
31  delay(1000);
32
33Serial.end();
34
35   
36  Serial.begin(115200);
37
38 //pinMode(2,INPUT);
39 pinMode(2, OUTPUT);
40
41   pinMode(3,OUTPUT);
42 pinMode(9,OUTPUT);
43  pinMode(10,INPUT);
44   pinMode(12,INPUT);
45   pinMode(11,OUTPUT);
46 pinMode(13,OUTPUT);
47 digitalWrite(2,LOW);
48 digitalWrite(9,LOW);
49   digitalWrite(2,HIGH);
50 //pinMode(2,OUTPUT);
51
52
53
54  // initialize timer1   
55  noInterrupts();           // disable all interrupts
56  TCCR1A = 0;
57  TCCR1B   = 0;
58
59  // Set timer1_counter to the correct value for our interrupt interval
60   timer1_counter = 65505;   // preload timer 65536-16MHz/256/100Hz
61  //timer1_counter   = 64286;   // preload timer 65536-16MHz/256/50Hz
62  //timer1_counter = 34286;    // preload timer 65536-16MHz/256/2Hz
63  
64  TCNT1 = timer1_counter;   //   preload timer
65  TCCR1B |= (1 << CS12);    // 256 prescaler 
66  TIMSK1 |= (1   << TOIE1);   // enable timer overflow interrupt
67  interrupts();             //   enable all interrupts
68
69
70}
71
72
73ISR(TIMER1_OVF_vect)        // interrupt   service routine 
74{
75  TCNT1 = timer1_counter;   // preload timer
76  digitalWrite(3,   digitalRead(3) ^ 1);
77  counter++;
78  if (counter>=12800*2)
79  counter=0;
80}
81
82void   loop() {
83
84
85digitalWrite(trigPinA, LOW);
86delayMicroseconds(2);
87//   Sets the trigPin on HIGH state for 10 micro seconds
88digitalWrite(trigPinA, HIGH);
89delayMicroseconds(10);
90
91digitalWrite(trigPinA,   LOW);
92//Reads the echoPin, returns the sound wave travel time in microseconds
93durationA=   pulseIn(echoPinA, HIGH);
94distanceA= durationA*0.029/2;
95    noInterrupts();   
96    int i=(counter/2)/35.5555;
97    interrupts();
98  Serial.print(i);
99   Serial.print(",");
100  Serial.print(distanceA,DEC);
101  Serial.print(".");
102
103
104digitalWrite(trigPinB,   LOW);
105delayMicroseconds(2);
106// Sets the trigPin on HIGH state for 10 micro   seconds
107digitalWrite(trigPinB, HIGH);
108delayMicroseconds(10);
109
110digitalWrite(trigPinB,   LOW);
111//Reads the echoPin, returns the sound wave travel time in microseconds
112durationB=   pulseIn(echoPinB, HIGH);
113distanceB= durationB*0.029/2;
114    noInterrupts();   
115     i=(180+(counter/2)/35.5555);
116     if(i>360)
117     i=i-360;
118    interrupts();
119   Serial.print(i);
120  Serial.print(",");
121  Serial.print(distanceB,DEC);
122   Serial.print(".");
123
124
125
126delay(0);
127
128
129
130}
131

1//this is the whole code running via Processing 3.3.6. (MicroLab-Greece)
2//All  parts tests carried out in Arduino IDE. The plastic parts are made via 3D printer
3import  processing.serial.*; //import library in order serial interface data
4import java.awt.event.KeyEvent;  //import library for reading data from serial port
5import java.io.IOException;
6Serial  myPort;//defines serial object
7//variable definition
8String angle="";
9String  distance="";
10String data="";
11String noObject;
12float pixsDistance;
13int  iAngle, iDistance;
14int index1=0;
15int index2=0;
16PFont orcFont;
17
18void  setup() {
19 
20  size (860, 860); 
21
22 smooth();
23 myPort = new Serial(this,"COM5",  57600); //starting communication with specofic port
24 myPort.bufferUntil('.');  //reads data from port delimited by '.'
25
26}
27
28void draw() {
29 
30 fill(98,245,31);  
31 //simulation of moving line (motion and fade)
32 noStroke();
33 fill(0,4);  
34 rect(0, 0, width, height); 
35 fill(7,246,23);
36//draws the radar calling  functions
37 drawRadar(); 
38 drawLine();
39 drawObject();
40 drawText();
41}
42
43void  serialEvent (Serial myPort) { //start reading data from specified port
44 //reads  data from port delimited by (.) and assigns them in string defined variable "data"
45  data = myPort.readStringUntil('.');
46 data = data.substring(0,data.length()-1);
47
48  index1 = data.indexOf(","); //detect charachter ',' and assign it to the defined  string variable 'index1'
49 angle= data.substring(0, index1); // read the data  from position "0" to position of the variable index1 or the value of the angle,  via bluetooth, sents into the Serial Port
50 distance= data.substring(index1+1,  data.length()); //reads the data from index() from first to last (distance)
51  //convert stings variables into integer
52 iAngle = int(angle);
53 iDistance =  int(distance);
54}
55
56void drawRadar() {
57 pushMatrix();
58 translate(420,420);  //moving the coordinats start
59 noFill();
60 strokeWeight(1);
61 stroke(255,245,255);
62  // draws the arc lines
63  arc(0,0,860,860,0,TWO_PI);
64 arc(0,0,720,720,0,TWO_PI);
65  arc(0,0,580,580,0,TWO_PI);
66 arc(0,0,440,440,0,TWO_PI);
67 arc(0,0,300,300,0,TWO_PI);
68  arc(0,0,160,160,0,TWO_PI);
69 arc(0,0,20,20,0,TWO_PI);
70//darw of angle lines
71  line(-width/2.0,0,width/2.0,0);
72 line(0,0,-width*cos(radians(30)),-width*sin(radians(30)));
73  line(0,0,-width*cos(radians(60)),-width*sin(radians(60)));
74 line(0,0,-width*cos(radians(90)),-width*sin(radians(90)));
75  line(0,0,-width*cos(radians(120)),-width*sin(radians(120)));
76 line(0,0,-width*cos(radians(150)),-width*sin(radians(150)));
77  line(0,0,-width*cos(radians(180)),-width*sin(radians(180)));
78 line(0,0,-width*cos(radians(210)),-width*sin(radians(210)));
79  line(0,0,-width*cos(radians(240)),-width*sin(radians(240)));
80 line(0,0,-width*cos(radians(270)),-width*sin(radians(270)));
81  line(0,0,-width*cos(radians(300)),-width*sin(radians(300)));
82 line(0,0,-width*cos(radians(330)),-width*sin(radians(330)));
83  line(0,0,-width*cos(radians(360)),-width*sin(radians(360)));
84 line(-width*cos(radians(30)),0,width/2.0,0);
85  popMatrix();
86}
87 //this function draws the detected object converting the distance  into pixels on screen according the angle
88void drawObject() {
89 pushMatrix();
90  translate(420,420);
91 strokeWeight(3);
92 stroke(255,10,10); 
93 pixsDistance  = iDistance*2; //converting distance from cm into pixels
94 //with (if) we define  the limit range to 2meter  (200cm) ! anyone can change the limits according to sensors  specifications and drwas the line converting distance into pixel
95 if(iDistance<200){
96   line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
97  }
98 popMatrix();
99}
100//this function draws the radar rotatable line
101void  drawLine() {
102 pushMatrix();
103 strokeWeight(6);
104 stroke(10,74,250);
105 translate(420,420);  
106 line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle))); 
107 popMatrix();
108}
109//function  drawing text on screen nad its values taking from sensors
110void drawText() {
111  
112 pushMatrix();
113 
114 fill(0,0,0);
115 noStroke();
116 rect(0, 1010, width,  600);
117 textSize(15);
118 fill(5,255,5);
119 
120 translate(640,294);
121 rotate(-radians(-5));
122  text("30°",0,0);
123 resetMatrix();
124 translate(548,200);
125 rotate(-radians(-5));
126  text("60°",0,0);
127 resetMatrix();
128 translate(420,160);
129 rotate(radians(0));
130  text("90°",0,0);
131 resetMatrix();
132 translate(292,199);
133 rotate(radians(-30));
134  text("120°",0,0);
135 resetMatrix();
136 translate(202,296);
137 rotate(radians(-60));
138  text("150°",0,0);
139 resetMatrix();
140 translate(166,422);
141 rotate(radians(-90));
142  text("180°",0,0);
143 resetMatrix();
144 translate(197,550);
145 rotate(radians(-110));
146  text("210°",0,0);
147 resetMatrix();
148 translate(292,641);
149 rotate(radians(360));
150  text("240°",0,0);
151 resetMatrix();
152 
153 translate(420,677);
154 rotate(radians(-360));
155  text("270°",0,0);
156 resetMatrix();
157 
158 translate(544,640);
159 rotate(radians(-380));
160  text("300°",0,0);
161 resetMatrix();
162 
163 translate(641,547);
164 rotate(radians(-5));
165  text("330°",0,0);
166 resetMatrix();
167 
168  translate(674,422);
169 rotate(radians(-360));
170  text("360°",0,0);
171 resetMatrix();
172 
173 translate(50,50);
174 rotate(radians(0));
175  textSize(17);
176 fill(255,103,1);
177 text("MicroLab Radar",0,0);
178 
179 resetMatrix();
180  
181 if(iDistance>200) {
182noObject = "Out of Range";
183}
184else {
185noObject  = "In Range";
186}
187fill(0,0,0);
188noStroke();
189rect(0, 1010, width, 1080);
190fill(26,230,32);
191
192textSize(20);
193text("Object:  " + noObject, 250, 50);
194text("Angle: " + iAngle +" °", 500, 50);
195text("Distance:  ", 650, 50);
196if(iDistance<200) {
197text(" " + iDistance +" cm", 750, 50);
198}
199  
200 popMatrix(); 
201 
202 
203
204 }