Rotating UltraSonic Obstacle Sensor

1import processing.serial.*; // imports library for serial communication
2import
3  java.awt.event.KeyEvent; // imports library for reading the data from the serial
4  port
5import java.io.IOException;
6
7Serial myPort; // defines Object Serial
8//
9  defubes variables
10String angle="";
11String distance="";
12String data="";
13String
14  noObject;
15float pixsDistance;
16int iAngle, iDistance;
17int index1=0;
18int
19  index2=0;
20PFont orcFont;
21
22void setup() {
23  
24 size (2560, 1600);
25
26  smooth();
27 myPort = new Serial(this,"/dev/cu.usbmodem143201", 9600); // starts
28  the serial communication
29 myPort.bufferUntil('.'); // reads the data from the
30  serial port up to the character '.'. So actually it reads this: angle,distance.
31
32  orcFont = loadFont("OCRAExtended-30.vlw");
33}
34
35void draw() {
36  
37
38  fill(98,245,31);
39  textFont(orcFont);
40  // simulating motion blur and slow
41  fade of the moving line
42  noStroke();
43  fill(0,4); 
44  rect(0, 0, width,
45  1010); 
46  
47  fill(98,245,31); // green color
48  // calls the functions for
49  drawing the radar
50  drawRadar(); 
51  drawLine();
52  drawObject();
53  drawText();
54}
55
56void
57  serialEvent (Serial myPort) { // starts reading data from the Serial Port
58  //
59  reads the data from the Serial Port up to the character '.' and puts it into the
60  String variable "data".
61  data = myPort.readStringUntil('.');
62  data = data.substring(0,data.length()-1);
63
64  
65  index1 = data.indexOf(","); // find the character ',' and puts it into
66  the variable "index1"
67  angle= data.substring(0, index1); // read the data
68  from position "0" to position of the variable index1 or thats the value of the
69  angle the Arduino Board sent into the Serial Port
70  distance= data.substring(index1+1,
71  data.length()); // read the data from position "index1" to the end of the data
72  pr thats the value of the distance
73  
74  // converts the String variables into
75  Integer
76  iAngle = int(angle);
77  iDistance = int(distance);
78}
79
80void
81  drawRadar() {
82  pushMatrix();
83  translate(960,1000); // moves the starting
84  coordinats to new location
85  noFill();
86  strokeWeight(2);
87  stroke(98,245,31);
88
89  // draws the arc lines
90  arc(0,0,1800,1800,PI,TWO_PI);
91  arc(0,0,1400,1400,PI,TWO_PI);
92
93  arc(0,0,1000,1000,PI,TWO_PI);
94  arc(0,0,600,600,PI,TWO_PI);
95  // draws the
96  angle lines
97  line(-960,0,960,0);
98  line(0,0,-960*cos(radians(30)),-960*sin(radians(30)));
99
100  line(0,0,-960*cos(radians(60)),-960*sin(radians(60)));
101  line(0,0,-960*cos(radians(90)),-960*sin(radians(90)));
102
103  line(0,0,-960*cos(radians(120)),-960*sin(radians(120)));
104  line(0,0,-960*cos(radians(150)),-960*sin(radians(150)));
105
106  line(-960*cos(radians(30)),0,960,0);
107  popMatrix();
108}
109
110void drawObject()
111  {
112  pushMatrix();
113  translate(960,1000); // moves the starting coordinats
114  to new location
115  strokeWeight(9);
116  stroke(255,10,10); // red color
117  pixsDistance
118  = iDistance*22.5; // covers the distance from the sensor from cm to pixels
119  //
120  limiting the range to 40 cms
121  if(iDistance<40){
122    // draws the object according
123  to the angle and the distance
124  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
125
126  }
127  popMatrix();
128}
129
130void drawLine() {
131  pushMatrix();
132  strokeWeight(9);
133
134  stroke(30,250,60);
135  translate(960,1000); // moves the starting coordinats
136  to new location
137  line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
138  // draws the line according to the angle
139  popMatrix();
140}
141
142void drawText()
143  { // draws the texts on the screen
144  
145  pushMatrix();
146  if(iDistance>40)
147  {
148  noObject = "Out of Range";
149  }
150  else {
151  noObject = "In Range";
152
153  }
154  fill(0,0,0);
155  noStroke();
156  rect(0, 1010, width, 1080);
157  fill(98,245,31);
158
159  textSize(25);
160  text("10cm",1180,990);
161  text("20cm",1380,990);
162
163  text("30cm",1580,990);
164  text("40cm",1780,990);
165  textSize(40);
166
167  text("Object: " + noObject, 240, 1050);
168  text("Angle: " + iAngle +" ",
169  1050, 1050);
170  text("Distance: ", 1380, 1050);
171  if(iDistance<40) {
172
173  text("        " + iDistance +" cm", 1400, 1050);
174  }
175  textSize(25);
176
177  fill(98,245,60);
178  translate(961+960*cos(radians(30)),982-960*sin(radians(30)));
179
180  rotate(-radians(-60));
181  text("30",0,0);
182  resetMatrix();
183  translate(954+960*cos(radians(60)),984-960*sin(radians(60)));
184
185  rotate(-radians(-30));
186  text("60",0,0);
187  resetMatrix();
188  translate(945+960*cos(radians(90)),990-960*sin(radians(90)));
189
190  rotate(radians(0));
191  text("90",0,0);
192  resetMatrix();
193  translate(935+960*cos(radians(120)),1003-960*sin(radians(120)));
194
195  rotate(radians(-30));
196  text("120",0,0);
197  resetMatrix();
198  translate(940+960*cos(radians(150)),1018-960*sin(radians(150)));
199
200  rotate(radians(-60));
201  text("150",0,0);
202  popMatrix(); 
203}
204

1// Includes the Servo library
2#include <Servo.h>. 
3
4// Defines  Tirg and Echo pins of the Ultrasonic Sensor
5const int trigPin = 10;
6const  int echoPin = 11;
7// Variables for the duration and the distance
8long duration;
9int  distance;
10
11Servo myServo; // Creates a servo object for controlling the servo  motor
12
13void setup() {
14  pinMode(trigPin, OUTPUT); // Sets the trigPin as  an Output
15  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
16  Serial.begin(9600);
17  myServo.attach(12); // Defines on which pin is the servo motor attached
18}
19void  loop() {
20  // rotates the servo motor from 15 to 165 degrees
21  for(int i=15;i<=165;i++){  
22  myServo.write(i);
23  delay(30);
24  distance = calculateDistance();//  Calls a function for calculating the distance measured by the Ultrasonic sensor  for each degree
25  
26  Serial.print(i); // Sends the current degree into the  Serial Port
27  Serial.print(","); // Sends addition character right next to  the previous value needed later in the Processing IDE for indexing
28  Serial.print(distance);  // Sends the distance value into the Serial Port
29  Serial.print("."); // Sends  addition character right next to the previous value needed later in the Processing  IDE for indexing
30  }
31  // Repeats the previous lines from 165 to 15 degrees
32  for(int i=165;i>15;i--){  
33  myServo.write(i);
34  delay(30);
35  distance  = calculateDistance();
36  Serial.print(i);
37  Serial.print(",");
38  Serial.print(distance);
39  Serial.print(".");
40  }
41}
42// Function for calculating the distance measured  by the Ultrasonic sensor
43int calculateDistance(){ 
44  
45  digitalWrite(trigPin,  LOW); 
46  delayMicroseconds(2);
47  // Sets the trigPin on HIGH state for 10  micro seconds
48  digitalWrite(trigPin, HIGH); 
49  delayMicroseconds(10);
50  digitalWrite(trigPin, LOW);
51  duration = pulseIn(echoPin, HIGH); // Reads the  echoPin, returns the sound wave travel time in microseconds
52  distance= duration*0.034/2;
53  return distance;
54}
55

1import processing.serial.*; // imports library for serial communication
2import  java.awt.event.KeyEvent; // imports library for reading the data from the serial  port
3import java.io.IOException;
4
5Serial myPort; // defines Object Serial
6//  defubes variables
7String angle="";
8String distance="";
9String data="";
10String  noObject;
11float pixsDistance;
12int iAngle, iDistance;
13int index1=0;
14int  index2=0;
15PFont orcFont;
16
17void setup() {
18  
19 size (2560, 1600);
20  smooth();
21 myPort = new Serial(this,"/dev/cu.usbmodem143201", 9600); // starts  the serial communication
22 myPort.bufferUntil('.'); // reads the data from the  serial port up to the character '.'. So actually it reads this: angle,distance.
23  orcFont = loadFont("OCRAExtended-30.vlw");
24}
25
26void draw() {
27  
28  fill(98,245,31);
29  textFont(orcFont);
30  // simulating motion blur and slow  fade of the moving line
31  noStroke();
32  fill(0,4); 
33  rect(0, 0, width,  1010); 
34  
35  fill(98,245,31); // green color
36  // calls the functions for  drawing the radar
37  drawRadar(); 
38  drawLine();
39  drawObject();
40  drawText();
41}
42
43void  serialEvent (Serial myPort) { // starts reading data from the Serial Port
44  //  reads the data from the Serial Port up to the character '.' and puts it into the  String variable "data".
45  data = myPort.readStringUntil('.');
46  data = data.substring(0,data.length()-1);
47  
48  index1 = data.indexOf(","); // find the character ',' and puts it into  the variable "index1"
49  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
50  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
51  
52  // converts the String variables into  Integer
53  iAngle = int(angle);
54  iDistance = int(distance);
55}
56
57void  drawRadar() {
58  pushMatrix();
59  translate(960,1000); // moves the starting  coordinats to new location
60  noFill();
61  strokeWeight(2);
62  stroke(98,245,31);
63  // draws the arc lines
64  arc(0,0,1800,1800,PI,TWO_PI);
65  arc(0,0,1400,1400,PI,TWO_PI);
66  arc(0,0,1000,1000,PI,TWO_PI);
67  arc(0,0,600,600,PI,TWO_PI);
68  // draws the  angle lines
69  line(-960,0,960,0);
70  line(0,0,-960*cos(radians(30)),-960*sin(radians(30)));
71  line(0,0,-960*cos(radians(60)),-960*sin(radians(60)));
72  line(0,0,-960*cos(radians(90)),-960*sin(radians(90)));
73  line(0,0,-960*cos(radians(120)),-960*sin(radians(120)));
74  line(0,0,-960*cos(radians(150)),-960*sin(radians(150)));
75  line(-960*cos(radians(30)),0,960,0);
76  popMatrix();
77}
78
79void drawObject()  {
80  pushMatrix();
81  translate(960,1000); // moves the starting coordinats  to new location
82  strokeWeight(9);
83  stroke(255,10,10); // red color
84  pixsDistance  = iDistance*22.5; // covers the distance from the sensor from cm to pixels
85  //  limiting the range to 40 cms
86  if(iDistance<40){
87    // draws the object according  to the angle and the distance
88  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
89  }
90  popMatrix();
91}
92
93void drawLine() {
94  pushMatrix();
95  strokeWeight(9);
96  stroke(30,250,60);
97  translate(960,1000); // moves the starting coordinats  to new location
98  line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle)));  // draws the line according to the angle
99  popMatrix();
100}
101
102void drawText()  { // draws the texts on the screen
103  
104  pushMatrix();
105  if(iDistance>40)  {
106  noObject = "Out of Range";
107  }
108  else {
109  noObject = "In Range";
110  }
111  fill(0,0,0);
112  noStroke();
113  rect(0, 1010, width, 1080);
114  fill(98,245,31);
115  textSize(25);
116  text("10cm",1180,990);
117  text("20cm",1380,990);
118  text("30cm",1580,990);
119  text("40cm",1780,990);
120  textSize(40);
121  text("Object: " + noObject, 240, 1050);
122  text("Angle: " + iAngle +" ",  1050, 1050);
123  text("Distance: ", 1380, 1050);
124  if(iDistance<40) {
125  text("        " + iDistance +" cm", 1400, 1050);
126  }
127  textSize(25);
128  fill(98,245,60);
129  translate(961+960*cos(radians(30)),982-960*sin(radians(30)));
130  rotate(-radians(-60));
131  text("30",0,0);
132  resetMatrix();
133  translate(954+960*cos(radians(60)),984-960*sin(radians(60)));
134  rotate(-radians(-30));
135  text("60",0,0);
136  resetMatrix();
137  translate(945+960*cos(radians(90)),990-960*sin(radians(90)));
138  rotate(radians(0));
139  text("90",0,0);
140  resetMatrix();
141  translate(935+960*cos(radians(120)),1003-960*sin(radians(120)));
142  rotate(radians(-30));
143  text("120",0,0);
144  resetMatrix();
145  translate(940+960*cos(radians(150)),1018-960*sin(radians(150)));
146  rotate(radians(-60));
147  text("150",0,0);
148  popMatrix(); 
149}
150