Radar System

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}