Remote Controlled Radar System

1#include <IRremote.hpp>
2
3#include <SR04.h>
4#include <Servo.h>
5#define TRIG_PIN 4
6#define ECHO_PIN 3
7
8SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);
9Servo myservo;  // create servo object to control a servo
10
11int receiver = 11;
12int delayTime = 15;
13int RED_LED_PIN = 8;
14int YELLOW_LED_PIN = 6;
15int GREEN_LED_PIN = 12;
16int duration;
17int buzzer = 13;
18int sound_duration = 1000;
19IRrecv irrecv(receiver);    // create instance of 'irrecv'
20uint32_t last_decodedRawData = 0;//vairable uses to store the last decodedRawData
21
22long distance;
23int pos = 0;    // variable to store the servo position
24
25bool automatic_mode = true;
26
27
28int calculateDistance(){
29  int res = 0; 
30  digitalWrite(TRIG_PIN,  LOW); 
31  delayMicroseconds(2);
32  digitalWrite(TRIG_PIN, HIGH); 
33  delayMicroseconds(10);
34  digitalWrite(TRIG_PIN, LOW);
35  duration = pulseIn(ECHO_PIN, HIGH); // reads echoPin and returns the sound wave travel time (ms)
36  res = duration * 0.034 / 2;
37  return res;
38}
39
40void checkIfEnteringAnObject(){
41  distance = calculateDistance();
42
43
44  // Green LED on when distance >= 40
45  if (distance >= 40) {
46
47    digitalWrite(GREEN_LED_PIN, HIGH);
48    digitalWrite(YELLOW_LED_PIN, LOW);
49    digitalWrite(RED_LED_PIN, LOW);
50    digitalWrite(buzzer, LOW);
51    // delay(sound_duration);//wait for sound_duration ms
52  }
53  
54  // Yellow LED on when 20 <= distance < 40
55  else if (distance < 40 && distance >= 20){
56    digitalWrite(GREEN_LED_PIN, LOW);
57    digitalWrite(YELLOW_LED_PIN, HIGH);
58    digitalWrite(RED_LED_PIN, LOW);
59    digitalWrite(buzzer, LOW);
60    // delay(sound_duration);//wait for sound_duration ms
61  }
62
63  // Red LED on when distance < 20
64  else if(distance >= 1 && distance < 20) {
65    
66    digitalWrite(GREEN_LED_PIN, LOW);
67    digitalWrite(YELLOW_LED_PIN, LOW);
68    digitalWrite(RED_LED_PIN, HIGH);
69    digitalWrite(buzzer, HIGH);
70    // delay(sound_duration);
71  }
72
73}
74
75
76void setup()
77{
78  myservo.attach(9);
79  automatic_mode = true;
80  pinMode(RED_LED_PIN, OUTPUT);
81  pinMode(YELLOW_LED_PIN, OUTPUT);
82  pinMode(GREEN_LED_PIN, OUTPUT);
83  irrecv.enableIRIn(); 
84
85  pinMode(buzzer, OUTPUT); //initialize the buzzer pin as an output
86
87  digitalWrite(GREEN_LED_PIN, LOW);
88  digitalWrite(YELLOW_LED_PIN, LOW);
89  digitalWrite(RED_LED_PIN, LOW);
90
91  Serial.begin(9600);
92
93
94  // digitalWrite(RED_LED_PIN, HIGH);
95
96  // myservo.writeMicroseconds(delayTime00);
97  
98  // digitalWrite(YELLOW_LED_PIN, HIGH);
99  // digitalWrite(GREEN_LED_PIN, HIGH);
100
101  delay(1000);
102}
103
104void loop() {
105
106  // perform rotation based on remote buttons
107  if (irrecv.decode()) // have we received an IR signal?
108  { 
109    // Check if it is a repeat IR code
110    if (irrecv.decodedIRData.flags)
111    {
112      //set the current decodedRawData to the last decodedRawData
113      irrecv.decodedIRData.decodedRawData = last_decodedRawData;
114    }
115
116    
117      switch (irrecv.decodedIRData.decodedRawData)
118      {
119        
120        case 0xE916FF00: // "0" button is pressed -> Turn off the automatic mode
121          // Serial.println("I run");
122          automatic_mode = false;
123          pos = 0;
124          myservo.write(pos);
125          // checkIfEnteringAnObject();
126          delay(delayTime);
127          break;
128        
129        case 0xF30CFF00: // "1" button is pressed -> Turn on the automatic mode
130          automatic_mode = true;
131          break;
132          
133        case 0xB946FF00: // VOL+ button pressed -> Rotate the servo by 5 clockwise
134          pos += 5;
135          if(pos >= 180) pos = 180;
136          myservo.write(pos);
137          // checkIfEnteringAnObject();
138          delay(delayTime);
139          break;
140        case 0xEA15FF00: // VOL- button pressed -> -> Rotate the servo by 5 counterclockwise
141          pos -= 5;
142          if(pos <= 0) pos = 0;
143          myservo.write(pos);
144          // checkIfEnteringAnObject();
145          delay(delayTime);
146          break;
147
148        case 0xE718FF00: // "2" button is pressed -> Rotate the servo to 0 degree position
149          pos = 0;
150
151          myservo.write(pos);
152          // checkIfEnteringAnObject();
153          delay(delayTime);
154          break;
155        case 0xA55AFF00: // "6" button is pressed -> Rotate the servo to 45 degree position
156          pos = 45;
157          myservo.write(pos);
158          // checkIfEnteringAnObject();
159          delay(delayTime);
160          break;
161
162        case 0xAD52FF00: // "68 button is pressed -> Rotate the servo to 90 degree position
163          pos = 90;
164          myservo.write(pos);
165          // checkIfEnteringAnObject();
166          delay(delayTime);
167          break;
168        case 0xF708FF00: // "4" button is pressed -> Rotate the servo to 135 degree position
169          pos = 135;
170          myservo.write(pos);
171          // checkIfEnteringAnObject();
172          delay(delayTime);
173          break;
174        
175        case 0xE31CFF00:
176          pos = 180;
177          myservo.write(pos);
178          // checkIfEnteringAnObject();
179          delay(delayTime);
180          break;
181      
182      
183
184        default: break;
185        
186        
187
188      }
189    
190    
191    //store the last decodedRawData
192    last_decodedRawData = irrecv.decodedIRData.decodedRawData;
193    irrecv.resume(); // receive the next value
194  }
195
196
197  // perform automatic rotation
198  if (automatic_mode == true) {
199    pos = 0;
200    for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
201      // in steps of 1 degree
202      
203      myservo.write(pos);               // tell servo to go to position in variable 'pos'
204      checkIfEnteringAnObject();              
205      delay(delayTime);                       // waits delayTimems for the servo to reach the position
206      Serial.print(pos);
207      Serial.print(",");
208      Serial.print(distance);
209      Serial.print(".");
210    }
211    for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
212      myservo.write(pos);              // tell servo to go to position in variable 'pos'
213      checkIfEnteringAnObject();
214      delay(delayTime);                       // waits delayTimems for the servo to reach the position
215      Serial.print(pos);
216      Serial.print(",");
217      Serial.print(distance);
218      Serial.print(".");
219    }
220
221    
222  }else{
223    checkIfEnteringAnObject();
224    Serial.print(pos);
225    Serial.print(",");
226    Serial.print(distance);
227    Serial.print(".");
228  }
229
230  
231  
232  // delay(1000);
233  
234}

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;
4Serial myPort; // defines Object Serial
5// defubes variables
6String angle="";
7String distance="";
8String data="";
9String noObject;
10float pixsDistance;
11int iAngle, iDistance;
12int index1=0;
13int index2=0;
14PFont orcFont;
15void setup() {
16
17  size (1500, 900); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
18  smooth();
19  myPort = new Serial(this, "COM5", 9600); // starts the serial communication
20  myPort.bufferUntil('.'); // reads the data from the serial port up to the character '.'. So actually it reads this: angle,distance.
21}
22void draw() {;
23  fill(98, 245, 31);
24  // simulating motion blur and slow fade of the moving line
25  noStroke();
26  fill(0, 4); 
27  rect(0, 0, width, height-height*0.065); 
28
29  fill(98, 245, 31); // green color
30  // calls the functions for drawing the radar
31  drawRadar(); 
32  drawLine();
33  drawObject();
34  drawText();
35}
36void serialEvent (Serial myPort) { // starts reading data from the Serial Port
37  // reads the data from the Serial Port up to the character '.' and puts it into the String variable "data".
38  data = myPort.readStringUntil('.');
39  data = data.substring(0, data.length()-1);
40
41  index1 = data.indexOf(","); // find the character ',' and puts it into the variable "index1"
42  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
43  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
44
45  // converts the String variables into Integer
46  iAngle = int(angle);
47  iDistance = int(distance);
48}
49void drawRadar() {
50  pushMatrix();
51  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
52  noFill();
53  strokeWeight(2);
54  stroke(98, 245, 31);
55  // draws the arc lines
56  arc(0, 0, (width-width*0.0625), (width-width*0.0625), PI, TWO_PI);
57  arc(0, 0, (width-width*0.27), (width-width*0.27), PI, TWO_PI);
58  arc(0, 0, (width-width*0.479), (width-width*0.479), PI, TWO_PI);
59  arc(0, 0, (width-width*0.687), (width-width*0.687), PI, TWO_PI);
60  // draws the angle lines
61  line(-width/2, 0, width/2, 0);
62  line(0, 0, (-width/2)*cos(radians(30)), (-width/2)*sin(radians(30)));
63  line(0, 0, (-width/2)*cos(radians(60)), (-width/2)*sin(radians(60)));
64  line(0, 0, (-width/2)*cos(radians(90)), (-width/2)*sin(radians(90)));
65  line(0, 0, (-width/2)*cos(radians(120)), (-width/2)*sin(radians(120)));
66  line(0, 0, (-width/2)*cos(radians(150)), (-width/2)*sin(radians(150)));
67  line((-width/2)*cos(radians(30)), 0, width/2, 0);
68  popMatrix();
69}
70void drawObject() {
71  pushMatrix();
72  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
73  strokeWeight(9);
74  stroke(255, 10, 10); // red color
75  pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the sensor from cm to pixels
76  // limiting the range to 40 cms
77  if (iDistance<40) {
78    // draws the object according to the angle and the distance
79    line(pixsDistance*cos(radians(iAngle)), -pixsDistance*sin(radians(iAngle)), (width-width*0.505)*cos(radians(iAngle)), -(width-width*0.505)*sin(radians(iAngle)));
80  }
81  popMatrix();
82}
83void drawLine() {
84  pushMatrix();
85  strokeWeight(9);
86  stroke(30, 250, 60);
87  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
88  line(0, 0, (height-height*0.12)*cos(radians(iAngle)), -(height-height*0.12)*sin(radians(iAngle))); // draws the line according to the angle
89  popMatrix();
90}
91void drawText() { // draws the texts on the screen
92
93  pushMatrix();
94  if (iDistance>40) {
95    noObject = "Out of Range";
96  } else {
97    noObject = "In Range";
98  }
99  fill(0, 0, 0);
100  noStroke();
101  rect(0, height-height*0.0648, width, height);
102  fill(98, 245, 31);
103  textSize(25);
104
105  text("10cm", width-width*0.3854, height-height*0.0833);
106  text("20cm", width-width*0.281, height-height*0.0833);
107  text("30cm", width-width*0.177, height-height*0.0833);
108  text("40cm", width-width*0.0729, height-height*0.0833);
109  textSize(40);
110  //text("N_Tech ", width-width*0.875, height-height*0.0277);
111  text("Angle: " + iAngle +" ", width-width*0.875, height-height*0.0277);
112  text("Distance: ", width-width*0.26, height-height*0.0277);
113  if (iDistance<40) {
114    text("                  " + iDistance +" cm", width-width*0.225, height-height*0.0277);
115  }
116  textSize(25);
117  fill(98, 245, 60);
118  translate((width-width*0.4994)+width/2*cos(radians(30)), (height-height*0.0907)-width/2*sin(radians(30)));
119  rotate(-radians(-60));
120  text("30", 0, 0);
121  resetMatrix();
122  translate((width-width*0.503)+width/2*cos(radians(60)), (height-height*0.0888)-width/2*sin(radians(60)));
123  rotate(-radians(-30));
124  text("60", 0, 0);
125  resetMatrix();
126  translate((width-width*0.507)+width/2*cos(radians(90)), (height-height*0.0833)-width/2*sin(radians(90)));
127  rotate(radians(0));
128  text("90", 0, 0);
129  resetMatrix();
130  translate(width-width*0.513+width/2*cos(radians(120)), (height-height*0.07129)-width/2*sin(radians(120)));
131  rotate(radians(-30));
132  text("120", 0, 0);
133  resetMatrix();
134  translate((width-width*0.5104)+width/2*cos(radians(150)), (height-height*0.0574)-width/2*sin(radians(150)));
135  rotate(radians(-60));
136  text("150", 0, 0);
137  popMatrix();
138}