RADAR System Using Arduino

1// Includes the Servo library
2#include <Servo.h>. 
3// Defines Tirg  and Echo pins of the Ultrasonic Sensor
4const int trigPin = 2;
5const int echoPin  = 9;
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} 

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 (1200, 700); // ***CHANGE  THIS TO YOUR SCREEN RESOLUTION***
18 smooth();
19 myPort = new Serial(this,"COM8",  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  
24  fill(98,245,31);
25  // simulating  motion blur and slow fade of the moving line
26  noStroke();
27  fill(0,4); 
28  rect(0, 0, width, height-height*0.065); 
29  
30  fill(98,245,31); // green  color
31  // calls the functions for drawing the radar
32  drawRadar(); 
33  drawLine();
34  drawObject();
35  drawText();
36}
37void serialEvent (Serial myPort) { // starts  reading data from the Serial Port
38  // reads the data from the Serial Port up  to the character '.' and puts it into the String variable "data".
39  data =  myPort.readStringUntil('.');
40  data = data.substring(0,data.length()-1);
41  
42  index1 = data.indexOf(","); // find the character ',' and puts it into  the variable "index1"
43  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
44  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
45  
46  // converts the String variables into  Integer
47  iAngle = int(angle);
48  iDistance = int(distance);
49}
50void drawRadar()  {
51  pushMatrix();
52  translate(width/2,height-height*0.074); // moves the starting  coordinats to new location
53  noFill();
54  strokeWeight(2);
55  stroke(98,245,31);
56  // draws the arc lines
57  arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
58  arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
59  arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
60  arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
61  // draws the  angle lines
62  line(-width/2,0,width/2,0);
63  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
64  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
65  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
66  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
67  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
68  line((-width/2)*cos(radians(30)),0,width/2,0);
69  popMatrix();
70}
71void  drawObject() {
72  pushMatrix();
73  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
74  strokeWeight(9);
75  stroke(255,10,10);  // red color
76  pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers  the distance from the sensor from cm to pixels
77  // limiting the range to 40  cms
78  if(iDistance<40){
79    // draws the object according to the angle and  the distance
80  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
81  }
82  popMatrix();
83}
84void drawLine() {
85  pushMatrix();
86  strokeWeight(9);
87  stroke(30,250,60);
88  translate(width/2,height-height*0.074); // moves the starting  coordinats to new location
89  line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));  // draws the line according to the angle
90  popMatrix();
91}
92void drawText()  { // draws the texts on the screen
93  
94  pushMatrix();
95  if(iDistance>40)  {
96  noObject = "Out of Range";
97  }
98  else {
99  noObject = "In Range";
100  }
101  fill(0,0,0);
102  noStroke();
103  rect(0, height-height*0.0648, width,  height);
104  fill(98,245,31);
105  textSize(25);
106  
107  text("10cm",width-width*0.3854,height-height*0.0833);
108  text("20cm",width-width*0.281,height-height*0.0833);
109  text("30cm",width-width*0.177,height-height*0.0833);
110  text("40cm",width-width*0.0729,height-height*0.0833);
111  textSize(40);
112  text("Hashan Sudeera", width-width*0.875, height-height*0.0277);
113  text("Angle:  " + iAngle +" °", width-width*0.48, height-height*0.0277);
114  text("Distance:  ", width-width*0.26, height-height*0.0277);
115  if(iDistance<40) {
116  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
117  }
118  textSize(25);
119  fill(98,245,60);
120  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
121  rotate(-radians(-60));
122  text("30°",0,0);
123  resetMatrix();
124  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
125  rotate(-radians(-30));
126  text("60°",0,0);
127  resetMatrix();
128  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
129  rotate(radians(0));
130  text("90°",0,0);
131  resetMatrix();
132  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
133  rotate(radians(-30));
134  text("120°",0,0);
135  resetMatrix();
136  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
137  rotate(radians(-60));
138  text("150°",0,0);
139  popMatrix(); 
140}

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;
6Serial myPort; // defines Object Serial
7//
8  defubes variables
9String angle="";
10String distance="";
11String data="";
12String
13  noObject;
14float pixsDistance;
15int iAngle, iDistance;
16int index1=0;
17int
18  index2=0;
19PFont orcFont;
20void setup() {
21  
22 size (1200, 700); // ***CHANGE
23  THIS TO YOUR SCREEN RESOLUTION***
24 smooth();
25 myPort = new Serial(this,"COM8",
26  9600); // starts the serial communication
27 myPort.bufferUntil('.'); // reads
28  the data from the serial port up to the character '.'. So actually it reads this:
29  angle,distance.
30}
31void draw() {
32  
33  fill(98,245,31);
34  // simulating
35  motion blur and slow fade of the moving line
36  noStroke();
37  fill(0,4); 
38
39  rect(0, 0, width, height-height*0.065); 
40  
41  fill(98,245,31); // green
42  color
43  // calls the functions for drawing the radar
44  drawRadar(); 
45  drawLine();
46
47  drawObject();
48  drawText();
49}
50void serialEvent (Serial myPort) { // starts
51  reading data from the Serial Port
52  // reads the data from the Serial Port up
53  to the character '.' and puts it into the String variable "data".
54  data =
55  myPort.readStringUntil('.');
56  data = data.substring(0,data.length()-1);
57
58  
59  index1 = data.indexOf(","); // find the character ',' and puts it into
60  the variable "index1"
61  angle= data.substring(0, index1); // read the data
62  from position "0" to position of the variable index1 or thats the value of the
63  angle the Arduino Board sent into the Serial Port
64  distance= data.substring(index1+1,
65  data.length()); // read the data from position "index1" to the end of the data
66  pr thats the value of the distance
67  
68  // converts the String variables into
69  Integer
70  iAngle = int(angle);
71  iDistance = int(distance);
72}
73void drawRadar()
74  {
75  pushMatrix();
76  translate(width/2,height-height*0.074); // moves the starting
77  coordinats to new location
78  noFill();
79  strokeWeight(2);
80  stroke(98,245,31);
81
82  // draws the arc lines
83  arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
84
85  arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
86  arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
87
88  arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
89  // draws the
90  angle lines
91  line(-width/2,0,width/2,0);
92  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
93
94  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
95  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
96
97  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
98  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
99
100  line((-width/2)*cos(radians(30)),0,width/2,0);
101  popMatrix();
102}
103void
104  drawObject() {
105  pushMatrix();
106  translate(width/2,height-height*0.074); //
107  moves the starting coordinats to new location
108  strokeWeight(9);
109  stroke(255,10,10);
110  // red color
111  pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers
112  the distance from the sensor from cm to pixels
113  // limiting the range to 40
114  cms
115  if(iDistance<40){
116    // draws the object according to the angle and
117  the distance
118  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
119
120  }
121  popMatrix();
122}
123void drawLine() {
124  pushMatrix();
125  strokeWeight(9);
126
127  stroke(30,250,60);
128  translate(width/2,height-height*0.074); // moves the starting
129  coordinats to new location
130  line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));
131  // draws the line according to the angle
132  popMatrix();
133}
134void drawText()
135  { // draws the texts on the screen
136  
137  pushMatrix();
138  if(iDistance>40)
139  {
140  noObject = "Out of Range";
141  }
142  else {
143  noObject = "In Range";
144
145  }
146  fill(0,0,0);
147  noStroke();
148  rect(0, height-height*0.0648, width,
149  height);
150  fill(98,245,31);
151  textSize(25);
152  
153  text("10cm",width-width*0.3854,height-height*0.0833);
154
155  text("20cm",width-width*0.281,height-height*0.0833);
156  text("30cm",width-width*0.177,height-height*0.0833);
157
158  text("40cm",width-width*0.0729,height-height*0.0833);
159  textSize(40);
160
161  text("Hashan Sudeera", width-width*0.875, height-height*0.0277);
162  text("Angle:
163  " + iAngle +" °", width-width*0.48, height-height*0.0277);
164  text("Distance:
165  ", width-width*0.26, height-height*0.0277);
166  if(iDistance<40) {
167  text("
168        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
169  }
170
171  textSize(25);
172  fill(98,245,60);
173  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
174
175  rotate(-radians(-60));
176  text("30°",0,0);
177  resetMatrix();
178  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
179
180  rotate(-radians(-30));
181  text("60°",0,0);
182  resetMatrix();
183  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
184
185  rotate(radians(0));
186  text("90°",0,0);
187  resetMatrix();
188  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
189
190  rotate(radians(-30));
191  text("120°",0,0);
192  resetMatrix();
193  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
194
195  rotate(radians(-60));
196  text("150°",0,0);
197  popMatrix(); 
198}