Arduino Radar with Led diode and encoding data onto an image

Practical development of the radar system for detection of objects at short distances and encoding data onto an image using QuickStego tool.

May 14, 2022

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radar

encoding

arduino mega 2560

Devices & Components

Arduino Mega 2560 Rev3

USB-A to B Cable

SG90 Micro-servo motor

Ultrasonic Sensor - HC-SR04 (Generic)

LED (generic)

Holder for Ultrasonic Sensor HC-SR04

Perma-Proto Breadboard Half Size

Software & Tools

QuickStego tool

Processing

Arduino IDE

Project description

Code

Arduino IDE code

c_cpp

Copy and paste the code in Arduino IDE.

1// Includes the Servo library
2#include <Servo.h>. 
3
4// Defines  Tirg and Echo pins of the Ultrasonic Sensor and pin of LED
5const int trigPin  = 10;
6const int echoPin = 11;
7const int LED = 13;
8// Variables for the  duration and the distance
9long duration;
10int distance;
11
12Servo myServo;  // Creates a servo object for controlling the servo motor
13
14void setup() {
15  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
16  pinMode(echoPin,  INPUT); // Sets the echoPin as an Input
17  pinMode(13, OUTPUT); // Sets the LED  as an Input
18  Serial.begin(115200);
19  myServo.attach(12); // Defines on which  pin is the servo motor attached
20}
21void loop() {
22  // rotates the servo  motor from 15 to 165 degrees
23  for(int i=15;i<=165;i++){  
24  myServo.write(i);
25  delay(30);
26  distance = calculateDistance();// Calls a function for calculating  the distance measured by the Ultrasonic sensor for each degree
27  
28  Serial.print(i);  // Sends the current degree 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  Serial.print(distance); // Sends the distance value into the  Serial Port
31  Serial.print("."); // Sends addition character right next to  the previous value needed later in the Processing IDE for indexing
32  }
33  //  Repeats the previous lines from 165 to 15 degrees
34  for(int i=165;i>15;i--){  
35  myServo.write(i);
36  delay(30);
37  distance = calculateDistance();
38  Serial.print(i);
39  Serial.print(",");
40  Serial.print(distance);
41  Serial.print(".");
42  }
43}
44// Function for calculating the distance measured by the Ultrasonic  sensor
45int calculateDistance(){ 
46  
47  digitalWrite(trigPin, LOW); 
48  delayMicroseconds(2);
49  // Sets the trigPin on HIGH state for 10 micro seconds
50  digitalWrite(trigPin, HIGH); 
51  delayMicroseconds(10);
52  digitalWrite(trigPin,  LOW);
53  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the  sound wave travel time in microseconds
54  distance= duration*0.034/2;
55   if  (distance < 40)
56    {
57      digitalWrite(13, HIGH);
58      delay(10); 
59    }
60    else
61    {
62      digitalWrite(13, LOW);
63      delay(10);
64    }
65    return distance;
66}
67

// Includes the Servo library
#include <Servo.h>. 

// Defines  Tirg and Echo pins of the Ultrasonic Sensor and pin of LED
const int trigPin  = 10;
const int echoPin = 11;
const int LED = 13;
// Variables for the  duration and the distance
long duration;
int distance;

Servo myServo;  // Creates a servo object for controlling the servo motor

void setup() {
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin,  INPUT); // Sets the echoPin as an Input
  pinMode(13, OUTPUT); // Sets the LED  as an Input
  Serial.begin(115200);
  myServo.attach(12); // Defines on which  pin is the servo motor attached
}
void loop() {
  // rotates the servo  motor from 15 to 165 degrees
  for(int i=15;i<=165;i++){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();// Calls a function for calculating  the distance measured by the Ultrasonic sensor for each degree
  
  Serial.print(i);  // Sends the current degree into the Serial Port
  Serial.print(","); // Sends  addition character right next to the previous value needed later in the Processing  IDE for indexing
  Serial.print(distance); // Sends the distance value into the  Serial Port
  Serial.print("."); // Sends addition character right next to  the previous value needed later in the Processing IDE for indexing
  }
  //  Repeats the previous lines from 165 to 15 degrees
  for(int i=165;i>15;i--){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();
  Serial.print(i);
  Serial.print(",");
  Serial.print(distance);
  Serial.print(".");
  }
}
// Function for calculating the distance measured by the Ultrasonic  sensor
int calculateDistance(){ 
  
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin,  LOW);
  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the  sound wave travel time in microseconds
  distance= duration*0.034/2;
   if  (distance < 40)
    {
      digitalWrite(13, HIGH);
      delay(10); 
    }
    else
    {
      digitalWrite(13, LOW);
      delay(10);
    }
    return distance;
}

Processing PDE code

c_cpp

Copy and paste the code in Processing PDE.

1/*   Arduino Radar Project
2 *
3 *   Updated version. Fits any screen   resolution!
4 *   Just change the values in the size() function,
5 *   with   your screen resolution.
6 *      
7 *  by Dejan Nedelkovski, updated by Rexhep   Mustafovski
8 *  
9 */
10import processing.serial.*; // imports library for   serial communication
11import java.awt.event.KeyEvent; // imports library for reading   the data from the serial port
12import java.io.IOException;
13Serial myPort; //   defines Object Serial
14// defubes variables
15String angle="";
16String distance="";
17String   data="";
18String noObject;
19float pixsDistance;
20float Razmer;  // dodadeno
21int   iAngle, iDistance;
22int index1=0;
23int index2=0;
24int pravec=1;
25PFont orcFont;
26void   setup() {
27  
28 //size (1200, 950); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
29   
30 fullScreen();   //   *********************  Size e zameneto s fullScreen    taka   da avtomatski ke se zadadat height i with
31 
32 Razmer = (height-height*0.21)*0.025;   // cm pretvarame vo pikseli so formulata:  x*Razmer = x * ((height-height*0.25)*0.025);        Dolzina[vo cm] * (RabotnaVisinaEkranVoPixeli * 1/40)   max=40cm
33 
34   smooth();
35 myPort = new Serial(this,"COM3", 115200); // starts the serial communication
36   myPort.bufferUntil('.'); // reads the data from the serial port up to the character   '.'. So actually it reads this: angle,distance.
37 orcFont = loadFont("OCRAExtended-30.vlw");
38   
39 //************************************************************ dopolna
40   //iAngle = 0;         
41 //iDistance = 25;
42 //frameRate(100);
43 
44 //************************************************************
45   
46  
47}
48void draw() {
49  
50  fill(98,245,31);
51  textFont(orcFont);
52   // simulating motion blur and slow fade of the moving line
53  noStroke();
54   fill(0,5); 
55  rect(0, 0, width, height-height*0.065); 
56  
57  fill(98,245,31);   // green color
58  // calls the functions for drawing the radar
59  drawRadar();   
60  drawLine();
61  drawObject();
62  drawText();
63  
64  //************************************************************   dopolna za Avtomatski test na iscrtuvanjeto
65 
66 //iAngle = iAngle+pravec;
67   // if (iAngle==0) {
68 //  pravec=pravec*(-1);
69 //   }
70 //  else if (iAngle==180)
71   //  {
72 //  pravec=pravec*(-1);
73 //  }
74
75  //************************************************************
76}
77void   serialEvent (Serial myPort) { // starts reading data from the Serial Port
78  //   reads the data from the Serial Port up to the character '.' and puts it into the   String variable "data".
79  data = myPort.readStringUntil('.');
80  data = data.substring(0,data.length()-1);
81   
82  index1 = data.indexOf(","); // find the character ',' and puts it into   the variable "index1"
83  
84  // 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
85  //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
86  
87  angle= trim(data.substring(0, index1));                      // dodadena funkcija trim za da gi otvrli praznite mesta
88   distance= trim(data.substring(index1+1, data.length()));    // dodadena funkcija   trim za da gi otvrli praznite mesta
89  
90    
91  // converts the String variables   into Integer
92  iAngle = int(angle);
93  iDistance = int(distance);
94}
95void   drawRadar() {
96  pushMatrix();
97  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
98  noFill();
99  strokeWeight(2);
100   stroke(98,245,31);
101  // draws the arc lines
102 
103  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);      //      Moi novi formuli  so krugovi na 10, 20, 30 i 40 cm
104  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
105   arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
106  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
107   
108  //arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
109  //arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);             //  Originalni formuli
110  //arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
111   //arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
112  
113  // draws   the angle lines
114  line(-width/2,0,width/2,0);
115  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
116   line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
117  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
118   line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
119  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
120   line((-width/2)*cos(radians(30)),0,width/2,0);
121  popMatrix();
122}
123void   drawObject() {
124  pushMatrix();
125  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
126  strokeWeight(9);
127  stroke(255,10,10);   // red color
128 
129  pixsDistance = iDistance*Razmer; // converts the distance   from the sensor from cm to pixels 
130  // limiting the range to 40 cms
131  if(iDistance<40){
132     // draws the object according to the angle and the distance
133
134  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // Popravena linija so novi krajni koordinati
135//  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(iDistance+2)*Razmer*cos(radians(iAngle)),-(iDistance+2)*Razmer*sin(radians(iAngle)));   // Objekt so golemina od 1 cm
136  }
137  popMatrix();
138}
139void drawLine()   {
140  pushMatrix();
141  strokeWeight(9);
142  stroke(30,250,60);
143  translate(width/2,height-height*0.074);   // moves the starting coordinats to new location
144  // line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));   // draws the line according to the angle    
145  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // Nova popravena linija za krajnite koordinati
146  popMatrix();
147}
148void drawText()   { // draws the texts on the screen
149  
150  pushMatrix();
151  if(iDistance>40)   {
152  noObject = "Out of Range";
153  }
154  else {
155  noObject = "In Range";
156   }
157  fill(0,0,0);
158  noStroke();
159  rect(0, height-height*0.0648, width,   height);
160  fill(98,245,31);
161  textSize(25);
162  
163 
164  //text("10cm",width-width*0.41,height-height*0.0833);
165   //text("20cm",width-width*0.3,height-height*0.0833);
166  //text("30cm",width-width*0.18,height-height*0.0833);
167   //text("40cm",width-width*0.06,height-height*0.0833);
168  
169  text("10cm",width/2+7*Razmer,height-height*0.0833);
170   text("20cm",width/2+17*Razmer,height-height*0.0833);
171  text("30cm",width/2+27*Razmer,height-height*0.0833);
172   text("40cm",width/2+37*Razmer,height-height*0.0833);
173  
174  textSize(40);
175   text("Object: " + noObject, width-width*0.875, height-height*0.0277);
176  text("Angle:   " + iAngle +" ", width-width*0.48, height-height*0.0277);
177  text("Distance:   ", width-width*0.26, height-height*0.0277);
178  if(iDistance<40) {
179  text("         " + iDistance +" cm", width-width*0.225, height-height*0.0277);
180  }
181   textSize(25);
182  fill(98,245,60);
183  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
184   rotate(-radians(-60));
185  text("30",0,0);
186  resetMatrix();
187  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
188   rotate(-radians(-30));
189  text("60",0,0);
190  resetMatrix();
191  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
192   rotate(radians(0));
193  text("90",0,0);
194  resetMatrix();
195  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
196   rotate(radians(-30));
197  text("120",0,0);
198  resetMatrix();
199  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
200   rotate(radians(-60));
201  text("150",0,0);
202  popMatrix(); 
203}
204

/*   Arduino Radar Project
 *
 *   Updated version. Fits any screen   resolution!
 *   Just change the values in the size() function,
 *   with   your screen resolution.
 *      
 *  by Dejan Nedelkovski, updated by Rexhep   Mustafovski
 *  
 */
import processing.serial.*; // imports library for   serial communication
import java.awt.event.KeyEvent; // imports library for reading   the data from the serial port
import java.io.IOException;
Serial myPort; //   defines Object Serial
// defubes variables
String angle="";
String distance="";
String   data="";
String noObject;
float pixsDistance;
float Razmer;  // dodadeno
int   iAngle, iDistance;
int index1=0;
int index2=0;
int pravec=1;
PFont orcFont;
void   setup() {
  
 //size (1200, 950); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
   
 fullScreen();   //   *********************  Size e zameneto s fullScreen    taka   da avtomatski ke se zadadat height i with
 
 Razmer = (height-height*0.21)*0.025;   // cm pretvarame vo pikseli so formulata:  x*Razmer = x * ((height-height*0.25)*0.025);        Dolzina[vo cm] * (RabotnaVisinaEkranVoPixeli * 1/40)   max=40cm
 
   smooth();
 myPort = new Serial(this,"COM3", 115200); // starts the serial communication
   myPort.bufferUntil('.'); // reads the data from the serial port up to the character   '.'. So actually it reads this: angle,distance.
 orcFont = loadFont("OCRAExtended-30.vlw");
   
 //************************************************************ dopolna
   //iAngle = 0;         
 //iDistance = 25;
 //frameRate(100);
 
 //************************************************************
   
  
}
void draw() {
  
  fill(98,245,31);
  textFont(orcFont);
   // simulating motion blur and slow fade of the moving line
  noStroke();
   fill(0,5); 
  rect(0, 0, width, height-height*0.065); 
  
  fill(98,245,31);   // green color
  // calls the functions for drawing the radar
  drawRadar();   
  drawLine();
  drawObject();
  drawText();
  
  //************************************************************   dopolna za Avtomatski test na iscrtuvanjeto
 
 //iAngle = iAngle+pravec;
   // if (iAngle==0) {
 //  pravec=pravec*(-1);
 //   }
 //  else if (iAngle==180)
   //  {
 //  pravec=pravec*(-1);
 //  }

  //************************************************************
}
void   serialEvent (Serial myPort) { // starts reading data from the Serial Port
  //   reads the data from the Serial Port up to the character '.' and puts it into the   String variable "data".
  data = myPort.readStringUntil('.');
  data = data.substring(0,data.length()-1);
   
  index1 = data.indexOf(","); // find the character ',' and puts it into   the variable "index1"
  
  // 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
  //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
  
  angle= trim(data.substring(0, index1));                      // dodadena funkcija trim za da gi otvrli praznite mesta
   distance= trim(data.substring(index1+1, data.length()));    // dodadena funkcija   trim za da gi otvrli praznite mesta
  
    
  // converts the String variables   into Integer
  iAngle = int(angle);
  iDistance = int(distance);
}
void   drawRadar() {
  pushMatrix();
  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
  noFill();
  strokeWeight(2);
   stroke(98,245,31);
  // draws the arc lines
 
  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);      //      Moi novi formuli  so krugovi na 10, 20, 30 i 40 cm
  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
   arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
   
  //arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
  //arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);             //  Originalni formuli
  //arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
   //arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
  
  // draws   the angle lines
  line(-width/2,0,width/2,0);
  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
   line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
   line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
   line((-width/2)*cos(radians(30)),0,width/2,0);
  popMatrix();
}
void   drawObject() {
  pushMatrix();
  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
  strokeWeight(9);
  stroke(255,10,10);   // red color
 
  pixsDistance = iDistance*Razmer; // converts the distance   from the sensor from cm to pixels 
  // limiting the range to 40 cms
  if(iDistance<40){
     // draws the object according to the angle and the distance

  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // Popravena linija so novi krajni koordinati
//  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(iDistance+2)*Razmer*cos(radians(iAngle)),-(iDistance+2)*Razmer*sin(radians(iAngle)));   // Objekt so golemina od 1 cm
  }
  popMatrix();
}
void drawLine()   {
  pushMatrix();
  strokeWeight(9);
  stroke(30,250,60);
  translate(width/2,height-height*0.074);   // moves the starting coordinats to new location
  // line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));   // draws the line according to the angle    
  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // Nova popravena linija za krajnite koordinati
  popMatrix();
}
void drawText()   { // draws the texts on the screen
  
  pushMatrix();
  if(iDistance>40)   {
  noObject = "Out of Range";
  }
  else {
  noObject = "In Range";
   }
  fill(0,0,0);
  noStroke();
  rect(0, height-height*0.0648, width,   height);
  fill(98,245,31);
  textSize(25);
  
 
  //text("10cm",width-width*0.41,height-height*0.0833);
   //text("20cm",width-width*0.3,height-height*0.0833);
  //text("30cm",width-width*0.18,height-height*0.0833);
   //text("40cm",width-width*0.06,height-height*0.0833);
  
  text("10cm",width/2+7*Razmer,height-height*0.0833);
   text("20cm",width/2+17*Razmer,height-height*0.0833);
  text("30cm",width/2+27*Razmer,height-height*0.0833);
   text("40cm",width/2+37*Razmer,height-height*0.0833);
  
  textSize(40);
   text("Object: " + noObject, width-width*0.875, height-height*0.0277);
  text("Angle:   " + iAngle +" ", width-width*0.48, height-height*0.0277);
  text("Distance:   ", width-width*0.26, height-height*0.0277);
  if(iDistance<40) {
  text("         " + iDistance +" cm", width-width*0.225, height-height*0.0277);
  }
   textSize(25);
  fill(98,245,60);
  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
   rotate(-radians(-60));
  text("30",0,0);
  resetMatrix();
  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
   rotate(-radians(-30));
  text("60",0,0);
  resetMatrix();
  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
   rotate(radians(0));
  text("90",0,0);
  resetMatrix();
  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
   rotate(radians(-30));
  text("120",0,0);
  resetMatrix();
  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
   rotate(radians(-60));
  text("150",0,0);
  popMatrix(); 
}

Processing PDE code

c_cpp

Copy and paste the code in Processing PDE.

1/*   Arduino Radar Project
2 *
3 *   Updated version. Fits any screen  resolution!
4 *   Just change the values in the size() function,
5 *   with  your screen resolution.
6 *      
7 *  by Dejan Nedelkovski, updated by Rexhep  Mustafovski
8 *  
9 */
10import processing.serial.*; // imports library for  serial communication
11import java.awt.event.KeyEvent; // imports library for reading  the data from the serial port
12import java.io.IOException;
13Serial myPort; //  defines Object Serial
14// defubes variables
15String angle="";
16String distance="";
17String  data="";
18String noObject;
19float pixsDistance;
20float Razmer;  // dodadeno
21int  iAngle, iDistance;
22int index1=0;
23int index2=0;
24int pravec=1;
25PFont orcFont;
26void  setup() {
27  
28 //size (1200, 950); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
29  
30 fullScreen();   //   *********************  Size e zameneto s fullScreen    taka  da avtomatski ke se zadadat height i with
31 
32 Razmer = (height-height*0.21)*0.025;  // cm pretvarame vo pikseli so formulata:  x*Razmer = x * ((height-height*0.25)*0.025);       Dolzina[vo cm] * (RabotnaVisinaEkranVoPixeli * 1/40)   max=40cm
33 
34  smooth();
35 myPort = new Serial(this,"COM3", 115200); // starts the serial communication
36  myPort.bufferUntil('.'); // reads the data from the serial port up to the character  '.'. So actually it reads this: angle,distance.
37 orcFont = loadFont("OCRAExtended-30.vlw");
38  
39 //************************************************************ dopolna
40  //iAngle = 0;         
41 //iDistance = 25;
42 //frameRate(100);
43 
44 //************************************************************
45  
46  
47}
48void draw() {
49  
50  fill(98,245,31);
51  textFont(orcFont);
52  // simulating motion blur and slow fade of the moving line
53  noStroke();
54  fill(0,5); 
55  rect(0, 0, width, height-height*0.065); 
56  
57  fill(98,245,31);  // green color
58  // calls the functions for drawing the radar
59  drawRadar();  
60  drawLine();
61  drawObject();
62  drawText();
63  
64  //************************************************************  dopolna za Avtomatski test na iscrtuvanjeto
65 
66 //iAngle = iAngle+pravec;
67  // if (iAngle==0) {
68 //  pravec=pravec*(-1);
69 //   }
70 //  else if (iAngle==180)
71  //  {
72 //  pravec=pravec*(-1);
73 //  }
74
75  //************************************************************
76}
77void  serialEvent (Serial myPort) { // starts reading data from the Serial Port
78  //  reads the data from the Serial Port up to the character '.' and puts it into the  String variable "data".
79  data = myPort.readStringUntil('.');
80  data = data.substring(0,data.length()-1);
81  
82  index1 = data.indexOf(","); // find the character ',' and puts it into  the variable "index1"
83  
84  // 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
85  //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
86  
87  angle= trim(data.substring(0, index1));                     // dodadena funkcija trim za da gi otvrli praznite mesta
88  distance= trim(data.substring(index1+1, data.length()));    // dodadena funkcija  trim za da gi otvrli praznite mesta
89  
90    
91  // converts the String variables  into Integer
92  iAngle = int(angle);
93  iDistance = int(distance);
94}
95void  drawRadar() {
96  pushMatrix();
97  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
98  noFill();
99  strokeWeight(2);
100  stroke(98,245,31);
101  // draws the arc lines
102 
103  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);     //      Moi novi formuli  so krugovi na 10, 20, 30 i 40 cm
104  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
105  arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
106  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
107  
108  //arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
109  //arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);            //  Originalni formuli
110  //arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
111  //arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
112  
113  // draws  the angle lines
114  line(-width/2,0,width/2,0);
115  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
116  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
117  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
118  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
119  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
120  line((-width/2)*cos(radians(30)),0,width/2,0);
121  popMatrix();
122}
123void  drawObject() {
124  pushMatrix();
125  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
126  strokeWeight(9);
127  stroke(255,10,10);  // red color
128 
129  pixsDistance = iDistance*Razmer; // converts the distance  from the sensor from cm to pixels 
130  // limiting the range to 40 cms
131  if(iDistance<40){
132    // draws the object according to the angle and the distance
133
134  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // Popravena linija so novi krajni koordinati
135//  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(iDistance+2)*Razmer*cos(radians(iAngle)),-(iDistance+2)*Razmer*sin(radians(iAngle)));  // Objekt so golemina od 1 cm
136  }
137  popMatrix();
138}
139void drawLine()  {
140  pushMatrix();
141  strokeWeight(9);
142  stroke(30,250,60);
143  translate(width/2,height-height*0.074);  // moves the starting coordinats to new location
144  // line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));  // draws the line according to the angle    
145  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // Nova popravena linija za krajnite koordinati
146  popMatrix();
147}
148void drawText()  { // draws the texts on the screen
149  
150  pushMatrix();
151  if(iDistance>40)  {
152  noObject = "Out of Range";
153  }
154  else {
155  noObject = "In Range";
156  }
157  fill(0,0,0);
158  noStroke();
159  rect(0, height-height*0.0648, width,  height);
160  fill(98,245,31);
161  textSize(25);
162  
163 
164  //text("10cm",width-width*0.41,height-height*0.0833);
165  //text("20cm",width-width*0.3,height-height*0.0833);
166  //text("30cm",width-width*0.18,height-height*0.0833);
167  //text("40cm",width-width*0.06,height-height*0.0833);
168  
169  text("10cm",width/2+7*Razmer,height-height*0.0833);
170  text("20cm",width/2+17*Razmer,height-height*0.0833);
171  text("30cm",width/2+27*Razmer,height-height*0.0833);
172  text("40cm",width/2+37*Razmer,height-height*0.0833);
173  
174  textSize(40);
175  text("Object: " + noObject, width-width*0.875, height-height*0.0277);
176  text("Angle:  " + iAngle +" ", width-width*0.48, height-height*0.0277);
177  text("Distance:  ", width-width*0.26, height-height*0.0277);
178  if(iDistance<40) {
179  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
180  }
181  textSize(25);
182  fill(98,245,60);
183  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
184  rotate(-radians(-60));
185  text("30",0,0);
186  resetMatrix();
187  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
188  rotate(-radians(-30));
189  text("60",0,0);
190  resetMatrix();
191  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
192  rotate(radians(0));
193  text("90",0,0);
194  resetMatrix();
195  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
196  rotate(radians(-30));
197  text("120",0,0);
198  resetMatrix();
199  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
200  rotate(radians(-60));
201  text("150",0,0);
202  popMatrix(); 
203}
204

/*   Arduino Radar Project
 *
 *   Updated version. Fits any screen  resolution!
 *   Just change the values in the size() function,
 *   with  your screen resolution.
 *      
 *  by Dejan Nedelkovski, updated by Rexhep  Mustafovski
 *  
 */
import processing.serial.*; // imports library for  serial communication
import java.awt.event.KeyEvent; // imports library for reading  the data from the serial port
import java.io.IOException;
Serial myPort; //  defines Object Serial
// defubes variables
String angle="";
String distance="";
String  data="";
String noObject;
float pixsDistance;
float Razmer;  // dodadeno
int  iAngle, iDistance;
int index1=0;
int index2=0;
int pravec=1;
PFont orcFont;
void  setup() {
  
 //size (1200, 950); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
  
 fullScreen();   //   *********************  Size e zameneto s fullScreen    taka  da avtomatski ke se zadadat height i with
 
 Razmer = (height-height*0.21)*0.025;  // cm pretvarame vo pikseli so formulata:  x*Razmer = x * ((height-height*0.25)*0.025);       Dolzina[vo cm] * (RabotnaVisinaEkranVoPixeli * 1/40)   max=40cm
 
  smooth();
 myPort = new Serial(this,"COM3", 115200); // starts the serial communication
  myPort.bufferUntil('.'); // reads the data from the serial port up to the character  '.'. So actually it reads this: angle,distance.
 orcFont = loadFont("OCRAExtended-30.vlw");
  
 //************************************************************ dopolna
  //iAngle = 0;         
 //iDistance = 25;
 //frameRate(100);
 
 //************************************************************
  
  
}
void draw() {
  
  fill(98,245,31);
  textFont(orcFont);
  // simulating motion blur and slow fade of the moving line
  noStroke();
  fill(0,5); 
  rect(0, 0, width, height-height*0.065); 
  
  fill(98,245,31);  // green color
  // calls the functions for drawing the radar
  drawRadar();  
  drawLine();
  drawObject();
  drawText();
  
  //************************************************************  dopolna za Avtomatski test na iscrtuvanjeto
 
 //iAngle = iAngle+pravec;
  // if (iAngle==0) {
 //  pravec=pravec*(-1);
 //   }
 //  else if (iAngle==180)
  //  {
 //  pravec=pravec*(-1);
 //  }

  //************************************************************
}
void  serialEvent (Serial myPort) { // starts reading data from the Serial Port
  //  reads the data from the Serial Port up to the character '.' and puts it into the  String variable "data".
  data = myPort.readStringUntil('.');
  data = data.substring(0,data.length()-1);
  
  index1 = data.indexOf(","); // find the character ',' and puts it into  the variable "index1"
  
  // 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
  //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
  
  angle= trim(data.substring(0, index1));                     // dodadena funkcija trim za da gi otvrli praznite mesta
  distance= trim(data.substring(index1+1, data.length()));    // dodadena funkcija  trim za da gi otvrli praznite mesta
  
    
  // converts the String variables  into Integer
  iAngle = int(angle);
  iDistance = int(distance);
}
void  drawRadar() {
  pushMatrix();
  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
  noFill();
  strokeWeight(2);
  stroke(98,245,31);
  // draws the arc lines
 
  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);     //      Moi novi formuli  so krugovi na 10, 20, 30 i 40 cm
  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
  arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
  
  //arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
  //arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);            //  Originalni formuli
  //arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
  //arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
  
  // draws  the angle lines
  line(-width/2,0,width/2,0);
  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
  line((-width/2)*cos(radians(30)),0,width/2,0);
  popMatrix();
}
void  drawObject() {
  pushMatrix();
  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
  strokeWeight(9);
  stroke(255,10,10);  // red color
 
  pixsDistance = iDistance*Razmer; // converts the distance  from the sensor from cm to pixels 
  // limiting the range to 40 cms
  if(iDistance<40){
    // draws the object according to the angle and the distance

  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // Popravena linija so novi krajni koordinati
//  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(iDistance+2)*Razmer*cos(radians(iAngle)),-(iDistance+2)*Razmer*sin(radians(iAngle)));  // Objekt so golemina od 1 cm
  }
  popMatrix();
}
void drawLine()  {
  pushMatrix();
  strokeWeight(9);
  stroke(30,250,60);
  translate(width/2,height-height*0.074);  // moves the starting coordinats to new location
  // line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));  // draws the line according to the angle    
  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // Nova popravena linija za krajnite koordinati
  popMatrix();
}
void drawText()  { // draws the texts on the screen
  
  pushMatrix();
  if(iDistance>40)  {
  noObject = "Out of Range";
  }
  else {
  noObject = "In Range";
  }
  fill(0,0,0);
  noStroke();
  rect(0, height-height*0.0648, width,  height);
  fill(98,245,31);
  textSize(25);
  
 
  //text("10cm",width-width*0.41,height-height*0.0833);
  //text("20cm",width-width*0.3,height-height*0.0833);
  //text("30cm",width-width*0.18,height-height*0.0833);
  //text("40cm",width-width*0.06,height-height*0.0833);
  
  text("10cm",width/2+7*Razmer,height-height*0.0833);
  text("20cm",width/2+17*Razmer,height-height*0.0833);
  text("30cm",width/2+27*Razmer,height-height*0.0833);
  text("40cm",width/2+37*Razmer,height-height*0.0833);
  
  textSize(40);
  text("Object: " + noObject, width-width*0.875, height-height*0.0277);
  text("Angle:  " + iAngle +" ", width-width*0.48, height-height*0.0277);
  text("Distance:  ", width-width*0.26, height-height*0.0277);
  if(iDistance<40) {
  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
  }
  textSize(25);
  fill(98,245,60);
  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
  rotate(-radians(-60));
  text("30",0,0);
  resetMatrix();
  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
  rotate(-radians(-30));
  text("60",0,0);
  resetMatrix();
  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
  rotate(radians(0));
  text("90",0,0);
  resetMatrix();
  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
  rotate(radians(-30));
  text("120",0,0);
  resetMatrix();
  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
  rotate(radians(-60));
  text("150",0,0);
  popMatrix(); 
}

Arduino IDE code

c_cpp

Copy and paste the code in Arduino IDE.

1// Includes the Servo library
2#include <Servo.h>. 
3
4// Defines
5  Tirg and Echo pins of the Ultrasonic Sensor and pin of LED
6const int trigPin
7  = 10;
8const int echoPin = 11;
9const int LED = 13;
10// Variables for the
11  duration and the distance
12long duration;
13int distance;
14
15Servo myServo;
16  // Creates a servo object for controlling the servo motor
17
18void setup() {
19
20  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
21  pinMode(echoPin,
22  INPUT); // Sets the echoPin as an Input
23  pinMode(13, OUTPUT); // Sets the LED
24  as an Input
25  Serial.begin(115200);
26  myServo.attach(12); // Defines on which
27  pin is the servo motor attached
28}
29void loop() {
30  // rotates the servo
31  motor from 15 to 165 degrees
32  for(int i=15;i<=165;i++){  
33  myServo.write(i);
34
35  delay(30);
36  distance = calculateDistance();// Calls a function for calculating
37  the distance measured by the Ultrasonic sensor for each degree
38  
39  Serial.print(i);
40  // Sends the current degree into the Serial Port
41  Serial.print(","); // Sends
42  addition character right next to the previous value needed later in the Processing
43  IDE for indexing
44  Serial.print(distance); // Sends the distance value into the
45  Serial Port
46  Serial.print("."); // Sends addition character right next to
47  the previous value needed later in the Processing IDE for indexing
48  }
49  //
50  Repeats the previous lines from 165 to 15 degrees
51  for(int i=165;i>15;i--){
52  
53  myServo.write(i);
54  delay(30);
55  distance = calculateDistance();
56
57  Serial.print(i);
58  Serial.print(",");
59  Serial.print(distance);
60  Serial.print(".");
61
62  }
63}
64// Function for calculating the distance measured by the Ultrasonic
65  sensor
66int calculateDistance(){ 
67  
68  digitalWrite(trigPin, LOW); 
69
70  delayMicroseconds(2);
71  // Sets the trigPin on HIGH state for 10 micro seconds
72
73  digitalWrite(trigPin, HIGH); 
74  delayMicroseconds(10);
75  digitalWrite(trigPin,
76  LOW);
77  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the
78  sound wave travel time in microseconds
79  distance= duration*0.034/2;
80   if
81  (distance < 40)
82    {
83      digitalWrite(13, HIGH);
84      delay(10); 
85
86    }
87    else
88    {
89      digitalWrite(13, LOW);
90      delay(10);
91
92    }
93    return distance;
94}
95

// Includes the Servo library
#include <Servo.h>. 

// Defines
  Tirg and Echo pins of the Ultrasonic Sensor and pin of LED
const int trigPin
  = 10;
const int echoPin = 11;
const int LED = 13;
// Variables for the
  duration and the distance
long duration;
int distance;

Servo myServo;
  // Creates a servo object for controlling the servo motor

void setup() {

  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin,
  INPUT); // Sets the echoPin as an Input
  pinMode(13, OUTPUT); // Sets the LED
  as an Input
  Serial.begin(115200);
  myServo.attach(12); // Defines on which
  pin is the servo motor attached
}
void loop() {
  // rotates the servo
  motor from 15 to 165 degrees
  for(int i=15;i<=165;i++){  
  myServo.write(i);

  delay(30);
  distance = calculateDistance();// Calls a function for calculating
  the distance measured by the Ultrasonic sensor for each degree
  
  Serial.print(i);
  // Sends the current degree into the Serial Port
  Serial.print(","); // Sends
  addition character right next to the previous value needed later in the Processing
  IDE for indexing
  Serial.print(distance); // Sends the distance value into the
  Serial Port
  Serial.print("."); // Sends addition character right next to
  the previous value needed later in the Processing IDE for indexing
  }
  //
  Repeats the previous lines from 165 to 15 degrees
  for(int i=165;i>15;i--){
  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();

  Serial.print(i);
  Serial.print(",");
  Serial.print(distance);
  Serial.print(".");

  }
}
// Function for calculating the distance measured by the Ultrasonic
  sensor
int calculateDistance(){ 
  
  digitalWrite(trigPin, LOW); 

  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds

  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin,
  LOW);
  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the
  sound wave travel time in microseconds
  distance= duration*0.034/2;
   if
  (distance < 40)
    {
      digitalWrite(13, HIGH);
      delay(10); 

    }
    else
    {
      digitalWrite(13, LOW);
      delay(10);

    }
    return distance;
}

Downloadable files

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components

SCHEMATICS

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