Radar System using Arduino UNO

1import processing.serial.*; 
2import  java.awt.event.KeyEvent;
3import java.io.IOException;
4
5Serial myPort;
6
7String angle = "";
8String distance = "";
9String data = "";
10
11String  noObject;
12
13float pixsDistance;
14
15int iAngle, iDistance;
16
17int index1 = 0;
18int index2 = 0;
19
20PFont orcFont;
21
22
23void setup() {
24 size(1920, 1080);  // !!! change these values to your screen's resolution !!!
25 smooth();
26 myPort = new Serial(this, "COM6",  9600); // !!! CHANGE THE SECOND PARAMETER TO YOUR CUSTOM COM PORT !!!
27 myPort.bufferUntil('.'); // actually reading:  angle,distance.
28}
29
30void draw() {
31  fill(98, 245, 31);
32  
33  noStroke();
34  
35  fill(0, 4); 
36  rect(0, 0, width, height-height * 0.065); 
37  
38  fill(98, 245, 31); // green
39
40  drawRadar(); 
41  drawLine();
42  drawObject();
43  drawText();
44}
45
46void serialEvent(Serial myPort) { // reading data from the Serial Port
47  data = myPort.readStringUntil('.');
48  data = data.substring(0, data.length() - 1);
49  
50  index1 = data.indexOf(","); 
51  angle= data.substring(0, index1);
52  distance= data.substring(index1 + 1, data.length());
53  
54  iAngle = int(angle);
55  iDistance = int(distance);
56}
57
58void drawRadar() {
59  pushMatrix();
60  translate(width / 2, height - height * 0.074);
61  noFill();
62  strokeWeight(2);
63  stroke(98, 245, 31);
64  
65  // drawing the arc lines
66  arc(0, 0, (width - width * 0.0625), (width - width * 0.0625), PI, TWO_PI);
67  arc(0, 0, (width - width * 0.27), (width - width * 0.27), PI, TWO_PI);
68  arc(0, 0, (width - width * 0.479), (width - width * 0.479), PI, TWO_PI);
69  arc(0, 0, (width - width * 0.687), (width - width * 0.687), PI, TWO_PI);
70  
71  // drawing the  angle lines
72  line(-width / 2, 0, width / 2, 0);    
73  line(0, 0, (-width / 2) * cos(radians(30)), (-width / 2) * sin(radians(30)));
74  line(0, 0, (-width / 2) * cos(radians(60)), (-width / 2) * sin(radians(60)));
75  line(0, 0, (-width / 2) * cos(radians(90)), (-width / 2) * sin(radians(90)));
76  line(0, 0, (-width / 2) * cos(radians(120)), (-width / 2) * sin(radians(120)));
77  line(0, 0, (-width / 2) * cos(radians(150)), (-width / 2) * sin(radians(150)));
78  line((-width / 2) * cos(radians(30)), 0, width / 2, 0);
79  popMatrix();
80}
81
82void drawObject() {
83  pushMatrix();
84  translate(width / 2, height - height * 0.074);
85  strokeWeight(9);
86  stroke(255, 10, 10); // red 
87  pixsDistance = iDistance*((height - height * 0.1666) * 0.025); // converting the distance from cm to pixels
88  
89  if (iDistance<40) { // limiting the range to 40 cm
90    line(pixsDistance * cos(radians(iAngle)), -pixsDistance * sin(radians(iAngle)), (width - width * 0.505) * cos(radians(iAngle)), -(width - width * 0.505) * sin(radians(iAngle)));
91  }
92  popMatrix();
93}
94
95void drawLine() {
96  pushMatrix();
97  strokeWeight(9);
98  stroke(30, 250, 60);
99  translate(width / 2, height - height * 0.074); 
100  line(0, 0, (height - height * 0.12) * cos(radians(iAngle)), -(height - height * 0.12) * sin(radians(iAngle)));
101  popMatrix();
102}
103
104// drawing the text on the screen
105void drawText() { 
106  pushMatrix();
107  if (iDistance>40) {
108    noObject = "Out of Range";
109  } else {
110    noObject = "In Range";
111  }
112  fill(0, 0, 0);
113  noStroke();
114  rect(0, height - height * 0.0648, width, height);
115  fill(98, 245, 31);
116  textSize(25);
117  
118  text("10cm", width - width * 0.3854, height - height * 0.0833);
119  text("20cm", width - width * 0.281, height - height * 0.0833);
120  text("30cm", width - width * 0.177, height - height * 0.0833);
121  text("40cm", width - width * 0.0729, height - height * 0.0833);
122  textSize(40);
123  text("Angle:  " + iAngle + " °", width - width * 0.48, height - height * 0.0277);
124  text("Distance:  ", width - width * 0.26, height - height * 0.0277);
125 
126  if (iDistance<40) {
127    text("             " + iDistance + " cm", width - width * 0.225, height - height * 0.0277);
128    fill(255, 10, 10);
129    text("WARNING!", width - width * 0.875, height - height * 0.0277);
130  }
131  
132  textSize(25);
133  fill(98, 245, 60);
134  translate((width - width * 0.4994) + width / 2 * cos(radians(30)), (height - height * 0.0907) - width / 2 * sin(radians(30)));
135  rotate(-radians(-60));
136  text("30°", 0, 0);
137  resetMatrix();
138  translate((width - width * 0.503) + width / 2 * cos(radians(60)), (height - height * 0.0888) - width / 2 * sin(radians(60)));
139  rotate(-radians(-30));
140  text("60°", 0, 0);
141  resetMatrix();
142  translate((width - width * 0.507) + width / 2 * cos(radians(90)), (height - height * 0.0833) - width / 2 * sin(radians(90)));
143  rotate(radians(0)); 
144  text("90°", 0, 0);
145  resetMatrix();
146  translate(width - width * 0.513 + width / 2 * cos(radians(120)), (height - height * 0.07129) -width / 2 * sin(radians(120)));
147  rotate(radians(-30));
148  text("120°", 0, 0);
149  resetMatrix();
150  translate((width - width * 0.5104) + width / 2 * cos(radians(150)), (height - height * 0.0574) - width / 2 * sin(radians(150)));
151  rotate(radians(-60));
152  text("150°", 0, 0);
153  popMatrix(); 
154}

1#include <Servo.h> 
2
3// variables
4const int trigPin = 2;
5const int echoPin  = 9;
6
7long duration;
8int  distance;
9
10int buzzpin = 7;
11int buzzState = LOW;
12
13int ledRed = 3;
14int ledGreen = 4;
15
16int switchpin = 10;
17int ledStatus = 8;
18
19byte leds = 0;
20
21bool canSpin = true;
22
23unsigned long previousMillis = 0;
24
25const long intervalFar = 250;
26const long intervalClose = 50;
27const long intervalIdle = 1250;
28
29Servo myServo; 
30
31
32void setup() {
33  pinMode(trigPin, OUTPUT); 
34  pinMode(echoPin, INPUT); 
35  Serial.begin(9600);
36  myServo.attach(12); 
37  pinMode(buzzpin, OUTPUT);
38  Serial.begin(9600);
39  pinMode(ledRed, OUTPUT);
40  pinMode(ledGreen, OUTPUT);
41  pinMode(switchpin, INPUT);
42  pinMode(ledStatus, OUTPUT);
43}
44
45// turning the radar on-off
46void loop() {
47  if (digitalRead(switchpin) == HIGH){
48    digitalWrite(ledStatus, LOW);
49    StartScan();
50  }
51  if (digitalRead(switchpin) == LOW){
52    digitalWrite(ledStatus, HIGH);
53  }
54}
55
56// calculating the distance to a detected object
57int calculateDistance(){ 
58  digitalWrite(trigPin,  LOW); 
59  delayMicroseconds(2);
60  digitalWrite(trigPin, HIGH); 
61  delayMicroseconds(10);
62  digitalWrite(trigPin, LOW);
63  duration = pulseIn(echoPin, HIGH); // reads echoPin and returns the sound wave travel time (ms)
64  distance = duration * 0.034 / 2;
65  return distance;
66}
67
68// start scanning for objects
69void StartScan() {
70  // checking for every degree
71
72  // first from right to left
73  for (int i = 15; i <= 165; i++) {  
74    myServo.write(i);
75    delay(30);
76    distance = calculateDistance();
77
78    // checking if something is detected in the 40 cm range
79    if (distance <= 40 && distance > 20) {
80      unsigned long currentMillis = millis();
81
82      if (currentMillis - previousMillis >= intervalFar) {
83        previousMillis = currentMillis;
84
85        if (buzzState == LOW) {
86          buzzState = HIGH;
87        } else {
88          buzzState = LOW;
89        }
90
91        digitalWrite(buzzpin, buzzState);
92        digitalWrite(ledRed, buzzState); 
93        digitalWrite(ledGreen, HIGH); 
94      }
95    } else if (distance <= 20 && distance > 0) {
96      unsigned long currentMillis = millis();
97
98      if (currentMillis - previousMillis >= intervalClose) {
99        previousMillis = currentMillis;
100
101        if (buzzState == LOW) {
102          buzzState = HIGH;
103        } else {
104          buzzState = LOW;
105        }
106
107        digitalWrite(buzzpin, buzzState);
108        digitalWrite(ledRed, buzzState); 
109        digitalWrite(ledGreen, HIGH); 
110      }
111    } else if (distance > 40) {
112      digitalWrite(buzzpin, LOW);
113      digitalWrite(ledGreen, LOW);
114      digitalWrite(ledRed, HIGH); 
115    }
116      
117    Serial.print(i); 
118    Serial.print(","); 
119    Serial.print(distance);  
120    Serial.print(".");
121  }
122
123  // then from left to right
124  for (int i = 165; i >= 15; i--) {  
125    myServo.write(i);
126    delay(30);
127    distance  = calculateDistance();
128
129    if (distance <= 40 && distance > 20) {
130      unsigned long currentMillis = millis();
131
132      if (currentMillis - previousMillis >= intervalFar) {
133        previousMillis = currentMillis;
134
135        if (buzzState == LOW) {
136          buzzState = HIGH;
137        } else {
138          buzzState = LOW;
139        }
140
141        digitalWrite(buzzpin, buzzState);
142        digitalWrite(ledRed, buzzState); 
143        digitalWrite(ledGreen, HIGH); 
144      }
145    } else if (distance <= 20 && distance > 0) {
146      unsigned long currentMillis = millis();
147
148      if (currentMillis - previousMillis >= intervalClose) {
149        previousMillis = currentMillis;
150
151        if (buzzState == LOW) {
152          buzzState = HIGH;
153        } else {
154          buzzState = LOW;
155        }
156
157        digitalWrite(buzzpin, buzzState);
158        digitalWrite(ledRed, buzzState); 
159        digitalWrite(ledGreen, HIGH); 
160      }
161    } else if (distance > 40) {
162      digitalWrite(buzzpin, LOW);
163      digitalWrite(ledGreen, LOW);
164      digitalWrite(ledRed, HIGH); 
165    }
166
167    Serial.print(i);
168    Serial.print(",");
169    Serial.print(distance);
170    Serial.print(".");
171  }
172}