/*

Autor :Jose Pedro R. A. Ribeiro

Data :27/05/2016

Arduino versão 1.6.7

*/

#include <Servo.h> //

Servo leftRightServo; //

int leftRightPos = 0; //

int index = 0; //

long total = 0; //

int average = 0; //

long duration = 0; //

int distance = 0;

// CONFIGURACIÓN:

int echoPin = 53; //

int trigPin = 51; //

int servoPin = 12; //

int servoMin = 700; //

int servoMax = 2400; //

const int numReadings = 2; //

void setup() {

leftRightServo.attach(servoPin,700,2400); //

Serial.begin(9600); //

pinMode(trigPin, OUTPUT); //

pinMode(echoPin, INPUT); //

digitalWrite(trigPin, LOW); //

}

void loop() {

for(leftRightPos = 0; leftRightPos < 180; leftRightPos++) { //

leftRightServo.write(leftRightPos);

for (index = 0; index<numReadings; index++) { //

//

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH, 17400); //

if (!duration){ //

duration = 17400; //

}

distance = duration/58; //

total = total + distance; //

delay(50); //

}

average = total/numReadings; //

total = 0; //

//

Serial.print("X"); //

Serial.print(leftRightPos); //

Serial.print("V"); //

Serial.println(average); //

}

for(leftRightPos = 180; leftRightPos > 0; leftRightPos--) { //

leftRightServo.write(leftRightPos);

for (index = 0; index<numReadings; index++) {

// Pulso de 10us para inicial el modulo

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH, 17400);

if (!duration){

duration = 17400;

}

distance = duration/58;

total = total + distance;

delay(50);

}

average = total/numReadings;

total = 0;

Serial.print("X");

Serial.print(leftRightPos);

Serial.print("V");

Serial.println(average);

}

/*

Autor: Jose Pedro R. A. Ribeiro

Radar Ultrasonico

Processing 3.1.1

Data 27/05/2016 .

*/

import processing.serial.*; //

Serial myPort; //

float x, y; //

int radius = 350; //

int w = 300; //

int degree = 0; //

int value = 0; //

int motion = 0; //

int[] newValue = new int[181]; //

int[] oldValue = new int[181]; //

PFont myFont; //

int radarDist = 0; //

int firstRun = 0; //

int lf = 10; //

void setup(){

size(750, 450); //

background (0); //

myFont = createFont("verdana", 12); //

textFont(myFont); //

println(Serial.list()); //

myPort = new Serial(this,"com7", 9600); //

myPort.bufferUntil(lf); //

}

/* draw the screen */

void draw(){

fill(0); //

noStroke(); //

ellipse(radius, radius, 750, 750); //

rectMode(CENTER); //

rect(350,402,800,100); //

if (degree >= 179) { //

motion = 1; //

}

if (degree <= 1) { //

motion = 0; //

}

/* setup the radar sweep */

/*

We use trigonmetry to create points around a circle.

So the radius plus the cosine of the servo position converted to radians

Since radians 0 start at 90 degrees we add 180 to make it start from the left

Adding +1 (i) each time through the loops to move 1 degree matching the one degree of servo movement

cos is for the x left to right value and sin calculates the y value

since its a circle we plot our lines and vertices around the start point for everything will always be the center.

*/

strokeWeight(7); // set the thickness of the lines

if (motion == 0) { // if going left to right

for (int i = 0; i <= 20; i++) { // draw 20 lines with fading colour each 1 degree further round than the last

stroke(0, (10*i), 0); // set the stroke colour (Red, Green, Blue) base it on the the value of i

line(radius, radius, radius + cos(radians(degree+(180+i)))*w, radius + sin(radians(degree+(180+i)))*w); // line(start x, start y, end x, end y)

}

} else { // if going right to left

for (int i = 20; i >= 0; i--) { // draw 20 lines with fading colour

stroke(0,200-(10*i), 0); // using standard RGB values, each between 0 and 255

line(radius, radius, radius + cos(radians(degree+(180+i)))*w, radius + sin(radians(degree+(180+i)))*w);

}

}

/* Setup the shapes made from the sensor values */

noStroke(); // no outline

/* first sweep */

fill(0,50,0); // set the fill colour of the shape (Red, Green, Blue)

beginShape(); // start drawing shape

for (int i = 0; i < 180; i++) { // for each degree in the array

x = radius + cos(radians((180+i)))*((oldValue[i])); // create x coordinate

y = radius + sin(radians((180+i)))*((oldValue[i])); // create y coordinate

vertex(x, y); // plot vertices

}

endShape(); // end shape

/* second sweep */

fill(0,110,0);

beginShape();

for (int i = 0; i < 180; i++) {

x = radius + cos(radians((180+i)))*(newValue[i]);

y = radius + sin(radians((180+i)))*(newValue[i]);

vertex(x, y);

}

endShape();

/* average */

fill(0,170,0);

beginShape();

for (int i = 0; i < 180; i++) {

x = radius + cos(radians((180+i)))*((newValue[i]+oldValue[i])/2); // create average

y = radius + sin(radians((180+i)))*((newValue[i]+oldValue[i])/2);

vertex(x, y);

}

endShape();

/* if after first 2 sweeps, highlight motion with red circle*/

if (firstRun >= 360) {

stroke(150,0,0);

strokeWeight(1);

noFill();

for (int i = 0; i < 180; i++) {

if (oldValue[i] - newValue[i] > 35 || newValue[i] - oldValue[i] > 35) {

x = radius + cos(radians((180+i)))*(newValue[i]);

y = radius + sin(radians((180+i)))*(newValue[i]);

ellipse(x, y, 10, 10);

}

}

}

/* set the radar distance rings and out put their values, 50, 100, 150 etc.. */

for (int i = 0; i <=6; i++){

noFill();

strokeWeight(1);

stroke(0, 255-(30*i), 0);

ellipse(radius, radius, (100*i), (100*i));

fill(0, 100, 0);

noStroke();

text(Integer.toString(radarDist+50), 380, (305-radarDist), 50, 50);

radarDist+=50;

}

radarDist = 0;

/* draw the grid lines on the radar every 30 degrees and write their values 180, 210, 240 etc.. */

for (int i = 0; i <= 6; i++) {

strokeWeight(1);

stroke(0, 55, 0);

line(radius, radius, radius + cos(radians(180+(30*i)))*w, radius + sin(radians(180+(30*i)))*w);

fill(0, 55, 0);

noStroke();

if (180+(30*i) >= 300) {

text(Integer.toString(180+(30*i)), (radius+10) + cos(radians(180+(30*i)))*(w+10), (radius+10) + sin(radians(180+(30*i)))*(w+10), 25,50);

} else {

text(Integer.toString(180+(30*i)), radius + cos(radians(180+(30*i)))*w, radius + sin(radians(180+(30*i)))*w, 60,40);

}

}

/* Write information text and values. */

noStroke();

fill(0);

rect(350,402,800,100);

fill(0, 100, 0);

text("Grados: "+Integer.toString(degree), 100, 380, 100, 50); // use Integet.toString to convert numeric to string as text() only outputs strings

text("Distancia: "+Integer.toString(value), 100, 400, 100, 50); // text(string, x, y, width, height)

text("josepedrofederal@yahoo.com.br", 540, 380, 250, 50);

fill(0);

rect(70,60,150,100);

fill(0, 100, 0);

text("Impressão na Tela :", 100, 50, 150, 50);

fill(0,50,0);

rect(30,53,10,10);

text("Primera Varredura", 115, 70, 150, 50);

fill(0,110,0);

rect(30,73,10,10);

text("Segunda Varredura", 115, 90, 150, 50);

fill(0,170,0);

rect(30,93,10,10);

text("Obstaculos", 115, 110, 150, 50);

noFill();

stroke(150,0,0);

strokeWeight(1);

ellipse(29, 113, 10, 10);

fill(150,0,0);

text("Movimiento", 115, 130, 150, 50);

}

/* get values from serial port */

void serialEvent (Serial myPort) {

String xString = myPort.readStringUntil(lf); // read the serial port until a new line

if (xString != null) { // if theres data in between the new lines

xString = trim(xString); // get rid of any whitespace just in case

String getX = xString.substring(1, xString.indexOf("V")); // get the value of the servo position

String getV = xString.substring(xString.indexOf("V")+1, xString.length()); // get the value of the sensor reading

degree = Integer.parseInt(getX); // set the values to variables

value = Integer.parseInt(getV);

oldValue[degree] = newValue[degree]; // store the values in the arrays.

newValue[degree] = value;

/* sets a counter to allow for the first 2 sweeps of the servo */

firstRun++;

if (firstRun > 360) {

firstRun = 360; // keep the value at 360

}

}

}