Arduino Ultrasonik Radar Yapımı

#include <Servo.h>
Servo leftRightServo; // servoyu tanımlıyoruz
int leftRightPos = 0; // servonun başlangıç konumu
const int numReadings = 10; // okuma sayısı
int index = 0; //Anlık okunan değerlerin indeksi
int total = 0; // Toplanan okunan değerlerin indeksi
int average = 0; // Ortalama
int echoPin = 2; // sensörün echo pini
int initPin = 3; // sensörün triger pini
unsigned long pulseTime = 0; // sensör pulse süresi
unsigned long distance = 0; // mesafe değişkeni
 
/* pin ve port ayarları */
**** setup() {
 
leftRightServo.attach(9);
 
//sensör ayarları
pinMode(initPin, OUTPUT);
pinMode(echoPin, INPUT);
 
// seri port
 
Serial.begin(9600);
 
}
 
/* servo konum ve sensör okuma */
**** loop() {
 
//servo soldan sağa git
 
for(leftRightPos = 0; leftRightPos < 180; leftRightPos++) {
 
leftRightServo.write(leftRightPos);
 
for (index = 0; index<=numReadings;index++) {
 
// sensör okuma
digitalWrite(initPin,HIGH);
delayMicroseconds(1000);
digitalWrite(initPin,LOW);
delayMicroseconds(50);
// sinyali kapa
pulseTime = pulseIn(echoPin, HIGH); // sinyali hesapla
distance = pulseTime/58; // santimetreye çevir
total = total + distance; // total değişkenini güncelle
delay(10);
}
average = total/numReadings; // okunanlardan ortalama değişkenini ayarla
 
if (index >= numReadings) {
index = 0;
total = 0;
}
Serial.print("X"); // processingin tanıması için önce X stringini gönder
Serial.print(leftRightPos); // anlık servo açısı
Serial.print("V"); // ikinci değer için V yolla
Serial.println(average); // okunan ortalama sensör değeri
}
//servo sağdan sola git
for(leftRightPos = 180; leftRightPos > 0; leftRightPos--) {
leftRightServo.write(leftRightPos);
for (index = 0; index<=numReadings;index++) {
digitalWrite(initPin, LOW);
delayMicroseconds(50);
digitalWrite(initPin, HIGH);
delayMicroseconds(50);
digitalWrite(initPin, LOW);
pulseTime = pulseIn(echoPin, HIGH);
distance = pulseTime/58;
total = total + distance;
delay(10);
}
average = total/numReadings;
 
if (index >= numReadings) {
index = 0;
total = 0;
}
Serial.print("X");
Serial.print(leftRightPos);
Serial.print("V");
Serial.println(average);
}
}

import processing.serial.*; // import serial librarySerial myPort; // declare a serial portfloat x, y; // variable to store x and y co-ordinates for verticesint radius = 350; // set the radius of objectsint w = 300; // set an arbitary width valueint degree = 0; // servo position in degreesint value = 0; // value from sensorint motion = 0; // value to store which way the servo is panningint[] newValue = new int[181]; // create an array to store each new sensor value for each servo positionint[] oldValue = new int[181]; // create an array to store the previous values.PFont myFont; // setup fonts in Processingint radarDist = 0; // set value to configure Radar distance labelsint firstRun = 0; // value to ignore triggering motion on the first 2 servo sweeps/* create background and serial buffer */**** setup(){// setup the background size, colour and font.size(750, 450);background (0); // 0 = blackmyFont = createFont("verdana", 12);textFont(myFont);// setup the serial port and buffermyPort = new Serial(this, Serial.list()[0], 9600);println(Serial.list());myPort.bufferUntil('\n');} /* draw the screen */**** draw(){fill(0); // set the following shapes to be blacknoStroke(); // set the following shapes to have no outlineellipse(radius, radius, 750, 750); // draw a circle with a width/ height = 750 with its center position (x and y) set by the radiusrectMode(CENTER); // set the following rectangle to be drawn around its centerrect(350,402,800,100); // draw rectangle (x, y, width, height)if (degree >= 179) { // if at the far right then set motion = 1/ true we're about to go right to leftmotion = 1; // this changes the animation to run right to left}if (degree <= 1) { // if servo at 0 degrees then we're about to go left to rightmotion = 0; // this sets the animation to run left to right}/* 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 radiansSince radians 0 start at 90 degrees we add 180 to make it start from the leftAdding +1 (i) each time through the loops to move 1 degree matching the one degree of servo movementcos is for the x left to right value and sin calculates the y valuesince 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 linesif (motion == 0) { // if going left to rightfor (int i = 0; i <= 20; i++) { // draw 20 lines with fading colour each 1 degree further round than the laststroke(0, (10*i), 0); // set the stroke colour (Red, Green, Blue) base it on the the value of iline(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 leftfor (int i = 20; i >= 0; i--) { // draw 20 lines with fading colourstroke(0,200-(10*i), 0); // using standard RGB values, each between 0 and 255line(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 shapefor (int i = 0; i < 180; i++) { // for each degree in the arrayx = radius + cos(radians((180+i)))*((oldValue[i])); // create x coordinatey = radius + sin(radians((180+i)))*((oldValue[i])); // create y coordinatevertex(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 averagey = 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([U][COLOR=#0066cc]Integer[/COLOR][/U].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([U][COLOR=#0066cc]Integer[/COLOR][/U].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([U][COLOR=#0066cc]Integer[/COLOR][/U].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("Açı: "+[U][COLOR=#0066cc]Integer[/COLOR][/U].toString(degree), 100, 380, 100, 50); // use Integet.toString to convert numeric to string as text() only outputs stringstext("Mesafe: "+[U][COLOR=#0066cc]Integer[/COLOR][/U].toString(value), 100, 400, 100, 50); // text(string, x, y, width, height)fill(0);rect(70,60,150,100);fill(0, 100, 0);text("Göstergeler:", 100, 50, 150, 50);fill(0,50,0);rect(30,53,10,10);text("İlk Tarama", 115, 70, 150, 50);fill(0,110,0);rect(30,73,10,10);text("İkinci Tarama", 115, 90, 150, 50);fill(0,170,0);rect(30,93,10,10);text("Ortalama", 115, 110, 150, 50);noFill();stroke(150,0,0);strokeWeight(1);ellipse(29, 113, 10, 10);fill(150,0,0);text("Hareket", 115, 130, 150, 50);} /* get values from serial port */**** serialEvent (Serial myPort) {[U][COLOR=#0066cc]String[/COLOR][/U] xString = myPort.readStringUntil('\n'); // read the serial port until a new lineif (xString != null) { // if theres data in between the new linesxString = trim(xString); // get rid of any whitespace just in case[U][COLOR=#0066cc]String[/COLOR][/U] getX = xString.substring(1, xString.indexOf("V")); // get the value of the servo position[U][COLOR=#0066cc]String[/COLOR][/U] getV = xString.substring(xString.indexOf("V")+1, xString.length()); // get the value of the sensor reading degree = [U][COLOR=#0066cc]Integer[/COLOR][/U].parseInt(getX); // set the values to variablesvalue = [U][COLOR=#0066cc]Integer[/COLOR][/U].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}}}