• PROYECTO RADAR ARDUINO

• Pablo Ruiz Ponsoda y Jaime Páramo Benítez

Inspiración para el proyecto aquí

VIDEO de cómo funciona.

HARDWARE:

Placa Arduino, sensor de ultrasonidos y servo motor.

SOFTWARE:
Hemos utilizado una combinación de C++ y Arduino.
La parte de Arduino controla el servo motor y el ultrasonidos y la parte de C++ lo muestra en pantalla en forma de RADAR.
El programa de Arduino:

1. // Includes the Servo library
2. #include <Servo.h>.
4. // Defines Tirg and Echo pins of the Ultrasonic Sensor
5. const int trigPin = 10;
6. const int echoPin = 11;
7. // Variables for the duration and the distance
8. long duration;
9. int distance;
11. Servo myServo; // Creates a servo object for controlling the servo motor
13. void setup() {
14. pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
15. pinMode(echoPin, INPUT); // Sets the echoPin as an Input
16. Serial.begin(9600);
17. myServo.attach(12); // Defines on which pin is the servo motor attached
18. }
19. void loop() {
20. // rotates the servo motor from 15 to 165 degrees
21. for(int i=15;i<=165;i++){
22. myServo.write(i);
23. delay(30);
24. distance = calculateDistance();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
26. Serial.print(i); // Sends the current degree into the Serial Port
27. Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
28. Serial.print(distance); // Sends the distance value 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. }
31. // Repeats the previous lines from 165 to 15 degrees
32. for(int i=165;i>15;i--){
33. myServo.write(i);
34. delay(30);
35. distance = calculateDistance();
36. Serial.print(i);
37. Serial.print(",");
38. Serial.print(distance);
39. Serial.print(".");
40. }
41. }
42. // Function for calculating the distance measured by the Ultrasonic sensor
43. int calculateDistance(){
45. digitalWrite(trigPin, LOW);
46. delayMicroseconds(2);
47. // Sets the trigPin on HIGH state for 10 micro seconds
48. digitalWrite(trigPin, HIGH);
49. delayMicroseconds(10);
50. digitalWrite(trigPin, LOW);
51. duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
52. distance= duration*0.034/2;
53. return distance;
54. }
55. void drawRadar() {
56. pushMatrix();
57. translate(960,1000); // moves the starting coordinats to new location
58. noFill();
59. strokeWeight(2);
60. stroke(98,245,31);
61. // draws the arc lines
62. arc(0,0,1800,1800,PI,TWO_PI);
63. arc(0,0,1400,1400,PI,TWO_PI);
64. arc(0,0,1000,1000,PI,TWO_PI);
65. arc(0,0,600,600,PI,TWO_PI);
66. // draws the angle lines
67. line(-960,0,960,0);
68. line(0,0,-960*cos(radians(30)),-960*sin(radians(30)));
69. line(0,0,-960*cos(radians(60)),-960*sin(radians(60)));
70. line(0,0,-960*cos(radians(90)),-960*sin(radians(90)));
71. line(0,0,-960*cos(radians(120)),-960*sin(radians(120)));
72. line(0,0,-960*cos(radians(150)),-960*sin(radians(150)));
73. line(-960*cos(radians(30)),0,960,0);
74. popMatrix();
75. }

Programa de C++:

1. import processing.serial.*; // imports library for serial communication
2. import java.awt.event.KeyEvent; // imports library for reading the data from the serial port
3. import java.io.IOException;
5. Serial myPort; // defines Object Serial
6. // defubes variables
7. String angle="";
8. String distance="";
9. String data="";
10. String noObject;
11. float pixsDistance;
12. int iAngle, iDistance;
13. int index1=0;
14. int index2=0;
15. PFont orcFont;
17. void setup() {
19. size (1920, 1080);
20. smooth();
21. myPort = new Serial(this,"COM4", 9600); // starts the serial communication
22. myPort.bufferUntil('.'); // reads the data from the serial port up to the character '.'. So actually it reads this: angle,distance.
23. orcFont = loadFont("OCRAExtended-30.vlw");
24. }
26. void draw() {
28. fill(98,245,31);
29. textFont(orcFont);
30. // simulating motion blur and slow fade of the moving line
31. noStroke();
32. fill(0,4);
33. rect(0, 0, width, 1010);
35. fill(98,245,31); // green color
36. // calls the functions for drawing the radar
37. drawRadar();
38. drawLine();
39. drawObject();
40. drawText();
41. }
43. void serialEvent (Serial myPort) { // starts reading data from the Serial Port
44. // reads the data from the Serial Port up to the character '.' and puts it into the String variable "data".
45. data = myPort.readStringUntil('.');
46. data = data.substring(0,data.length()-1);
48. index1 = data.indexOf(","); // find the character ',' and puts it into the variable "index1"
49. 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
50. 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
52. // converts the String variables into Integer
53. iAngle = int(angle);
54. iDistance = int(distance);
55. }
57. void drawRadar() {
58. pushMatrix();
59. translate(960,1000); // moves the starting coordinats to new location
60. noFill();
61. strokeWeight(2);
62. stroke(98,245,31);
63. // draws the arc lines
64. arc(0,0,1800,1800,PI,TWO_PI);
65. arc(0,0,1400,1400,PI,TWO_PI);
66. arc(0,0,1000,1000,PI,TWO_PI);
67. arc(0,0,600,600,PI,TWO_PI);
68. // draws the angle lines
69. line(-960,0,960,0);
70. line(0,0,-960*cos(radians(30)),-960*sin(radians(30)));
71. line(0,0,-960*cos(radians(60)),-960*sin(radians(60)));
72. line(0,0,-960*cos(radians(90)),-960*sin(radians(90)));
73. line(0,0,-960*cos(radians(120)),-960*sin(radians(120)));
74. line(0,0,-960*cos(radians(150)),-960*sin(radians(150)));
75. line(-960*cos(radians(30)),0,960,0);
76. popMatrix();
77. }
79. void drawObject() {
80. pushMatrix();
81. translate(960,1000); // moves the starting coordinats to new location
82. strokeWeight(9);
83. stroke(255,10,10); // red color
84. pixsDistance = iDistance*22.5; // covers the distance from the sensor from cm to pixels
85. // limiting the range to 40 cms
86. if(iDistance<40){
87. // draws the object according to the angle and the distance
88. line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
89. }
90. popMatrix();
91. }
93. void drawLine() {
94. pushMatrix();
95. strokeWeight(9);
96. stroke(30,250,60);
97. translate(960,1000); // moves the starting coordinats to new location
98. line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle))); // draws the line according to the angle
99. popMatrix();
100. }
102. void drawText() { // draws the texts on the screen
104. pushMatrix();
105. if(iDistance>40) {
106. noObject = "Out of Range";
107. }
108. else {
109. noObject = "In Range";
110. }
111. fill(0,0,0);
112. noStroke();
113. rect(0, 1010, width, 1080);
114. fill(98,245,31);
115. textSize(25);
116. text("10cm",1180,990);
117. text("20cm",1380,990);
118. text("30cm",1580,990);
119. text("40cm",1780,990);
120. textSize(40);
121. text("Object: " + noObject, 240, 1050);
122. text("Angle: " + iAngle +" °", 1050, 1050);
123. text("Distance: ", 1380, 1050);
124. if(iDistance<40) {
125. text(" " + iDistance +" cm", 1400, 1050);
126. }
127. textSize(25);
128. fill(98,245,60);
129. translate(961+960*cos(radians(30)),982-960*sin(radians(30)));
130. rotate(-radians(-60));
131. text("30°",0,0);
132. resetMatrix();
133. translate(954+960*cos(radians(60)),984-960*sin(radians(60)));
134. rotate(-radians(-30));
135. text("60°",0,0);
136. resetMatrix();
137. translate(945+960*cos(radians(90)),990-960*sin(radians(90)));
138. rotate(radians(0));
139. text("90°",0,0);
140. resetMatrix();
141. translate(935+960*cos(radians(120)),1003-960*sin(radians(120)));
142. rotate(radians(-30));
143. text("120°",0,0);
144. resetMatrix();
145. translate(940+960*cos(radians(150)),1018-960*sin(radians(150)));
146. rotate(radians(-60));
147. text("150°",0,0);
148. popMatrix();
149. }