Projeto - Radar com Arduino

/* // https://github.com/faweiz // https://portfolium.com/faweiz // https://www.linkedin.com/in/faweiz // Project Tutital : https://www.hackster.io/faweiz/arduino-radar Radar Screen Visualisation for HC-SR04 Sends sensor readings for every degree moved by the servo values sent to serial port to be picked up by Processing */ #include <NewPing.h> #include <Servo.h> #define TRIGGER_PIN 2 // Arduino pin 2 tied to trigger pin on the ultrasonic sensor. #define ECHO_PIN 3 // Arduino pin 3 tied to echo pin on the ultrasonic sensor. #define MAX_DISTANCE 150 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm. #define SERVO_PWM_PIN 9 //set servo to Arduino's pin 9 // means -angle .. angle #define ANGLE_BOUNDS 80 #define ANGLE_STEP 1 int angle = 0; // direction of servo movement // -1 = back, 1 = forward int dir = 1; Servo myservo; NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); void setup() { Serial.begin(9600); // initialize the serial port: myservo.attach(SERVO_PWM_PIN); //set servo to Arduino's pin 9 } void loop() { delay(50); // we must renormalize to positive values, because angle is from -ANGLE_BOUNDS .. ANGLE_BOUNDS // and servo value must be positive myservo.write(angle + ANGLE_BOUNDS); // read distance from sensor and send to serial getDistanceAndSend2Serial(angle); // calculate angle if (angle >= ANGLE_BOUNDS || angle <= -ANGLE_BOUNDS) { dir = -dir; } angle += (dir * ANGLE_STEP); } int getDistanceAndSend2Serial(int angle) { int cm = sonar.ping_cm(); Serial.print(angle, DEC); Serial.print(","); Serial.println(cm, DEC); } /* // https://github.com/faweiz // https://portfolium.com/faweiz // https://www.linkedin.com/in/faweiz // Project Tutital : https://www.hackster.io/faweiz/arduino-radar Radar Screen Visualisation for Sharp HC-SR04 Maps out an area of what the HC-SR04 sees from a top down view. Takes and displays 2 readings, one left to right and one right to left. Displays an average of the 2 readings */ import processing.serial.*; int SIDE_LENGTH = 1000; int ANGLE_BOUNDS = 80; int ANGLE_STEP = 2; int HISTORY_SIZE = 10; int POINTS_HISTORY_SIZE = 500; int MAX_DISTANCE = 50; int angle; int distance; /* choose either color or background image */ color bgcolor = color (255,0,0); PImage bgimage = loadImage("test.png"); int radius; float x, y; float leftAngleRad, rightAngleRad; float[] historyX, historyY; Point[] points; int centerX, centerY; String comPortString; Serial myPort; void setup() { size(SIDE_LENGTH, SIDE_LENGTH/2, P2D); noStroke(); //smooth(); rectMode(CENTER); radius = SIDE_LENGTH / 2; centerX = width / 2; centerY = height; angle = 0; leftAngleRad = radians(-ANGLE_BOUNDS) - HALF_PI; rightAngleRad = radians(ANGLE_BOUNDS) - HALF_PI; historyX = new float[HISTORY_SIZE]; historyY = new float[HISTORY_SIZE]; points = new Point[POINTS_HISTORY_SIZE]; myPort = new Serial(this, "COM11", 9600); myPort.bufferUntil('\n'); // Trigger a SerialEvent on new line } void draw() { /* choose either bgcolor or bgimage */ background(bgimage); drawRadar(); drawFoundObjects(angle, distance); drawRadarLine(angle); /* 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(0,255,0); line(radius, radius, radius + cos(radians(180+(30*i)))*SIDE_LENGTH/2, radius + sin(radians(180+(30*i)))*SIDE_LENGTH/2); fill(255, 255, 255); noStroke(); text(Integer.toString(0+(30*i)), radius + cos(radians(180+(30*i)))*SIDE_LENGTH/2, radius + sin(radians(180+(30*i)))*SIDE_LENGTH/2, 25, 50); } /* Write information text and values. */ noStroke(); fill(0); int Degrees=0; if (angle>0 & angle <80) { Degrees = angle+100; } else if (angle<0 & angle >-80) { Degrees = angle+80; } fill(0, 300, 0); text("Degrees: "+Integer.toString(Degrees), 100, 460, 100, 50); text("degree", 200, 460, 100, 50); // use Integet.toString to convert numeric to string as text() only outputs strings text("Subject Distance: "+Integer.toString(distance), 100, 480, 200, 30); text("mm", 200, 490, 100, 50); // text(string, x, y, width, height) text("Radar screen code at www.Faweiz.com/radar", 900, 480, 250, 50); text("0", 620, 500, 250, 50); text("50 mm", 600, 420, 250, 50); text("100 mm", 600, 320, 250, 50); text("150 mm", 600, 220, 250, 50); text("200 mm", 600, 120, 250, 50); text("250 mm", 600, 040, 250, 50); noFill(); rect(70,60,200,200); fill(0, 250, 0); text("Screen Key:", 100, 50, 150, 50); fill(0,50,0); rect(30,53,10,10); text("Far", 115, 70, 150, 50); fill(0,110,0); rect(30,73,10,10); text("Near", 115, 90, 150, 50); fill(0,170,0); rect(30,93,10,10); text("Close", 115, 110, 150, 50); } void drawRadarLine(int angle) { float radian = radians(angle); x = radius * sin(radian); y = radius * cos(radian); float px = centerX + x; float py = centerY - y; historyX[0] = px; historyY[0] = py; int Degrees=0; if (angle>0 & angle <80) { Degrees = angle+100; } else if (angle<0 & angle >-80) { Degrees = angle+80; } //get rgb color from http://www.rapidtables.com/web/color/RGB_Color.htm fill(0, 153, 0); float b = centerY; arc(centerX,centerY,SIDE_LENGTH, SIDE_LENGTH,radians(angle-100),radians(angle-90)); shiftHistoryArray(); } void drawFoundObjects(int angle, int distance) { if (distance > 0) { float radian = radians(angle); x = distance * sin(radian); y = distance * cos(radian); int px = (int)(centerX + x); int py = (int)(centerY - y); points[0] = new Point(px, py); } else { points[0] = new Point(0, 0); } for (int i=0;i<POINTS_HISTORY_SIZE;i++) { Point point = points[i]; if (point != null) { int x = point.x; int y = point.y; if (x==0 && y==0) continue; int colorAlfa = (int)map(i, 0, POINTS_HISTORY_SIZE, 20, 0); int size = (int)map(i, 0, POINTS_HISTORY_SIZE, 30, 5); fill(0, 255, 0, colorAlfa); noStroke(); ellipse(x, y, size, size); } fill(255, 0, 0); } shiftPointsArray(); } void drawRadar() { stroke(0,255,0); noFill(); // make 5 circle with 50mm each for (int i = 0; i <= (SIDE_LENGTH / 200); i++) { arc(centerX, centerY, 200 * i, 200 * i, leftAngleRad, rightAngleRad); } } void shiftHistoryArray() { for (int i = HISTORY_SIZE; i > 1; i--) { historyX[i-1] = historyX[i-2]; historyY[i-1] = historyY[i-2]; } } void shiftPointsArray() { for (int i = POINTS_HISTORY_SIZE; i > 1; i--) { Point oldPoint = points[i-2]; if (oldPoint != null) { Point point = new Point(oldPoint.x, oldPoint.y); points[i-1] = point; } } } void serialEvent(Serial cPort) { comPortString = cPort.readStringUntil('\n'); if (comPortString != null) { comPortString=trim(comPortString); String[] values = split(comPortString, ','); try { angle = Integer.parseInt(values[0]); distance = int(map(Integer.parseInt(values[1]), 1, MAX_DISTANCE, 1, radius)); } catch (Exception e) {} } } class Point { int x, y; Point(int xPos, int yPos) { x = xPos; y = yPos; } int getX() { return x; } int getY() { return y; } }