Radar.ino

// Includes the Servo library
#include <Servo.h> 
#include <NewPing.h>

int pos = 15;
// Defines Tirg and Echo pins of the Ultrasonic Sensor
const int trigPin = 10;
const int echoPin = 11;
// Variables for the duration and the distance
long duration;
int distance;

NewPing sonar(trigPin, echoPin, 400); // NewPing setup of pins and maximum distance.


Servo myServo; // Creates a servo object for controlling the servo motor

void setup() {
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
  Serial.begin(9600);
  myServo.attach(12); // Defines on which pin is the servo motor attached
}

void loop() 
{
  for ( pos = 15; pos <= 165; pos += 1) 
  { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
 myServo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(30);                       // waits 15ms for the servo to reach the position
    distance = sonar.ping_cm();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
      
    Serial.print(pos); // Sends the current degree into the Serial Port
    Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
    Serial.print(distance); // Sends the distance value into the Serial Port
    Serial.print("."); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
  }
  for ( pos = 165; pos >= 15; pos -= 1) 
  { // goes from 180 degrees to 0 degrees
    myServo.write(pos);              // tell servo to go to position in variable 'pos'
    delay(30);                       // waits 15ms for the servo to reach the position
    distance = sonar.ping_cm();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
    
      
    Serial.print(pos); // Sends the current degree into the Serial Port
    Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
    Serial.print(distance); // Sends the distance value into the Serial Port
    Serial.print("."); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
    
  }
  delay(1000);
}

// Function for calculating the distance measured by the Ultrasonic sensor
int calculateDistance(){ 
  
  digitalWrite(trigPin, LOW); 
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH); 
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
  distance= duration*0.034/2;
  return distance;
}