radar11.ino

// import libraries
#include <Servo.h>  // Michael Margolis, Arduino
#include <TM1637Display.h> // TM1637 by Avishay Orpaz

// set pins
#define clkPin 2
#define dioPin 3
#define triggerPin 7
#define echoPin 8
#define servoPin 9
#define piezoPin 10


// define objects
Servo baseMotor;
TM1637Display monitor(clkPin, dioPin);

// define variables
int angle;
long duration;
int distance[19] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int newDistance;

void setup() {
  // setup serial
  Serial.begin(9600);

  // setup monitor
  monitor.setBrightness(7);
  monitor.clear();

  //setup servo
  baseMotor.attach(servoPin);

  // setup ultrasonic
  pinMode(triggerPin, OUTPUT);
  pinMode(echoPin, INPUT);

  // setup piezo
  pinMode(piezoPin, INPUT);

  // setup environment
  for (angle = 0; angle <= 180; angle += 10) {
    // set angle
    baseMotor.write(angle);
    delay(1000);

    // get distance
    distance[angle/10] = getDistance();
  }

  // print distances
  Serial.print("{");
  Serial.print(distance[0]); Serial.print(", ");
  Serial.print(distance[1]); Serial.print(", ");
  Serial.print(distance[2]); Serial.print(", ");
  Serial.print(distance[3]); Serial.print(", ");
  Serial.print(distance[4]); Serial.print(", ");
  Serial.print(distance[5]); Serial.print(", ");
  Serial.print(distance[6]); Serial.print(", ");
  Serial.print(distance[7]); Serial.print(", ");
  Serial.print(distance[8]); Serial.print(", ");
  Serial.print(distance[9]); Serial.print(", ");
  Serial.print(distance[10]); Serial.print(", ");
  Serial.print(distance[11]); Serial.print(", ");
  Serial.print(distance[12]); Serial.print(", ");
  Serial.print(distance[13]); Serial.print(", ");
  Serial.print(distance[14]); Serial.print(", ");
  Serial.print(distance[15]); Serial.print(", ");
  Serial.print(distance[16]); Serial.print(", ");
  Serial.print(distance[17]);
  Serial.println("}\n");
}

void loop() {
  for (angle = 180; angle > 0; angle -= 10) {
    // set angle
    baseMotor.write(angle);
    delay(1000);
    noTone(piezoPin);
    monitor.clear();

    // get distance
    newDistance = getDistance();

    // check
    if (newDistance < distance[angle/10] - 5){
      warn();
    }
  }
  for (angle = 0; angle < 180; angle += 10) {
    // set angle
    baseMotor.write(angle);
    delay(1000);
    noTone(piezoPin);
    monitor.clear();

    // get distance
    newDistance = getDistance();

    // check
    if (newDistance < distance[angle/10] - 5){
      warn();
    }
  }
}

int getDistance() {
  // reset ulterasonic
  digitalWrite(triggerPin, LOW);
  delayMicroseconds(2);

  // send signal
  digitalWrite(triggerPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(triggerPin, LOW);

  // recive signal
  duration = pulseIn(echoPin, HIGH);

  // calculate distance
  return duration*0.034/2;
}

void warn() {
  // print in serial
  Serial.print(" --Angle ");
  Serial.print(angle);
  Serial.print("--   Unwanted object in ");
  Serial.print(newDistance);
  Serial.println("cm!");
  
  // play sound
  tone(piezoPin, 1000);

  // show in monitor
  monitor.showNumberDec(newDistance, false);
}