Arduino Radar Projesi

Bu arduino eğitiminde size bu güzel görünümlü radar projesinin Arduino kart ve PDE(İşleme Geliştirme Ortamı) kullanarak nasıl yapılacağını göstereceğim. Daha fazla ayrıntı için aşağıdaki videoyu izleyebilir veya öğretici yazıyı okuyabilirsiniz. Bu arduino projesi için tüm ihtiyacınız olan nesneleri kontrol etmek için bir ulrasonik sensör, sensörü döndürmek için bir mini hobi servo motor ve bunları kontrol etmek için bir arduino kart.

CİHAZ YAPIMI

İlk olarak ultrasonik sensörü Arduino karta bağlamak için bir karton stand yaptım. Aşağdaki resimde göründüğü gibi katladım, yapıştırdım ve bir vida ile servo motora tutturdum.

Ayrıca sensöre bağlamak için üzerine jumper kablo lehimlenmiş olan 4 adet pin başlığı ekledim.

Son olarak servo motoru poşet lastiği kullanarak arduino karta bağladım.

DEVRE ŞEMASI

HC-SR04 ultrasonik sensörü Arduino karrt’da 10 ve 11. pinlere ve servo motoru 12. pine bağladım.

KAYNAK KODU

Şimdi Arduino karta IDE ile Arduino arasındaki etkileşimi sağlamak için bir kod yazıp yüklemek gerekiyor.

İŞTE HER BİR SATIRI AÇIKLAMALI ARDUİNO KAYNAK KODU

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

// 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;

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() {
  // rotates the servo motor from 15 to 165 degrees
  for(int i=15;i<=165;i++){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
  
  Serial.print(i); // 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
  }
  // Repeats the previous lines from 165 to 15 degrees
  for(int i=165;i>15;i--){  
  myServo.write(i);
  delay(30);
  distance = calculateDistance();
  Serial.print(i);
  Serial.print(",");
  Serial.print(distance);
  Serial.print(".");
  }
}
// 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;
}

Seri Port dan veri okuyan SerialEvent() fonksiyonu kullanılarak sensör Arduino kart tarafından ölçülen açı ve mesafe değerlerini IDE içine alırız ve açı, mesafe değerlerini  iAngle ve iDistance değişkenleri içine koyarız. Bu değişkenler radar çizimi, hatlar, nesne kontrolü ve bazı metinler için kullanılıyor olacak.

Radarı çizmek için bu fonksiyonu arc() ve line()fonksiyonundan oluşan drawRadar() fonksiyonu yaptım.

void drawRadar() {
  pushMatrix();
  translate(960,1000); // moves the starting coordinats to new location
  noFill();
  strokeWeight(2);
  stroke(98,245,31);
  // draws the arc lines
  arc(0,0,1800,1800,PI,TWO_PI);
  arc(0,0,1400,1400,PI,TWO_PI);
  arc(0,0,1000,1000,PI,TWO_PI);
  arc(0,0,600,600,PI,TWO_PI);
  // draws the angle lines
  line(-960,0,960,0);
  line(0,0,-960*cos(radians(30)),-960*sin(radians(30)));
  line(0,0,-960*cos(radians(60)),-960*sin(radians(60)));
  line(0,0,-960*cos(radians(90)),-960*sin(radians(90)));
  line(0,0,-960*cos(radians(120)),-960*sin(radians(120)));
  line(0,0,-960*cos(radians(150)),-960*sin(radians(150)));
  line(-960*cos(radians(30)),0,960,0);
  popMatrix();
}

Radar boyunca hızla hareket eden bir çizgi çizmek için bu fonksiyonu drawLine() yaptım. Dönme merkezi translate() fonksiyonu ile ayarlanır ve line() fonksiyonu içinde kullanılan iAngle değişkeni her bir dereceyi çizmek için bir çizgi olarak kullanılır.

1. void drawLine() {
2. pushMatrix();
3. strokeWeight(9);
4. stroke(30,250,60);
5. translate(960,1000); // moves the starting coordinats to new location
6. line(0,0,950*cos(radians(iAngle)),-950*sin(radians(iAngle))); // draws the line according to the angle
7. popMatrix();
8. }

Tespit edilen nesnenin çizimi için drawObject() fonksiyonunu yaptım. Ultrasonik sensörden mesafe alır, piksele dönüştürür ve sensör açısı ile birlikte radara nesne çizer.

1. void drawObject() {
2. pushMatrix();
3. translate(960,1000); // moves the starting coordinats to new location
4. strokeWeight(9);
5. stroke(255,10,10); // red color
6. pixsDistance = iDistance*22.5; // covers the distance from the sensor from cm to pixels
7. // limiting the range to 40 cms
8. if(iDistance<40){
9. // draws the object according to the angle and the distance
10. line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),950*cos(radians(iAngle)),-950*sin(radians(iAngle)));
11. }
12. popMatrix();
13. }

Ekranda metin için belirli yerlerde metinler çizen drawText() fonksiyonunu yaptım.

Bütün bu fonksiyonlara kendini herzaman tekrarlayan, çizen ve ekrana yazan ana draw() fonksiyonu denir.

Ayrıca burada hareket bulanıklığını taklit ve hareketli hattın yavaş solması için 2 parametreli fill() fonksiyonunu kullandım.

1. void draw() {
3. fill(98,245,31);
4. textFont(orcFont);
5. // simulating motion blur and slow fade of the moving line
6. noStroke();
7. fill(0,4);
8. rect(0, 0, width, 1010);
10. fill(98,245,31); // green color
11. // calls the functions for drawing the radar
12. drawRadar();
13. drawLine();
14. drawObject();
15. drawText();
16. }

İşte radarın son görünümü.

İşte tamamlanmış Arduino Kaynak Kodu:

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. }

Herhangi bir ekran çözünürlüğüne sığdırmak için kodun yeni güncellenmiş versiyonu:

Sadece size() fonksiyonu içindeki değerleri ekran çözünürlüğünüz ile değiştirin.

1. /* Arduino Radar Project
2. *
3. * Updated version. Fits any screen resolution!
4. * Just change the values in the size() function,
5. * with your screen resolution.
6. *
7. * by Dejan Nedelkovski,
8. * www.HowToMechatronics.com
9. *
10. */
12. import processing.serial.*; // imports library for serial communication
13. import java.awt.event.KeyEvent; // imports library for reading the data from the serial port
14. import java.io.IOException;
16. Serial myPort; // defines Object Serial
17. // defubes variables
18. String angle="";
19. String distance="";
20. String data="";
21. String noObject;
22. float pixsDistance;
23. int iAngle, iDistance;
24. int index1=0;
25. int index2=0;
26. PFont orcFont;
28. void setup() {
30. size (1920, 1080); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
31. smooth();
32. myPort = new Serial(this,"COM4", 9600); // starts the serial communication
33. myPort.bufferUntil('.'); // reads the data from the serial port up to the character '.'. So actually it reads this: angle,distance.
34. orcFont = loadFont("OCRAExtended-30.vlw");
35. }
37. void draw() {
39. fill(98,245,31);
40. textFont(orcFont);
41. // simulating motion blur and slow fade of the moving line
42. noStroke();
43. fill(0,4);
44. rect(0, 0, width, height-height*0.065);
46. fill(98,245,31); // green color
47. // calls the functions for drawing the radar
48. drawRadar();
49. drawLine();
50. drawObject();
51. drawText();
52. }
54. void serialEvent (Serial myPort) { // starts reading data from the Serial Port
55. // reads the data from the Serial Port up to the character '.' and puts it into the String variable "data".
56. data = myPort.readStringUntil('.');
57. data = data.substring(0,data.length()-1);
59. index1 = data.indexOf(","); // find the character ',' and puts it into the variable "index1"
60. 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
61. 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
63. // converts the String variables into Integer
64. iAngle = int(angle);
65. iDistance = int(distance);
66. }
68. void drawRadar() {
69. pushMatrix();
70. translate(width/2,height-height*0.074); // moves the starting coordinats to new location
71. noFill();
72. strokeWeight(2);
73. stroke(98,245,31);
74. // draws the arc lines
75. arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
76. arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
77. arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
78. arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
79. // draws the angle lines
80. line(-width/2,0,width/2,0);
81. line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
82. line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
83. line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
84. line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
85. line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
86. line((-width/2)*cos(radians(30)),0,width/2,0);
87. popMatrix();
88. }
90. void drawObject() {
91. pushMatrix();
92. translate(width/2,height-height*0.074); // moves the starting coordinats to new location
93. strokeWeight(9);
94. stroke(255,10,10); // red color
95. pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the sensor from cm to pixels
96. // limiting the range to 40 cms
97. if(iDistance<40){
98. // draws the object according to the angle and the distance
99. line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
100. }
101. popMatrix();
102. }
104. void drawLine() {
105. pushMatrix();
106. strokeWeight(9);
107. stroke(30,250,60);
108. translate(width/2,height-height*0.074); // moves the starting coordinats to new location
109. line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle))); // draws the line according to the angle
110. popMatrix();
111. }
113. void drawText() { // draws the texts on the screen
115. pushMatrix();
116. if(iDistance>40) {
117. noObject = "Out of Range";
118. }
119. else {
120. noObject = "In Range";
121. }
122. fill(0,0,0);
123. noStroke();
124. rect(0, height-height*0.0648, width, height);
125. fill(98,245,31);
126. textSize(25);
128. text("10cm",width-width*0.3854,height-height*0.0833);
129. text("20cm",width-width*0.281,height-height*0.0833);
130. text("30cm",width-width*0.177,height-height*0.0833);
131. text("40cm",width-width*0.0729,height-height*0.0833);
132. textSize(40);
133. text("Object: " + noObject, width-width*0.875, height-height*0.0277);
134. text("Angle: " + iAngle +" °", width-width*0.48, height-height*0.0277);
135. text("Distance: ", width-width*0.26, height-height*0.0277);
136. if(iDistance<40) {
137. text(" " + iDistance +" cm", width-width*0.225, height-height*0.0277);
138. }
139. textSize(25);
140. fill(98,245,60);
141. translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
142. rotate(-radians(-60));
143. text("30°",0,0);
144. resetMatrix();
145. translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
146. rotate(-radians(-30));
147. text("60°",0,0);
148. resetMatrix();
149. translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
150. rotate(radians(0));
151. text("90°",0,0);
152. resetMatrix();
153. translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
154. rotate(radians(-30));
155. text("120°",0,0);
156. resetMatrix();
157. translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
158. rotate(radians(-60));
159. text("150°",0,0);
160. popMatrix();
161. }

Kaynak: howtomechatronics