Tuesday, 13 September 2016

DEFENSIVE U-DAR SYSTEM

Defensive U-DAR System


In this project i will show you U-DAR system ( As similar to radar system) using the Arduino Board and the Processing Development Environment. Now, of course you have doubt about name which i had given to this project,that is U-DAR SYSTEM which means ultrasonic detection and ranging system. I had used ultrasonic sensor for obstacle detection and ranging, so it will use sonic wave and detect object from distance.

   THEORY:
All you need for this Project is an Ultrasonic Sensor for detecting the objects, a  Servo Motor for rotating the sensor and an Arduino Board for controlling them.Here in this project when ultrasonic sensor is rotating it will transmit ultrasonic wave which will reflected back when obstacle comes in the path. After that reflected wave will be received by receiver.

The speed of sound wave is approximately 341 m/s in air. The ultrasonic sensor uses this information along with the time difference between sending and receiving the sound pulse to determine the distance to an object. It uses the following mathematical equation:

Distance = Time x speed of sound divided by 2

Time = the time between when an ultrasonic wave is transmitted and when it is received.

Here is the diagram that showing work of ultrasonic sensor

ultrasonic sensor

APPARATUS:
 1. ULTRASONIC SENSOR
2. ARDUINO CONTROLLER
3. MONITORING SCREEN
4. SERVO MOTOR
5. CONNECTING WIRE

WORKING PRINCIPLE:
Here in this project first we get  angle and distance of obstacle using arduino serial monitor and then use that data in processing IDE for picture presentation of U-DAR  system with features like obstacle in range or out range, it's angle and distance.




CIRCUIT DIAGRAM:


ARDUINO CODE:
      

    1. // Includes the Servo library
      2. 

    2. #include <Servo.h>. 
      3. 

    3. // Defines Tirg and Echo pins of the Ultrasonic Sensor
      4. 

    4. const int trigPin = 10;
      5. 

    5. const int echoPin = 11;
      6. 

    6. // Variables for the duration and the distance
      7. 

    7. long duration;
      8. 

    8. int distance;
      9. 

      10. 

    10. Servo myServo; // Creates a servo object for controlling the servo motor
      11. 

      12. 

    12. void setup() {
      13. 

    13.   pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
      14. 

    14.   pinMode(echoPin, INPUT); // Sets the echoPin as an Input
      15. 

    15.   Serial.begin(9600);
      16. 

    16.   myServo.attach(12); // Defines on which pin is the servo motor attached
      17. 

    17. }
      18. 

    18. void loop() {
      19. 

    19.   // rotates the servo motor from 15 to 165 degrees
      20. 

    20.   for(int i=15;i<=165;i++){  
      21. 

    21.   myServo.write(i);
      22. 

    22.   delay(30);
      23. 

    23.   distance = calculateDistance();// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
      24. 

    24.   
      25. 

    25.   Serial.print(i); // Sends the current degree into the Serial Port
      26. 

    26.   Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
      27. 

    27.   Serial.print(distance); // Sends the distance value into the Serial Port
      28. 

    28.   Serial.print("."); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
      29. 

    29.   }
      30. 

    30.   // Repeats the previous lines from 165 to 15 degrees
      31. 

    31.   for(int i=165;i>15;i--){  
      32. 

    32.   myServo.write(i);
      33. 

    33.   delay(30);
      34. 

    34.   distance = calculateDistance();
      35. 

    35.   Serial.print(i);
      36. 

    36.   Serial.print(",");
      37. 

    37.   Serial.print(distance);
      38. 

    38.   Serial.print(".");
      39. 

    39.   }
      40. 

    40. }
      41. 

    41. // Function for calculating the distance measured by the Ultrasonic sensor
      42. 

    42. int calculateDistance(){ 
      43. 

    43.   
      44. 

    44.   digitalWrite(trigPin, LOW); 
      45. 

    45.   delayMicroseconds(2);
      46. 

    46.   // Sets the trigPin on HIGH state for 10 micro seconds
      47. 

    47.   digitalWrite(trigPin, HIGH); 
      48. 

    48.   delayMicroseconds(10);
      49. 

    49.   digitalWrite(trigPin, LOW);
      50. 

    50.   duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
      51. 

    51.   distance= duration*0.034/2;
      52. 

    52.   return distance;
      53.
PROCESSING CODE:
    

  1. Serial myPort; // defines Object Serial
    2. 

  2. // defubes variables
    3. 

  3. String angle="";
    4. 

  4. String distance="";
    5. 

  5. String data="";
    6. 

  6. String noObject;
    7. 

  7. float pixsDistance;
    8. 

  8. int iAngle, iDistance;
    9. 

  9. int index1=0;
    10. 

  10. int index2=0;
    11. 

  11. PFont orcFont;
    12. 

  12. void setup() {
    13. 

  13.   
    14. 

  14.  size (1920, 1080); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
    15. 

  15.  smooth();
    16. 

  16.  myPort = new Serial(this,"COM4", 9600); // starts the serial communication
    17. 

  17.  myPort.bufferUntil('.'); // reads the data from the serial port up to the character '.'. So actually it reads this: angle,distance.
    18. 

  18.  orcFont = loadFont("OCRAExtended-30.vlw");
    19. 

  19. }
    20. 

    21. 

  21. void draw() {
    22. 

  22.   
    23. 

  23.   fill(98,245,31);
    24. 

  24.   textFont(orcFont);
    25. 

  25.   // simulating motion blur and slow fade of the moving line
    26. 

  26.   noStroke();
    27. 

  27.   fill(0,4); 
    28. 

  28.   rect(0, 0, width, height-height*0.065); 
    29. 

  29.   
    30. 

  30.   fill(98,245,31); // green color
    31. 

  31.   // calls the functions for drawing the radar
    32. 

  32.   drawRadar(); 
    33. 

  33.   drawLine();
    34. 

  34.   drawObject();
    35. 

  35.   drawText();
    36. 

  36. }
    37. 

    38. 

  38. void serialEvent (Serial myPort) { // starts reading data from the Serial Port
    39. 

  39.   // reads the data from the Serial Port up to the character '.' and puts it into the String variable "data".
    40. 

  40.   data = myPort.readStringUntil('.');
    41. 

  41.   data = data.substring(0,data.length()-1);
    42. 

  42.   
    43. 

  43.   index1 = data.indexOf(","); // find the character ',' and puts it into the variable "index1"
    44. 

  44.   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
    45. 

  45.   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
    46. 

  46.   
    47. 

  47.   // converts the String variables into Integer
    48. 

  48.   iAngle = int(angle);
    49. 

  49.   iDistance = int(distance);
    50. 

  50. }
    51. 

    52. 

  52. void drawRadar() {
    53. 

  53.   pushMatrix();
    54. 

  54.   translate(width/2,height-height*0.074); // moves the starting coordinats to new location
    55. 

  55.   noFill();
    56. 

  56.   strokeWeight(2);
    57. 

  57.   stroke(98,245,31);
    58. 

  58.   // draws the arc lines
    59. 

  59.   arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);
    60. 

  60.   arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);
    61. 

  61.   arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);
    62. 

  62.   arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);
    63. 

  63.   // draws the angle lines
    64. 

  64.   line(-width/2,0,width/2,0);
    65. 

  65.   line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
    66. 

  66.   line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
    67. 

  67.   line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
    68. 

  68.   line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
    69. 

  69.   line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
    70. 

  70.   line((-width/2)*cos(radians(30)),0,width/2,0);
    71. 

  71.   popMatrix();
    72. 

  72. }
    73. 

    74. 

  74. void drawObject() {
    75. 

  75.   pushMatrix();
    76. 

  76.   translate(width/2,height-height*0.074); // moves the starting coordinats to new location
    77. 

  77.   strokeWeight(9);
    78. 

  78.   stroke(255,10,10); // red color
    79. 

  79.   pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the sensor from cm to pixels
    80. 

  80.   // limiting the range to 40 cms
    81. 

  81.   if(iDistance<40){
    82. 

  82.     // draws the object according to the angle and the distance
    83. 

  83.   line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));
    84. 

  84.   }
    85. 

  85.   popMatrix();
    86. 

  86. }
    87. 

    88. 

  88. void drawLine() {
    89. 

  89.   pushMatrix();
    90. 

  90.   strokeWeight(9);
    91. 

  91.   stroke(30,250,60);
    92. 

  92.   translate(width/2,height-height*0.074); // moves the starting coordinats to new location
    93. 

  93.   line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle))); // draws the line according to the angle
    94. 

  94.   popMatrix();
    95. 

  95. }
    96. 

    97. 

  97. void drawText() { // draws the texts on the screen
    98. 

  98.   
    99. 

  99.   pushMatrix();
    100. 

  100.   if(iDistance>40) {
    101. 

  101.   noObject = "Out of Range";
    102. 

  102.   }
    103. 

  103.   else {
    104. 

  104.   noObject = "In Range";
    105. 

  105.   }
    106. 

  106.   fill(0,0,0);
    107. 

  107.   noStroke();
    108. 

  108.   rect(0, height-height*0.0648, width, height);
    109. 

  109.   fill(98,245,31);
    110. 

  110.   textSize(25);
    111. 

  111.   
    112. 

  112.   text("10cm",width-width*0.3854,height-height*0.0833);
    113. 

  113.   text("20cm",width-width*0.281,height-height*0.0833);
    114. 

  114.   text("30cm",width-width*0.177,height-height*0.0833);
    115. 

  115.   text("40cm",width-width*0.0729,height-height*0.0833);
    116. 

  116.   textSize(40);
    117. 

  117.   text("Object: " + noObject, width-width*0.875, height-height*0.0277);
    118. 

  118.   text("Angle: " + iAngle +" °", width-width*0.48, height-height*0.0277);
    119. 

  119.   text("Distance: ", width-width*0.26, height-height*0.0277);
    120. 

  120.   if(iDistance<40) {
    121. 

  121.   text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
    122. 

  122.   }
    123. 

  123.   textSize(25);
    124. 

  124.   fill(98,245,60);
    125. 

  125.   translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
    126. 

  126.   rotate(-radians(-60));
    127. 

  127.   text("30°",0,0);
    128. 

  128.   resetMatrix();
    129. 

  129.   translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
    130. 

  130.   rotate(-radians(-30));
    131. 

  131.   text("60°",0,0);
    132. 

  132.   resetMatrix();
    133. 

  133.   translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
    134. 

  134.   rotate(radians(0));
    135. 

  135.   text("90°",0,0);
    136. 

  136.   resetMatrix();
    137. 

  137.   translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
    138. 

  138.   rotate(radians(-30));
    139. 

  139.   text("120°",0,0);
    140. 

  140.   resetMatrix();
    141. 

  141.   translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
    142. 

  142.   rotate(radian
    143. 

  143. s(-60));
    144. 

  144.   text("150°",0,0);
    145. 

  145.   popMatrix(); 
    146. 

  146. }
    147.
YOU CAN ALSO VISIT TO GIVEN LINK FOR DETAIL KNOWLEDGE OF THIS PROJECT
http://howtomechatronics.com/projects/arduino-radar-project/

THANK YOU FOR WATCHING
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