#include <Servo.
h>
// variables
const int trigPin = 2;
const int echoPin = 9;
long duration;
int distance;
int buzzpin = 7;
int buzzState = LOW;
int ledRed = 3;
int ledGreen = 4;
int switchpin = 10;
int ledStatus = 8;
byte leds = 0;
bool canSpin = true;
unsigned long previousMillis = 0;
const long intervalFar = 250;
const long intervalClose = 50;
const long intervalIdle = 1250;
Servo myServo;
void setup() {
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
Serial.begin(9600);
myServo.attach(12);
pinMode(buzzpin, OUTPUT);
Serial.begin(9600);
pinMode(ledRed, OUTPUT);
pinMode(ledGreen, OUTPUT);
pinMode(switchpin, INPUT);
pinMode(ledStatus, OUTPUT);
}
// turning the radar on-off
void loop() {
if (digitalRead(switchpin) == HIGH){
digitalWrite(ledStatus, LOW);
StartScan();
}
if (digitalRead(switchpin) == LOW){
digitalWrite(ledStatus, HIGH);
}
}
// calculating the distance to a detected object
int calculateDistance(){
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH); // reads echoPin and returns the sound wave
travel time (ms)
distance = duration * 0.034 / 2;
return distance;
}
// start scanning for objects
void StartScan() {
// checking for every degree
// first from right to left
for (int i = 15; i <= 165; i++) {
myServo.write(i);
delay(30);
distance = calculateDistance();
// checking if something is detected in the 40 cm range
if (distance <= 40 && distance > 20) {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= intervalFar) {
previousMillis = currentMillis;
if (buzzState == LOW) {
buzzState = HIGH;
} else {
buzzState = LOW;
}
digitalWrite(buzzpin, buzzState);
digitalWrite(ledRed, buzzState);
digitalWrite(ledGreen, HIGH);
}
} else if (distance <= 20 && distance > 0) {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= intervalClose) {
previousMillis = currentMillis;
if (buzzState == LOW) {
buzzState = HIGH;
} else {
buzzState = LOW;
}
digitalWrite(buzzpin, buzzState);
digitalWrite(ledRed, buzzState);
digitalWrite(ledGreen, HIGH);
}
} else if (distance > 40) {
digitalWrite(buzzpin, LOW);
digitalWrite(ledGreen, LOW);
digitalWrite(ledRed, HIGH);
}
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
// then from left to right
for (int i = 165; i >= 15; i--) {
myServo.write(i);
delay(30);
distance = calculateDistance();
if (distance <= 40 && distance > 20) {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= intervalFar) {
previousMillis = currentMillis;
if (buzzState == LOW) {
buzzState = HIGH;
} else {
buzzState = LOW;
}
digitalWrite(buzzpin, buzzState);
digitalWrite(ledRed, buzzState);
digitalWrite(ledGreen, HIGH);
}
} else if (distance <= 20 && distance > 0) {
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= intervalClose) {
previousMillis = currentMillis;
if (buzzState == LOW) {
buzzState = HIGH;
} else {
buzzState = LOW;
}
digitalWrite(buzzpin, buzzState);
digitalWrite(ledRed, buzzState);
digitalWrite(ledGreen, HIGH);
}
} else if (distance > 40) {
digitalWrite(buzzpin, LOW);
digitalWrite(ledGreen, LOW);
digitalWrite(ledRed, HIGH);
}
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
}
