Radar Sonar ultrasonic avec un HC-SR04 piloter par un arduino et interface visuel

Description :

Ce projet consiste à réaliser un radar sonar ultrasonique utilisant un capteur HC-SR04, un microcontrôleur Arduino, et une interface graphique développée avec le logiciel Processing.
Le système permet de détecter des obstacles dans un champ angulaire défini et de visualiser en temps réel leur position sur un écran.

Un potentiomètre est utilisé pour régler la vitesse de déplacement du capteur. Il permet ainsi de balayer le champ angulaire plus ou moins vite.

Vidéo de démonstration :

Schéma de câblage :

Code :

Code Arduino :

#include <DistanceSensor.h>
#include <Servo.h>.
int Poservo1 = 0;   //Position servo au démarrage
int Poservo2 = 10;  //Position servo au démarrage
Servo myservo1;     // créer un objet Servo pour contrôler un servo
Servo myservo2;     // créer un objet Servo pour contrôler un servo
constexpr int TrigPin = 10;
constexpr int EchoPin = 11;
int distance;
int positionservo = 10;
int sens;


DistanceSensor<TrigPin, EchoPin> sensor;

unsigned long previousMillis = 0;
int interval = 20;

void setup() {
  sensor.begin();
  Serial.begin(9600);
  myservo1.attach(5);
  myservo2.attach(6);
  myservo1.write(Poservo1);
  myservo2.write(Poservo2);
}

void loop() {
  int sensorValue = analogRead(A0);
  interval = map(sensorValue, 0, 1024, 8, 60);

  unsigned long currentMillis = millis();
  if (currentMillis - previousMillis >= interval) {
    previousMillis = currentMillis;
    if (positionservo < 170 && sens == 0) {
      positionservo = positionservo + 1;
      myservo2.write(positionservo);
      print();
    }
    if (positionservo == 170 && sens == 0) {
      sens = 1;
    }
    if (positionservo > 10 && sens == 1) {
      positionservo = positionservo - 1;
      myservo2.write(positionservo);
      print();
    }
    if (positionservo == 10 && sens == 1) {
      sens = 0;
    }
  }

  int result = sensor.tick();
  // tick() retunrs NREADY if not ready, or
  // ERR on error (like timeout)
  if (result == sensor.NREADY) return;

  if (result == sensor.ERR) {
    result = 0;
    return;
  } else {
    distance = result;
  }
}

void print() {
  Serial.print(positionservo);
  Serial.print(",");
  Serial.print(distance);
  Serial.print(".");
}

Code Processing :

import processing.serial.*; // imports library for serial communication
import java.awt.event.KeyEvent; // imports library for reading the data from the serial port
import java.io.IOException;
Serial myPort; // defines Object Serial
// defubes variables
String angle="";
String distance="";
String data="";
String noObject;
float pixsDistance;
int iAngle, iDistance;
int index1= 0;



void setup() {
  size (1200, 700); // ***CHANGE THIS TO YOUR SCREEN RESOLUTION***
  smooth();
  myPort = new Serial(this, "COM4", 9600); // starts the serial communication
  myPort.bufferUntil('.'); // reads the data from the serial port up to the character '.'. So actually it reads this: angle,distance.
}

void draw() {

  fill(98, 245, 31);
  // simulating motion blur and slow fade of the moving line
  noStroke();
  fill(0, 4);
  rect(0, 0, width, height-height*0.065);

  fill(98, 0, 31); // green color
  // calls the functions for drawing the radar
  drawRadar();
  drawLine();
  drawObject();
  drawText();
}
void serialEvent (Serial myPort) { // starts reading data from the Serial Port
  // reads the data from the Serial Port up to the character '.' and puts it into the String variable "data".
  data = myPort.readStringUntil('.');
  data = data.substring(0, data.length()-1);

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

  // converts the String variables into Integer
  iAngle = int(angle);
  iDistance = int(distance);
}

void drawRadar() {
  pushMatrix();
  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
  noFill();
  strokeWeight(2);
  stroke(98, 245, 31);
  // draws the arc lines
  arc(0, 0, (width-width*0.0625), (width-width*0.0625), PI, TWO_PI);
  arc(0, 0, (width-width*0.27), (width-width*0.27), PI, TWO_PI);
  arc(0, 0, (width-width*0.479), (width-width*0.479), PI, TWO_PI);
  arc(0, 0, (width-width*0.687), (width-width*0.687), PI, TWO_PI);
  // draws the angle lines
  line(-width/2, 0, width/2, 0);
  line(0, 0, (-width/2)*cos(radians(30)), (-width/2)*sin(radians(30)));
  line(0, 0, (-width/2)*cos(radians(60)), (-width/2)*sin(radians(60)));
  line(0, 0, (-width/2)*cos(radians(90)), (-width/2)*sin(radians(90)));
  line(0, 0, (-width/2)*cos(radians(120)), (-width/2)*sin(radians(120)));
  line(0, 0, (-width/2)*cos(radians(150)), (-width/2)*sin(radians(150)));
  line((-width/2)*cos(radians(30)), 0, width/2, 0);
  popMatrix();
}

void drawObject() {
  pushMatrix();
  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
  strokeWeight(9);
  stroke(255, 10, 10); // red color
  pixsDistance = iDistance*((height-height*0.1666)*0.025); // covers the distance from the sensor from cm to pixels
  // limiting the range to 40 cms
  if (iDistance<40) {
    // draws the object according to the angle and the distance
    line(pixsDistance*cos(radians(iAngle)), -pixsDistance*sin(radians(iAngle)), (width-width*0.505)*cos(radians(iAngle)), -(width-width*0.505)*sin(radians(iAngle)));
  }
  popMatrix();
}

void drawLine() {
  pushMatrix();
  strokeWeight(9);
  stroke(30, 250, 60);
  translate(width/2, height-height*0.074); // moves the starting coordinats to new location
  line(0, 0, (height-height*0.15)*cos(radians(iAngle)), -(height-height*0.15)*sin(radians(iAngle))); // draws the line according to the angle
  popMatrix();
}

void drawText() { // draws the texts on the screen

  pushMatrix();
  fill(0, 0, 0);
  noStroke();
  rect(0, height-height*0.0648, width, height);
  fill(98, 245, 31);
  textSize(25);

  text("10cm", width-width*0.395, height-height*0.0833);
  text("20cm", width-width*0.29, height-height*0.0833);
  text("30cm", width-width*0.185, height-height*0.0833);
  text("40cm", width-width*0.082, height-height*0.0833);
  textSize(40);
  text("Angle: " + iAngle +" ", width-width*0.95, height-height*0.015);
  text("Distance: ", width-width*0.60, height-height*0.015);
  if (iDistance<40) {
    text("        " + iDistance +" cm", width-width*0.50, height-height*0.015);
  } else {
    text(">40cm", width-width*0.45, height-height*0.015);
  }

  textSize(25);
  fill(98, 245, 60);
  translate((width-width*0.4994)+width/2*cos(radians(30)), (height-height*0.0907)-width/2*sin(radians(30)));
  rotate(-radians(-60));
  text("30 ", 0, 0);
  resetMatrix();
  translate((width-width*0.503)+width/2*cos(radians(60)), (height-height*0.0888)-width/2*sin(radians(60)));
  rotate(-radians(-30));
  text("60 ", 0, 0);
  resetMatrix();
  translate((width-width*0.507)+width/2*cos(radians(90)), (height-height*0.0833)-width/2*sin(radians(90)));
  rotate(radians(0));
  text("90 ", 0, 0);
  resetMatrix();
  translate(width-width*0.513+width/2*cos(radians(120)), (height-height*0.07129)-width/2*sin(radians(120)));
  rotate(radians(-30));
  text("120 ", 0, 0);
  resetMatrix();
  translate((width-width*0.5104)+width/2*cos(radians(150)), (height-height*0.0574)-width/2*sin(radians(150)));
  rotate(radians(-60));
  text("150 ", 0, 0);
  popMatrix();
}