Sistema de Radar con MicroControlador Arduino

He diseñado un Sistema de Radar que permite a los docentes y estudiantes entender el funcionamiento de los radares, sonares y eco localizadores. El sistema se fundamenta en el uso de los micros controladores. El  funcionamiento del sistema y los  respectivos códigos se pueden observar en el siguiente vídeo…..  

Código para la programación del Arduino

#include <Servo.h>.

#include <Adafruit_GFX.h>    // Core graphics library

#include <Adafruit_TFTLCD.h> // Hardware-specific library

#include <TouchScreen.h>

#define LCD_CS A3 // Chip Select goes to Analog 3

#define LCD_CD A2 // Command/Data goes to Analog 2

#define LCD_WR A1 // LCD Write goes to Analog 1

#define LCD_RD A0 // LCD Read goes to Analog 0

#define LCD_RESET A4 // Can alternately just connect to Arduino's reset pin

#define YP A3  // must be an analog pin, use "An" notation!

#define XM A2  // must be an analog pin, use "An" notation!

#define YM 9   // can be a digital pin

#define XP 8   // can be a digital pin

#define TS_MINX 150

#define TS_MINY 120

#define TS_MAXX 920

#define TS_MAXY 940

#define MINPRESSURE 10

#define MAXPRESSURE 1000

TouchScreen ts = TouchScreen(XP, YP, XM, YM, 300);

// Assign human-readable names to some common 16-bit color values:

#define  BLACK   0x0000

#define BLUE    0x001F

#define RED     0xF800

#define GREEN   0x07E0

#define CYAN    0x07FF

#define MAGENTA 0xF81F

#define YELLOW  0xFFE0

#define WHITE   0xFFFF

Adafruit_TFTLCD tft(LCD_CS, LCD_CD, LCD_WR, LCD_RD, LCD_RESET);

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

const int trigPin = 26;

const int echoPin = 24;

// Variables for the duration and the distance

long duration;

int distance,xpos,ypos,iOld;

float sx = 0, sy = 1, mx = 1, my = 0, hx = -1, hy = 0;

int16_t x0 = 0, x1 = 0, yy0 = 0, yy1 = 0, x00 = 0, yy00 = 0,ang,iTemp;

String tmp="";

void setup() {

  Serial.begin(9600);

   tft.reset();

  uint16_t identifier = tft.readID();

  tft.begin(identifier);

  tft.setRotation(0);

  tft.fillScreen(BLACK);

  tft.fillScreen(RED);

  tft.fillScreen(GREEN);

  tft.fillScreen(BLUE);

  tft.fillScreen(BLACK);

  delay(100);

  //tft.setRotation(0);

 // put your setup code here, to run once:

 myServo.attach(52); // Defines on which pin is the servo motor attached 

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

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

  tft.setRotation(1);

  radar();

}

void loop() {

  // put your main code here, to run repeatedly:

 for(int i=15;i<=165;i=i+2)

 {  

  myServo.write(i);

   //angulo(iOld,BLACK);

   if (distance>30)

    angulo(i,GREEN);

    else

    angulo(i,RED);

   tmp=i;

 tft.fillRect(125,141,40,16,BLACK);

  texto( tmp,125,141,2,GREEN);  

  iOld=i;

  //delay(10);

   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

  tmp=distance;

 tft.fillRect(125,161,40,16,BLACK);

  texto( tmp,125,161,2,GREEN);  

 }

radar();

 for(int i=165;i>15;i=i-2){  

  myServo.write(i);

  //angulo(iOld,BLACK);

   if (distance>30)

    angulo(i,GREEN);

    else

    angulo(i,RED);

   tmp=i;

 tft.fillRect(125,141,40,16,BLACK);

  texto( tmp,125,141,2,GREEN);  

  iOld=i;

  //delay(10);

   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

  tmp=distance;

 tft.fillRect(125,161,40,16,BLACK);

  texto( tmp,125,161,2,GREEN);  

}

radar();

}

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;

}

void radar()

{

   tft.fillRect(0,0,tft.width(),tft.height(),BLACK);

   texto( "Radar Posicion",75,125,2,WHITE);

   texto( "Ang=",75,141,2,GREEN);

   texto( "Dis=",75,161,2,YELLOW);

   xpos = tft.width() / 2; 

   ypos = tft.height() / 2; 

  tft.drawCircle(xpos, ypos, 120, YELLOW);

  for ( ang=0;ang<=180;ang=ang+30)

  {

  angulo ( ang, BLUE);

}

}

void texto(String texto,int x,int y,int Size,int color)

{

    tft.setTextColor(color);

     tft.setCursor(x, y);

     tft.setTextSize(Size);

     tft.println(texto);

}

void angulo (int16_t ang, int color)

{

sx = cos(( - ang) * 0.0174532925);

    sy = sin(( - ang) * 0.0174532925);

    x0 = sx * 114 + xpos;

    yy0 = sy * 114 + 120;

    x1 = sx * 100 + xpos;

    yy1 = sy * 100 + 120;

    tft.drawLine(x0, yy0, xpos, ypos, color);

}

void coordenadas()

{

  for ( ang=0;ang<=180;ang=ang+30)

  {

  angulo ( ang,BLUE);

}

}