Sonar com HC-SH04 e Servo SG90

Lado do Arduino

Sketch

// Serial Call and Response

// by Tom Igoe

// Language: Wiring/Arduino

// This program sends an ASCII A (byte of value 65) on startup

// and repeats that until it gets some data in.

// Then it waits for a byte in the serial port, and

// sends three sensor values whenever it gets a byte in.

// Thanks to Greg Shakar for the improvements

// Created 26 Sept. 2005

// Updated 18 April 2008

// Modified by Solucionática 24 July 2013.

// Be carefull with the commented lines below.

#include "Ultrasonic.h"

#include <LiquidCrystal.h>

#include <Servo.h>

int firstSensor = 0; // first analog sensor

int secondSensor = 0; // second analog sensor

int thirdSensor = 0; // digital sensor

int inByte = 0; // incoming serial byte

int pos=0;

LiquidCrystal lcd(12, 11, 5, 4, 3, 2);

Ultrasonic ultrasonic(10,9);

Servo myservo; // create servo object to control a servo

// a maximum of eight servo objects can be created

void setup()

{

lcd.begin(16, 2);

lcd.print("testing...");

delay(50);

// start serial port at 9600 bps:

myservo.attach(7); // attaches the servo on pin 9 to the servo object

Serial.begin(57600);

//myservo.write(90);

//establishContact(); // send a byte to establish contact //until Processing responds

}

void loop()

{

// lcd.clear();

//lcd.setCursor(0, 0);

// delay(200);

//lcd.print(ultrasonic.Ranging(CM));

//lcd.print("cm");

//lcd.clear();

//delay(30);

//while (ultrasonic.Ranging(CM)<100) {

//

myservo.write(pos);

delay(180);

//}

//delay(15);

//lcd.setCursor(0,0);

//lcd.print(ultrasonic.Ranging(CM));

//lcd.setCursor(0, 1);

// lcd.write("Alvo detectado!");

//delay(50);

//tone(8,850-ultrasonic.Ranging(CM),50);

//pos+=1;

//if (pos>180) {

// pos=-1;

//}

// }

//else if (ultrasonic.Ranging(CM)>51)

//{

// lcd.clear();

//lcd.setCursor(0,0);

//lcd.write("Caminho livre");

//delay(30);

// pos+=1;

// if (pos>180) {

// pos=-1;

// }

// delay(20);

Serial.write(ultrasonic.Ranging(CM));

//delay(50);

Serial.write(pos);

//Serial.write(";");

pos+=5;

delay(30);

if (pos>170){

pos=0;

}

}

//pos+=1;

// myservo.write(pos);

//lcd.clear();

//lcd.setCursor(0, 0);

// delay(30);

//lcd.print(ultrasonic.Ranging(CM));

// Serial.println(ultrasonic.Ranging(CM));

// Serial.write(";");

// Serial.println(pos);

// if (pos>180) {

// pos=-1;

// }

//}

Lado do Processing

Sketch

/**

* Simple Read

*

* Read data from the serial port and change the color of a rectangle

* when a switch connected to a Wiring or Arduino board is pressed and released.

* This example works with the Wiring / Arduino program that follows below.

* Modified by Solucionática on March 25th.

*/

import processing.serial.*;

import ddf.minim.*;

import ddf.minim.ugens.*;

import ddf.minim.signals.*;

Minim minim;

AudioOutput out;

float freq ;

SineWave sine = new SineWave(600,5,44100);

Serial myPort; // Create object from Serial class

int[] serialInArray = new int[2];

int serialCount = 0;

int dist,pos;//Dados recebidos da porta serial

float x,y; //vetor

void setup()

{

size(512, 522);

// I know that the first port in the serial list on my mac

// is always my FTDI adaptor, so I open Serial.list()[0].

// On Windows machines, this generally opens COM1.

// Open whatever port is the one you're using.

String portName = Serial.list()[0];

myPort = new Serial(this, portName, 57600);

minim = new Minim(this);

out = minim.getLineOut( Minim.MONO, 2048 );

sine.portamento(200);//a variação de uma frequência para outra é suave.

out.addSignal(sine);//gera a senóide na saída de áudio.

}

void draw() {

stroke(153);

background(47);

fill(122);

//ellipse(256,256,100,100);

stroke(pos);

ellipse(256,256,200,200);

fill(dist);

// Draw the shape

//

//pos=byte(posM)+byte(pos);

//dist=byte(distM)+byte(distm);

ellipse(x,512-y,10,10);

line(256,256,x,512-y);

text(dist,x,512-y);

text(pos,256,256);

}

void serialEvent(Serial myPort) {

// read a byte from the serial port:

int inByte = myPort.readChar();

serialInArray[serialCount] = inByte;

serialCount++;

// If we have 3 bytes or more uncomment the additional //lines. So take care!

if (serialCount > 1 ) {

dist = serialInArray[0];

//distm = serialInArray[1];

pos=serialInArray[1];

//posM=serialInArray[3];

//dir = serialInArray[2];

y=256+int(dist*sin(pos*PI/180));

if(cos(pos)>0){

//

x=256+int(dist*(cos(pos*PI/180)));

}

else if (cos(pos)<=0){

x=256+int(dist*(cos(pos*PI/180)));

}

float freq=map(dist,0,200,800,440);//mapeamento da frequência em função de dist (distância do alvo). Freq vai de 800 a 400Hz quando dist vai de 0 a 200 cm.

float pan=map(pos,0,175,-1,1);

sine.setPan(pan);

sine.setFreq(freq);

println(dist+"\t"+pos+"\t"+x+"\t"+y+"\t"+(cos(pos))+"\t"+(sin(pos)));

serialCount=0;//reseta a serial, sem esta linha o sketch não funciona!

}

}

void stop()

{

out.close();

minim.stop();

super.stop();

}