RISHI_Sentry Gun

Arduino Code:

#include <Servo.h>

#include <SoftwareSerial.h>

// Defines Tirg and Echo pins of the Ultrasonic Sensor

const int Trig_pin = 7; // Triggers Pulsoe for Ultrasonic Sensor

const int Echo_pin= 12; // Recevies Echo for Ultrasonic Sensor

int ledpin = 13; // led pin command pin

int buzzarpin=4;

// Variables for the duration and the distance

long duration; // distance value for ultrasonic

int distance;

Servo Rishi; // Servo motor that controls

void setup() {

Serial.begin(9600); // Set up Serial library at 9600 bps

Rishi.attach(9); // Servo motor is attached to pin 9

pinMode(Trig_pin, OUTPUT); // initialize the pulse pin as output:

pinMode(Echo_pin, INPUT);// initialize the echo_pin pin as an input:

pinMode(ledpin,OUTPUT);

pinMode(buzzarpin,OUTPUT);

}

void loop()

{

// rotates the servo motor from 10 to 178 degrees

for(int i=0;i<=180;i++)

{

Rishi.write(i);

delay(50);

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

Sensor ();

while (distance > 5 && distance < 40)

{ // if sensor detects something to close

delayMicroseconds(50); //pauses servo

digitalWrite(ledpin,HIGH); // turns on led

digitalWrite(buzzarpin,HIGH);

Sensor(); // checks if object is still to close

}

digitalWrite(ledpin,LOW); // turns off led

digitalWrite(buzzarpin,LOW);

}

for(int i=180;i>0;i--)

{

Rishi.write(i);

delay(50);

distance = calculateDistance();

Serial.print(i);

Serial.print(",");

Serial.print(distance);

Serial.print(".");

Sensor ();

while (distance > 5 && distance < 40) {

delayMicroseconds(50);

digitalWrite(ledpin,HIGH);

digitalWrite(buzzarpin,HIGH);

Sensor();

}

digitalWrite(ledpin,LOW);

digitalWrite(buzzarpin,LOW);

}

}

void Sensor() { // checks distance from sensor to nearest object straight ahead

digitalWrite(Trig_pin, LOW);

delayMicroseconds(2); // delays

digitalWrite(Trig_pin, HIGH); //starts signal

delayMicroseconds(5); // delay

digitalWrite(Trig_pin, LOW); //stops signal

duration = pulseIn(Echo_pin,HIGH); // checks what the value is

distance=duration*0.034/2;

}

// Function for calculating the distance measured by the Ultrasonic sensor

int calculateDistance()

{

digitalWrite(Trig_pin, LOW);

delayMicroseconds(2);

digitalWrite(Trig_pin, HIGH);

delayMicroseconds(5);

digitalWrite(Trig_pin, LOW);

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

distance= duration*0.034/2;

return distance;

}