Arduino Radar with Simulink

Simulink model development and integration with Arduino Mega 2560 for short-range radar detection system management.

Mar 7, 2021

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radar

arduino mega 2560

simulink

Components and supplies

Arduino Mega 2560

Ultrasonic Sensor - HC-SR04 (Generic)

Holder for Ultrasonic Sensor HC-SR04

SG90 Micro-servo motor

USB-A to B Cable

Perma-Proto Breadboard Half Size

Apps and platforms

Processing

MATLAB

Simulink

Project description

Code

Processing code

c_cpp

Copy and paste the code in Processing.

1/*   Arduino Radar Project
2 *
3 *   Updated version. Fits any screen   resolution!
4 *   Just change the values in the size() function,
5 *   with   your screen resolution.
6 *      
7 *  by Dejan Nedelkovski, updated by Rexhep   Mustafovski
8 *  
9 */
10import processing.serial.*; // imports library for   serial communication
11import java.awt.event.KeyEvent; // imports library for reading   the data from the serial port
12import java.io.IOException;
13Serial myPort; //   defines Object Serial
14// defubes variables
15String angle="";
16String distance="";
17String   data="";
18String noObject;
19float pixsDistance;
20float Razmer;  // 
21int   iAngle, iDistance;
22int index1=0;
23int index2=0;
24int pravec=1;
25PFont orcFont;
26void   setup() {
27  
28 
29 fullScreen();   //  
30 
31 Razmer = (height-height*0.21)*0.025;   // 
32 
33 smooth();
34 myPort = new Serial(this,"COM3", 115200); // starts   the serial communication
35 myPort.bufferUntil('.'); // reads the data from the   serial port up to the character '.'. So actually it reads this: angle,distance.
36   orcFont = loadFont("OCRAExtended-30.vlw");
37  
38}
39void draw() {
40  
41   fill(98,245,31);
42  textFont(orcFont);
43  // simulating motion blur and slow   fade of the moving line
44  noStroke();
45  fill(0,5); 
46  rect(0, 0, width,   height-height*0.065); 
47  
48  fill(98,245,31); // green color
49  // calls   the functions for drawing the radar
50  drawRadar(); 
51  drawLine();
52  drawObject();
53   drawText();
54  
55}
56void serialEvent (Serial myPort) { // starts reading   data from the Serial Port
57  // reads the data from the Serial Port up to the   character '.' and puts it into the String variable "data".
58  data = myPort.readStringUntil('.');
59   data = data.substring(0,data.length()-1);
60  
61  index1 = data.indexOf(",");   // find the character ',' and puts it into the variable "index1"
62  
63  angle=   trim(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
64  distance= trim(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
65  // new updated trimed data
66    
67  // converts the   String variables into Integer
68  iAngle = int(angle);
69  iDistance = int(distance);
70}
71void   drawRadar() {
72  pushMatrix();
73  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
74  noFill();
75  strokeWeight(2);
76   stroke(98,245,31);
77  // draws the arc lines
78 
79  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);      //      New updated formulas
80  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
81   arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
82  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
83   
84  
85  // draws the angle lines
86  line(-width/2,0,width/2,0);
87  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
88   line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
89  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
90   line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
91  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
92   line((-width/2)*cos(radians(30)),0,width/2,0);
93  popMatrix();
94}
95void   drawObject() {
96  pushMatrix();
97  translate(width/2,height-height*0.074); //   moves the starting coordinats to new location
98  strokeWeight(9);
99  stroke(255,10,10);   // red color
100 
101  pixsDistance = iDistance*Razmer; // converts the distance   from the sensor from cm to pixels 
102  // limiting the range to 40 cms
103  if(iDistance<40){
104     // draws the object according to the angle and the distance
105
106  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // new updated line 
107
108  popMatrix();
109}
110void drawLine() {
111  pushMatrix();
112   strokeWeight(9);
113  stroke(30,250,60);
114  translate(width/2,height-height*0.074);   // moves the starting coordinats to new location
115  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // new updated line
116  popMatrix();
117}
118void drawText() { // draws the texts   on the screen
119  
120  pushMatrix();
121  if(iDistance>40) {
122  noObject = "Out   of Range";
123  }
124  else {
125  noObject = "In Range";
126  }
127  fill(0,0,0);
128   noStroke();
129  rect(0, height-height*0.0648, width, height);
130  fill(98,245,31);
131   textSize(25);
132  
133  text("10cm",width/2+7*Razmer,height-height*0.0833);
134   text("20cm",width/2+17*Razmer,height-height*0.0833);
135  text("30cm",width/2+27*Razmer,height-height*0.0833);
136   text("40cm",width/2+37*Razmer,height-height*0.0833);
137  
138  textSize(40);
139   text("Object: " + noObject, width-width*0.875, height-height*0.0277);
140  text("Angle:   " + iAngle +" ", width-width*0.48, height-height*0.0277);
141  text("Distance:   ", width-width*0.26, height-height*0.0277);
142  if(iDistance<40) {
143  text("         " + iDistance +" cm", width-width*0.225, height-height*0.0277);
144  }
145   textSize(25);
146  fill(98,245,60);
147  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
148   rotate(-radians(-60));
149  text("30",0,0);
150  resetMatrix();
151  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
152   rotate(-radians(-30));
153  text("60",0,0);
154  resetMatrix();
155  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
156   rotate(radians(0));
157  text("90",0,0);
158  resetMatrix();
159  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
160   rotate(radians(-30));
161  text("120",0,0);
162  resetMatrix();
163  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
164   rotate(radians(-60));
165  text("150",0,0);
166  popMatrix(); 
167}
168

/*   Arduino Radar Project
 *
 *   Updated version. Fits any screen   resolution!
 *   Just change the values in the size() function,
 *   with   your screen resolution.
 *      
 *  by Dejan Nedelkovski, updated by Rexhep   Mustafovski
 *  
 */
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;
float Razmer;  // 
int   iAngle, iDistance;
int index1=0;
int index2=0;
int pravec=1;
PFont orcFont;
void   setup() {
  
 
 fullScreen();   //  
 
 Razmer = (height-height*0.21)*0.025;   // 
 
 smooth();
 myPort = new Serial(this,"COM3", 115200); // starts   the serial communication
 myPort.bufferUntil('.'); // reads the data from the   serial port up to the character '.'. So actually it reads this: angle,distance.
   orcFont = loadFont("OCRAExtended-30.vlw");
  
}
void draw() {
  
   fill(98,245,31);
  textFont(orcFont);
  // simulating motion blur and slow   fade of the moving line
  noStroke();
  fill(0,5); 
  rect(0, 0, width,   height-height*0.065); 
  
  fill(98,245,31); // 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=   trim(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= trim(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
  // new updated trimed data
    
  // 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(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);      //      New updated formulas
  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
   arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
  arc(0,0,2*10*Razmer,2*10*Razmer,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*Razmer; // converts 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)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // new updated line 

  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(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));   // new updated line
  popMatrix();
}
void drawText() { // draws the texts   on the screen
  
  pushMatrix();
  if(iDistance>40) {
  noObject = "Out   of Range";
  }
  else {
  noObject = "In Range";
  }
  fill(0,0,0);
   noStroke();
  rect(0, height-height*0.0648, width, height);
  fill(98,245,31);
   textSize(25);
  
  text("10cm",width/2+7*Razmer,height-height*0.0833);
   text("20cm",width/2+17*Razmer,height-height*0.0833);
  text("30cm",width/2+27*Razmer,height-height*0.0833);
   text("40cm",width/2+37*Razmer,height-height*0.0833);
  
  textSize(40);
   text("Object: " + noObject, width-width*0.875, height-height*0.0277);
  text("Angle:   " + iAngle +" ", width-width*0.48, height-height*0.0277);
  text("Distance:   ", width-width*0.26, height-height*0.0277);
  if(iDistance<40) {
  text("         " + iDistance +" cm", width-width*0.225, height-height*0.0277);
  }
   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(); 
}

Simulink model in Matlab

scheme

Appearance of the model in the Simulink simulation tool.

1inary file (no preview

inary file (no preview

Processing code

c_cpp

Copy and paste the code in Processing.

1/*   Arduino Radar Project
2 *
3 *   Updated version. Fits any screen  resolution!
4 *   Just change the values in the size() function,
5 *   with  your screen resolution.
6 *      
7 *  by Dejan Nedelkovski, updated by Rexhep  Mustafovski
8 *  
9 */
10import processing.serial.*; // imports library for  serial communication
11import java.awt.event.KeyEvent; // imports library for reading  the data from the serial port
12import java.io.IOException;
13Serial myPort; //  defines Object Serial
14// defubes variables
15String angle="";
16String distance="";
17String  data="";
18String noObject;
19float pixsDistance;
20float Razmer;  // 
21int  iAngle, iDistance;
22int index1=0;
23int index2=0;
24int pravec=1;
25PFont orcFont;
26void  setup() {
27  
28 
29 fullScreen();   //  
30 
31 Razmer = (height-height*0.21)*0.025;  // 
32 
33 smooth();
34 myPort = new Serial(this,"COM3", 115200); // starts  the serial communication
35 myPort.bufferUntil('.'); // reads the data from the  serial port up to the character '.'. So actually it reads this: angle,distance.
36  orcFont = loadFont("OCRAExtended-30.vlw");
37  
38}
39void draw() {
40  
41  fill(98,245,31);
42  textFont(orcFont);
43  // simulating motion blur and slow  fade of the moving line
44  noStroke();
45  fill(0,5); 
46  rect(0, 0, width,  height-height*0.065); 
47  
48  fill(98,245,31); // green color
49  // calls  the functions for drawing the radar
50  drawRadar(); 
51  drawLine();
52  drawObject();
53  drawText();
54  
55}
56void serialEvent (Serial myPort) { // starts reading  data from the Serial Port
57  // reads the data from the Serial Port up to the  character '.' and puts it into the String variable "data".
58  data = myPort.readStringUntil('.');
59  data = data.substring(0,data.length()-1);
60  
61  index1 = data.indexOf(",");  // find the character ',' and puts it into the variable "index1"
62  
63  angle=  trim(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
64  distance= trim(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
65  // new updated trimed data
66    
67  // converts the  String variables into Integer
68  iAngle = int(angle);
69  iDistance = int(distance);
70}
71void  drawRadar() {
72  pushMatrix();
73  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
74  noFill();
75  strokeWeight(2);
76  stroke(98,245,31);
77  // draws the arc lines
78 
79  arc(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);     //      New updated formulas
80  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
81  arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
82  arc(0,0,2*10*Razmer,2*10*Razmer,PI,TWO_PI);
83  
84  
85  // draws the angle lines
86  line(-width/2,0,width/2,0);
87  line(0,0,(-width/2)*cos(radians(30)),(-width/2)*sin(radians(30)));
88  line(0,0,(-width/2)*cos(radians(60)),(-width/2)*sin(radians(60)));
89  line(0,0,(-width/2)*cos(radians(90)),(-width/2)*sin(radians(90)));
90  line(0,0,(-width/2)*cos(radians(120)),(-width/2)*sin(radians(120)));
91  line(0,0,(-width/2)*cos(radians(150)),(-width/2)*sin(radians(150)));
92  line((-width/2)*cos(radians(30)),0,width/2,0);
93  popMatrix();
94}
95void  drawObject() {
96  pushMatrix();
97  translate(width/2,height-height*0.074); //  moves the starting coordinats to new location
98  strokeWeight(9);
99  stroke(255,10,10);  // red color
100 
101  pixsDistance = iDistance*Razmer; // converts the distance  from the sensor from cm to pixels 
102  // limiting the range to 40 cms
103  if(iDistance<40){
104    // draws the object according to the angle and the distance
105
106  line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // new updated line 
107
108  popMatrix();
109}
110void drawLine() {
111  pushMatrix();
112  strokeWeight(9);
113  stroke(30,250,60);
114  translate(width/2,height-height*0.074);  // moves the starting coordinats to new location
115  line(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // new updated line
116  popMatrix();
117}
118void drawText() { // draws the texts  on the screen
119  
120  pushMatrix();
121  if(iDistance>40) {
122  noObject = "Out  of Range";
123  }
124  else {
125  noObject = "In Range";
126  }
127  fill(0,0,0);
128  noStroke();
129  rect(0, height-height*0.0648, width, height);
130  fill(98,245,31);
131  textSize(25);
132  
133  text("10cm",width/2+7*Razmer,height-height*0.0833);
134  text("20cm",width/2+17*Razmer,height-height*0.0833);
135  text("30cm",width/2+27*Razmer,height-height*0.0833);
136  text("40cm",width/2+37*Razmer,height-height*0.0833);
137  
138  textSize(40);
139  text("Object: " + noObject, width-width*0.875, height-height*0.0277);
140  text("Angle:  " + iAngle +" ", width-width*0.48, height-height*0.0277);
141  text("Distance:  ", width-width*0.26, height-height*0.0277);
142  if(iDistance<40) {
143  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
144  }
145  textSize(25);
146  fill(98,245,60);
147  translate((width-width*0.4994)+width/2*cos(radians(30)),(height-height*0.0907)-width/2*sin(radians(30)));
148  rotate(-radians(-60));
149  text("30",0,0);
150  resetMatrix();
151  translate((width-width*0.503)+width/2*cos(radians(60)),(height-height*0.0888)-width/2*sin(radians(60)));
152  rotate(-radians(-30));
153  text("60",0,0);
154  resetMatrix();
155  translate((width-width*0.507)+width/2*cos(radians(90)),(height-height*0.0833)-width/2*sin(radians(90)));
156  rotate(radians(0));
157  text("90",0,0);
158  resetMatrix();
159  translate(width-width*0.513+width/2*cos(radians(120)),(height-height*0.07129)-width/2*sin(radians(120)));
160  rotate(radians(-30));
161  text("120",0,0);
162  resetMatrix();
163  translate((width-width*0.5104)+width/2*cos(radians(150)),(height-height*0.0574)-width/2*sin(radians(150)));
164  rotate(radians(-60));
165  text("150",0,0);
166  popMatrix(); 
167}
168

/*   Arduino Radar Project
 *
 *   Updated version. Fits any screen  resolution!
 *   Just change the values in the size() function,
 *   with  your screen resolution.
 *      
 *  by Dejan Nedelkovski, updated by Rexhep  Mustafovski
 *  
 */
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;
float Razmer;  // 
int  iAngle, iDistance;
int index1=0;
int index2=0;
int pravec=1;
PFont orcFont;
void  setup() {
  
 
 fullScreen();   //  
 
 Razmer = (height-height*0.21)*0.025;  // 
 
 smooth();
 myPort = new Serial(this,"COM3", 115200); // starts  the serial communication
 myPort.bufferUntil('.'); // reads the data from the  serial port up to the character '.'. So actually it reads this: angle,distance.
  orcFont = loadFont("OCRAExtended-30.vlw");
  
}
void draw() {
  
  fill(98,245,31);
  textFont(orcFont);
  // simulating motion blur and slow  fade of the moving line
  noStroke();
  fill(0,5); 
  rect(0, 0, width,  height-height*0.065); 
  
  fill(98,245,31); // 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=  trim(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= trim(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
  // new updated trimed data
    
  // 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(0,0,2*40*Razmer,2*40*Razmer,PI,TWO_PI);     //      New updated formulas
  arc(0,0,2*30*Razmer,2*30*Razmer,PI,TWO_PI);
  arc(0,0,2*20*Razmer,2*20*Razmer,PI,TWO_PI);
  arc(0,0,2*10*Razmer,2*10*Razmer,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*Razmer; // converts 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)),40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // new updated line 

  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(0,0,40*Razmer*cos(radians(iAngle)),-40*Razmer*sin(radians(iAngle)));  // new updated line
  popMatrix();
}
void drawText() { // draws the texts  on the screen
  
  pushMatrix();
  if(iDistance>40) {
  noObject = "Out  of Range";
  }
  else {
  noObject = "In Range";
  }
  fill(0,0,0);
  noStroke();
  rect(0, height-height*0.0648, width, height);
  fill(98,245,31);
  textSize(25);
  
  text("10cm",width/2+7*Razmer,height-height*0.0833);
  text("20cm",width/2+17*Razmer,height-height*0.0833);
  text("30cm",width/2+27*Razmer,height-height*0.0833);
  text("40cm",width/2+37*Razmer,height-height*0.0833);
  
  textSize(40);
  text("Object: " + noObject, width-width*0.875, height-height*0.0277);
  text("Angle:  " + iAngle +" ", width-width*0.48, height-height*0.0277);
  text("Distance:  ", width-width*0.26, height-height*0.0277);
  if(iDistance<40) {
  text("        " + iDistance +" cm", width-width*0.225, height-height*0.0277);
  }
  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(); 
}

Simulink model in Matlab

scheme

Appearance of the model in the Simulink simulation tool.

1inary file (no preview

inary file (no preview

Downloadable files

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components.

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components

SCHEMATICS

Arduino Mega 2560 Sketch of connecting the components.

SCHEMATICS

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rexhepmustafovski

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