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‎arduino_echo_locator.ino

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// ----- arduino pinouts
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#define Trig1 4 //sensor A "Trig" pin
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#define Echo1 5 //sensor A "Echo" pin
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#define Trig2 6 //sensor B "Trig" pin
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#define Echo2 7 //sensor B "Echo" pin
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// ----- results
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float Baseline = 50; //distance between the transducers (cm)
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float Distance1; //from active sender (cm)
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float Distance2; //from passive receiver (cm)
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// ----- task scheduler
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int TaskTimer1 = 0; //task 1 (see ISR(TIMER2_COMPA_vect)
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bool TaskFlag1 = false; //flag 1
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// ===============================
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// setup
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// ===============================
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void setup() {
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// ----- configure serial port
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Serial.begin(115200);
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// ----- configure arduino pinouts
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pinMode(Echo1, INPUT); //make echo pins inputs
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pinMode(Echo2, INPUT);
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pinMode(Trig1, OUTPUT); //make trig pins OUTPUT
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pinMode(Trig2, OUTPUT);
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digitalWrite(Trig1, LOW); //set trig pins LOW
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digitalWrite(Trig2, LOW);
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// ----- configure Timer 2 to generate a compare-match interrupt every 1mS
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noInterrupts(); //disable interrupts
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TCCR2A = 0; //clear control registers
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TCCR2B = 0;
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TCCR2B |= (1 << CS22) | //16MHz/128=8uS
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(1 << CS20) ;
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TCNT2 = 0; //clear counter
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OCR2A = 125 - 1; //8uS*125=1mS (allow for clock propagation)
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TIMSK2 |= (1 << OCIE2A); //enable output compare interrupt
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interrupts(); //enable interrupts
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}
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// ===============================
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// loop()
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// ===============================
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void loop()
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{
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// ----- measure object distances
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if (TaskFlag1)
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{
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TaskFlag1 = false;
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measure();
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// -----Distance1 and Distance2 readings to the display
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Serial.print(Distance1); Serial.print(","); Serial.println(Distance2);
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}
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}
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// ===============================
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// task scheduler (1mS interrupt)
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// ===============================
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ISR(TIMER2_COMPA_vect)
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{
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// ----- timers
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TaskTimer1++; //task 1 timer
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// ----- task1
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if (TaskTimer1 > 499) //interval between pings (50mS=423cm)
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{
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TaskTimer1 = 0; //reset timer
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TaskFlag1 = true; //signal loop() to perform task
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}
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}
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// ===============================
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// measure distances
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// ===============================
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void measure()
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{
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// ----- locals
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unsigned long start_time; //microseconds
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unsigned long finish_time1; //microseconds
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unsigned long finish_time2; //microseconds
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unsigned long time_taken; //microseconds
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boolean echo_flag1; //flags reflect state of echo line
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boolean echo_flag2;
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// ----- send 10uS trigger pulse
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digitalWrite(Trig1, HIGH);
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digitalWrite(Trig2, HIGH);
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delayMicroseconds(10);
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digitalWrite(Trig1, LOW);
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digitalWrite(Trig2, LOW);
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// ----- wait for both echo lines to go high
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while (!digitalRead(Echo1));
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while (!digitalRead(Echo2));
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// ----- record start time
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start_time = micros();
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// ----- reset the flags
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echo_flag1 = false;
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echo_flag2 = false;
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// ----- measure echo times
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while ((!echo_flag1) || (!echo_flag2))
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{
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// ----- Echo1
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if ((!echo_flag1) && (!digitalRead(Echo1))) //Echo1 received
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{
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echo_flag1 = true;
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finish_time1 = micros();
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time_taken = finish_time1 - start_time;
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Distance1 = ((float)time_taken) / 59; //use 59 as there is a return path
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}
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// ----- Echo2
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if ((!echo_flag2) && (!digitalRead(Echo2))) //Echo2 received
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{
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echo_flag2 = true;
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finish_time2 = micros();
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time_taken = finish_time2 - start_time;
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Distance2 = ((float)time_taken) / 29.5; //use 29.5 as there is no return path
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}
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}
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}

‎arduino_echo_locator.pde

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// ----- serial port
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import processing.serial.*; //import the serial library
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Serial myPort; //the Serial port object
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final int Baud_rate = 115200; //communication speed
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String Input_string; //used for incoming data
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// -----custom shape
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PShape Object; //give the shape a name
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int Frame_count = 0; //frame counter
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boolean Frame_visible = true; //true=visible; false=invisible
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// ----- display graphics
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PGraphics Canvas; //name of drawing area to be created
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PFont myFont; //name of font to be created
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float Baseline = 50; //triangle baseline (cm)
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float X; //X coordinate in (cm)
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float Y; //Y coordinate in (cm)
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// ----- sensor distance BELOW baseline (cm)
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float Offset = 50; //assumes square display
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// =========================
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// setup
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// ==========================
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void setup() {
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// ----- configure screen
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size(800, 800, P3D); //define window size, 3D
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background(0); //black
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frameRate(60); //60 frames per second
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// ----- create a drawing area for fading the beam
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Canvas = createGraphics(width, height);
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// ------ create the screen font
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myFont = createFont("Arial Black", 20);
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// ----- configure the Object
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Object = createShape(ELLIPSE, 0, 0, 30, 30); //create the Object
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Object.setFill(color(255, 0, 0, 255)); //red, opaque
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Object.setStroke(color(255, 0, 0, 255)); //red, opaque
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// ----- initialize the serial port
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/*
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IMPORTANT:
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If your display can't see the arduino try changing the [number] associated
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with your COM port.
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The code line " printArray(Serial.list());" generates a list
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of [numbers] within brackets. e.g: [0] "COM5"
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The [number] inside the square bracket MUST match the [number] in the
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code line "myPort = new Serial(this, Serial.list()[0], Baud_rate);"
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*/
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printArray(Serial.list()); //lists your COM ports on screen
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myPort = new Serial(this, Serial.list()[0], Baud_rate);
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myPort.bufferUntil('\n');
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}
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// ==========================
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// draw
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// ==========================
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void draw()
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{
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// ----- refresh the screen
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background(0); //black background
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textFont(myFont, 20); //specify font to be used
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draw_grid(); //draw grid
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draw_object();
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}
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// =======================
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// serial event (called with each Arduino data string)
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// =======================
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void serialEvent(Serial myPort)
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{
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// ----- wait for a line-feed
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Input_string = myPort.readStringUntil('\n');
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println(Input_string); //visual feedback
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// ----- validate
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if (Input_string != null)
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{
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// ----- trim whitespace
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Input_string = trim(Input_string);
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String[] values = split(Input_string, ',');
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// ----- gather Heron variables
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float a = float(values[1]) - float(values[0]); //d2 (vertex -> sensor B)
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float b = float(values[0]); //d1 (vertex -> sensor A)
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float c = Baseline; //baseline
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//float d = c*1.414; //display diagonal (square)
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float d = sqrt(150*150 + 100*100); //diagonal (display + offset)
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float s = (a + b + c)/2; //semi-perimeter
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// ----- validate distances
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/* eliminate bogus errors */
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boolean distances_valid = true;
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if
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(
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(a < 0) || //d1 must be less than d2
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(b > d) || //d1 out-of-range
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(a > d) || //d2 out-of-range
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((s - a) < 0) || //these values must be positive
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((s - b) < 0) ||
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((s - c) < 0)
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)
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{
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distances_valid=false;
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X=1000; //move flashing dot off-screen
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Y=1000; //move flashing dot off-screen
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}
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// ----- apply Heron's formula
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if (distances_valid)
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{
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float area = sqrt(s * (s - a) * (s - b) * (s - c));
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Y = area * 2 / c;
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X = sqrt(b * b - Y * Y);
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// ----- display data for valid echos
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print(" d1: ");
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println(b);
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print(" d2: ");
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println(a);
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print(" base: ");
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println(c);
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print("offset: ");
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println(Offset);
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print(" s: ");
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println(s);
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print(" area: ");
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println(area);
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print(" X: ");
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println(X);
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print(" Y: ");
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println(Y-Offset);
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println("");
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}
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myPort.clear(); //clear the receive buffer
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}
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}
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// ==========================
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// draw_grid
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// ==========================
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void draw_grid()
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{
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pushMatrix();
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scale(0.8);
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translate(width*0.1, height*0.10);
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fill(0);
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stroke(255);
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// ----- border
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strokeWeight(4);
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rect(0, 0, width, height, 20, 20, 20, 20);
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// ----- horizontal lines
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strokeWeight(1);
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line(0, height*0.1, width, height*0.1);
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line(0, height*0.2, width, height*0.2);
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line(0, height*0.3, width, height*0.3);
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line(0, height*0.4, width, height*0.4);
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line(0, height*0.5, width, height*0.5);
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line(0, height*0.6, width, height*0.6);
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line(0, height*0.7, width, height*0.7);
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line(0, height*0.8, width, height*0.8);
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line(0, height*0.9, width, height*0.9);
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// ----- vertical lines
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line(width*0.1, 0, width*0.1, height);
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line(width*0.2, 0, width*0.2, height);
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line(width*0.3, 0, width*0.3, height);
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line(width*0.4, 0, width*0.4, height);
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line(width*0.5, 0, width*0.5, height);
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line(width*0.6, 0, width*0.6, height);
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line(width*0.7, 0, width*0.7, height);
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line(width*0.8, 0, width*0.8, height);
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line(width*0.9, 0, width*0.9, height);
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// ----- label the X-axis
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fill(255); //white text
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textAlign(LEFT, TOP);
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text("0", -20, height+10); //0cm
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text("50", width*0.5-20, height+10); //50cm
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text("100cm", width-20, height+10); //100cm
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// ----- label the y-axis
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textAlign(RIGHT, BOTTOM);
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text("100cm", 10, -10); //100cm
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textAlign(RIGHT, CENTER);
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text("50", -10, height/2); //100cm
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popMatrix();
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}
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// ==========================
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// draw_object
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// ==========================
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void draw_object()
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{
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pushMatrix();
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scale(0.8);
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stroke(0, 255, 0);
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strokeWeight(1);
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translate(width*0.1, height*1.1); //(0,0) now lower-left corner
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// ----- make the object flash
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if ((frameCount-Frame_count)>4)
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{
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Frame_visible = !Frame_visible;
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Frame_count = frameCount;
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}
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// ----- object color scheme
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if (Frame_visible)
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{
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// ----- make object visible
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Object.setFill(color(255, 0, 0, 255)); //opaque
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Object.setStroke(color(255, 0, 0, 255)); //opaque
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} else
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{
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// ----- hide the object
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Object.setFill(color(255, 0, 0, 0)); //clear
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Object.setStroke(color(255, 0, 0, 0)); //clear
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}
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// ----- draw the object
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pushMatrix();
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translate(X/100*width, -(Y-Offset)/100*height);
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shape(Object);
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popMatrix();
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popMatrix();
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}

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