{"id":39,"date":"2019-04-22T16:02:00","date_gmt":"2019-04-22T16:02:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=39"},"modified":"2019-05-04T11:17:40","modified_gmt":"2019-05-04T11:17:40","slug":"sonarduino-indice-integrantes","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/sonarduino-indice-integrantes\/","title":{"rendered":"SONARDUINO"},"content":{"rendered":"

\n<\/p><\/blockquote>\n

\nSonarduino<\/span><\/u><\/i><\/div>\n

<\/p>\n

\n\u00cdNDICE<\/span><\/b><\/u><\/span><\/div>\n
\n-INTEGRANTES. <\/span><\/span>1<\/span><\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-INTRODUCCI\u00d3N.. <\/span><\/span>1<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-MATERIALES UTILIZADOS. <\/span><\/span>2<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-DESARROLLO DEL PROYECTO.. <\/span><\/span>2<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-C\u00d3DIGO.. <\/span><\/span>4<\/span><\/span><\/span><\/span><\/span>
\n-V\u00cdDEO<\/span><\/span><\/div>\n
\n-PROBLEMAS ENCONTRADOS. <\/span><\/span>11<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-MEJORAS QUE SE PODR\u00cdAN HACER. <\/span><\/span>11<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n-CONCLUSI\u00d3N.. <\/span><\/span>12<\/span><\/span><\/span><\/span><\/span><\/div>\n
\n<\/div>\n

<\/p>\n

\nINTEGRANTES<\/u><\/span><\/span><\/h1>\n
\nEste proyecto ha sido realizado por
\nlos miembros del grupo 1 del campus de Vic\u00e1lvaro de la asignatura de Sistemas
\nEmpotrados y de Tiempo Real (SETR). Estos miembros son:<\/span><\/div>\n
\n      <\/span>-Jos\u00e9 Antonio Plaza Carro.<\/span><\/div>\n
\n      <\/span>-Pablo Priego P\u00e9rez.<\/span>
\n
<\/span><\/div>\n

\nINTRODUCCI\u00d3N<\/u><\/span><\/span><\/h1>\n
\nEl objetivo de este proyecto es la
\nrealizaci\u00f3n de un sonar que detecte los objetos que tiene  <\/span>una cierta distancia, informando de la
\npresencia de dichos objetos gracias a un programa y su c\u00f3digo correspondiente.<\/span><\/div>\n
\nEste programa, llamado \u201cProcessing<\/i>\u201d, se sirve de la pantalla del
\nordenador para representar, en un semic\u00edrculo, cualquier presencia detectada,
\nlo que lleva a cabo mediante el color rojo. En caso de no detectar nada,
\nmostrar\u00e1 el color verde.<\/span><\/div>\n
\nAdem\u00e1s de saber si hay o no alg\u00fan
\nobjeto o cualquier otro tipo de presencia en el rango de detecci\u00f3n, con este
\nproyecto es posible conocer la distancia en cent\u00edmetros a la que se encuentra
\nese objeto, ya que \u201cProcessing\u201d <\/i>nos
\nlo indica en la parte inferior de la pantalla.<\/i><\/span>
\n
<\/span><\/div>\n

\nMATERIALES UTILIZADOS<\/u><\/span><\/span><\/h1>\n
\n-Placa Arduino Uno (40\u20ac)<\/span><\/div>\n
\n-Cables jumpers
\nmacho-hembra (5\u20ac)<\/span><\/div>\n
\n-Cables jumpers
\nmacho-macho (3,5\u20ac)<\/span><\/div>\n
\n-Servomotor (Micro Tower
\nPro SG90) (7\u20ac)<\/span><\/div>\n
\n-Placa Protoboard (6,5\u20ac)<\/span><\/div>\n
\n-Sensor Ultras\u00f3nico
\n(HCSR04) (6,25\u20ac)<\/span><\/div>\n
\n-Cart\u00f3n <\/span><\/div>\n
\n-Pistola de pegamento
\ntermofusible (8.50\u20ac)<\/span><\/div>\n
\n-Varitas de pegamento (2.20\u20ac)<\/span><\/div>\n
\nTotal: 78,95\u20ac<\/b><\/span>
\n
<\/span><\/div>\n

\nDESARROLLO DEL PROYECTO<\/u><\/span><\/span><\/h1>\n
\nEn primer lugar, nos hemos dedicado a
\nrealizar la parte de las conexiones para saber qu\u00e9 pines de la placa Arduino
\nvamos a utilizar en el proyecto, conectando todos los cables de manera adecuada
\nen la protoboard.<\/span><\/div>\n
\nAqu\u00ed adjunto una foto del esquema de
\nlas conexiones del Sonarduino:<\/span><\/div>\n
\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\nComo vemos en la imagen, se conectan,
\ntambi\u00e9n, dos elementos indispensables para hacer funcionar el Sonarduino
\ncorrectamente y cuyo funcionamiento explicaremos a continuaci\u00f3n. Hablamos del
\nservo motor y del sensor ultras\u00f3nico. <\/span><\/div>\n
\nEl servomotor servir\u00e1 para mover el
\nsensor ultras\u00f3nico realizando giros de 180\u00ba sobre s\u00ed mismo. <\/span><\/div>\n
\n<\/div>\n

<\/p>\n

\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\nEl sensor ultras\u00f3nico est\u00e1 compuesto
\npor dos partes, un altavoz que env\u00eda ultrasonidos y un micr\u00f3fono que recoge las
\nondas que han rebotado en alg\u00fan objeto o, si no ha encontrado, tras un tiempo
\nde espera determina que no hay ning\u00fan objeto en su rango. Para calcular la
\ndistancia lo consigue mediante el tiempo que haya tardado en volver a recibir
\nla onda y devuelve la distancia con el objeto.<\/span><\/div>\n
\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\n<\/span><\/span><\/div>\n
\n<\/div>\n
\nAhora vamos con el c\u00f3digo. En esta
\nparte tenemos el c\u00f3digo del Arduino, para hacer que se mueva de una determinada
\nmanera el servomotor y que el sensor recoja datos y, mientras sucede todo esto,
\nse env\u00eda al programa \u201cProcessing\u201d <\/i>que,
\ncomo vimos en la introducci\u00f3n, va pintando todos los datos que el sensor le va
\nenviando mientras el servomotor contin\u00faa girando. En la parte del \u201cProcessing\u201d<\/i>, tenemos que decir que hemos
\nacortado el rango de detecci\u00f3n de objetos a 40 cm del sensor para que no sea
\nmuy engorroso.<\/span>
\n
<\/span><\/div>\n

\nC\u00d3DIGO<\/u><\/span><\/span><\/h1>\n
\n–C\u00f3digo del Arduino:<\/u><\/span><\/b><\/div>\n
\n#include <Servo.h>. <\/span><\/div>\n
\n<\/div>\n
\nconst int trigPin = 10;<\/span><\/div>\n
\nconst int echoPin = 11;<\/span><\/div>\n
\n<\/div>\n
\nlong duration;<\/span><\/div>\n
\nint distance;<\/span><\/div>\n
\nServo myServo;<\/span><\/div>\n
\nvoid setup() {<\/span><\/div>\n
\n 
\n<\/span>pinMode(trigPin, OUTPUT);<\/span><\/div>\n
\n 
\n<\/span>pinMode(echoPin, INPUT); <\/span><\/div>\n
\n 
\n<\/span>Serial.begin(9600);<\/span><\/div>\n
\n 
\n<\/span>myServo.attach(12);<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid loop() {<\/span><\/div>\n
\n 
\n<\/span>for(int i=0;i<=180;i++){  <\/span><\/span><\/div>\n
\n 
\n<\/span>myServo.write(i);<\/span><\/div>\n
\n 
\n<\/span>delay(30);<\/span><\/div>\n
\n 
\n<\/span>distance = calculateDistance();<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>Serial.print(i); <\/span><\/div>\n
\n 
\n<\/span>Serial.print(\u00ab,\u00bb);<\/span><\/div>\n
\n 
\n<\/span>Serial.print(distance);<\/span><\/div>\n
\n 
\n<\/span>Serial.print(\u00ab.\u00bb);<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n<\/div>\n
\n 
\n<\/span>for(int i=180;i>0;i–){ <\/span><\/div>\n
\n 
\n<\/span>myServo.write(i);<\/span><\/div>\n
\n 
\n<\/span>delay(30);<\/span><\/div>\n
\n 
\n<\/span>distance = calculateDistance();<\/span><\/div>\n
\n 
\n<\/span>Serial.print(i);<\/span><\/div>\n
\n 
\n<\/span>Serial.print(\u00ab,\u00bb);<\/span><\/div>\n
\n 
\n<\/span>Serial.print(distance);<\/span><\/div>\n
\n 
\n<\/span>Serial.print(\u00ab.\u00bb);<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n}<\/span><\/div>\n
\n<\/div>\n
\nint calculateDistance(){ <\/span><\/div>\n
\n 
\n<\/span>digitalWrite(trigPin, LOW); <\/span><\/div>\n
\n 
\n<\/span>delayMicroseconds(2);<\/span><\/div>\n
\n 
\n<\/span>digitalWrite(trigPin, HIGH); <\/span><\/div>\n
\n 
\n<\/span>delayMicroseconds(10);<\/span><\/div>\n
\n 
\n<\/span>digitalWrite(trigPin, LOW);<\/span><\/div>\n
\n 
\n<\/span>duration = pulseIn(echoPin, HIGH);<\/span><\/div>\n
\n 
\n<\/span>distance= duration*0.034\/2;<\/span><\/div>\n
\n 
\n<\/span>return distance;<\/span><\/div>\n
\n}<\/span><\/div>\n
\n<\/div>\n
\n–C\u00f3digo del Processing:<\/u><\/span><\/b><\/div>\n
\nimport processing.serial.*;<\/span><\/div>\n
\nimport java.awt.event.KeyEvent;<\/span><\/div>\n
\nimport java.io.IOException;<\/span><\/div>\n
\nSerial myPort;<\/span><\/div>\n
\n<\/div>\n
\nString angle=\u00bb\u00bb;<\/span><\/div>\n
\nString distance=\u00bb\u00bb;<\/span><\/div>\n
\nString data=\u00bb\u00bb;<\/span><\/div>\n
\nString noObject;<\/span><\/div>\n
\nfloat pixsDistance;<\/span><\/div>\n
\nint iAngle, iDistance;<\/span><\/div>\n
\nint index1=0;<\/span><\/div>\n
\nint index2=0;<\/span><\/div>\n
\nPFont orcFont;<\/span><\/div>\n
\nvoid setup() {<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n <\/span>size (1920, 1080);<\/span><\/div>\n
\n <\/span>smooth();<\/span><\/div>\n
\n <\/span>myPort = new Serial(this,\u00bbCOM4″,
\n9600);<\/span><\/div>\n
\n <\/span>myPort.bufferUntil(‘.’); <\/span><\/div>\n
\n <\/span>orcFont =
\nloadFont(\u00abOCRAExtended-30.vlw\u00bb);<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid draw() {<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>fill(98,245,31);<\/span><\/div>\n
\n 
\n<\/span>textFont(orcFont);<\/span><\/div>\n
\n 
\n<\/span>noStroke();<\/span><\/div>\n
\n 
\n<\/span>fill(0,4); <\/span><\/div>\n
\n 
\n<\/span>rect(0, 0, width, height-height*0.065); <\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>fill(98,245,31);<\/span><\/div>\n
\n 
\n<\/span>drawRadar(); <\/span><\/div>\n
\n 
\n<\/span>drawLine();<\/span><\/div>\n
\n 
\n<\/span>drawObject();<\/span><\/div>\n
\n 
\n<\/span>drawText();<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid serialEvent (Serial myPort) {<\/span><\/div>\n
\n 
\n<\/span>data = myPort.readStringUntil(‘.’);<\/span><\/div>\n
\n 
\n<\/span>data = data.substring(0,data.length()-1);<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>index1 = data.indexOf(\u00ab,\u00bb); <\/span><\/div>\n
\n 
\n<\/span>angle= data.substring(0, index1);<\/span><\/div>\n
\n 
\n<\/span>distance= data.substring(index1+1, data.length());<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>iAngle = int(angle);<\/span><\/div>\n
\n 
\n<\/span>iDistance = int(distance);<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid drawRadar() {<\/span><\/div>\n
\n 
\n<\/span>pushMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate(width\/2,height-height*0.074); <\/span><\/div>\n
\n 
\n<\/span>noFill();<\/span><\/div>\n
\n 
\n<\/span>strokeWeight(2);<\/span><\/div>\n
\n 
\n<\/span>stroke(98,245,31);<\/span><\/div>\n
\n 
\n<\/span>arc(0,0,(width-width*0.0625),(width-width*0.0625),PI,TWO_PI);<\/span><\/div>\n
\n 
\n<\/span>arc(0,0,(width-width*0.27),(width-width*0.27),PI,TWO_PI);<\/span><\/div>\n
\n 
\n<\/span>arc(0,0,(width-width*0.479),(width-width*0.479),PI,TWO_PI);<\/span><\/div>\n
\n 
\n<\/span>arc(0,0,(width-width*0.687),(width-width*0.687),PI,TWO_PI);<\/span><\/div>\n
\n 
\n<\/span>line(-width\/2,0,width\/2,0);<\/span><\/div>\n
\n 
\n<\/span>line(0,0,(-width\/2)*cos(radians(30)),(-width\/2)*sin(radians(30)));<\/span><\/div>\n
\n 
\n<\/span>line(0,0,(-width\/2)*cos(radians(60)),(-width\/2)*sin(radians(60)));<\/span><\/div>\n
\n <\/span> <\/span>line(0,0,(-width\/2)*cos(radians(90)),(-width\/2)*sin(radians(90)));<\/span><\/div>\n
\n 
\n<\/span>line(0,0,(-width\/2)*cos(radians(120)),(-width\/2)*sin(radians(120)));<\/span><\/div>\n
\n 
\n<\/span>line(0,0,(-width\/2)*cos(radians(150)),(-width\/2)*sin(radians(150)));<\/span><\/div>\n
\n 
\n<\/span>line((-width\/2)*cos(radians(30)),0,width\/2,0);<\/span><\/div>\n
\n 
\n<\/span>popMatrix();<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid drawObject() {<\/span><\/div>\n
\n 
\n<\/span>pushMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate(width\/2,height-height*0.074);<\/span><\/div>\n
\n 
\n<\/span>strokeWeight(9);<\/span><\/div>\n
\n 
\n<\/span>stroke(255,10,10);<\/span><\/div>\n
\n 
\n<\/span>pixsDistance = iDistance*((height-height*0.1666)*0.025);<\/span><\/div>\n
\n 
\n<\/span>if(iDistance<40){<\/span><\/div>\n
\n 
\n<\/span>line(pixsDistance*cos(radians(iAngle)),-pixsDistance*sin(radians(iAngle)),(width-width*0.505)*cos(radians(iAngle)),-(width-width*0.505)*sin(radians(iAngle)));<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n 
\n<\/span>popMatrix();<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid drawLine() {<\/span><\/div>\n
\n 
\n<\/span>pushMatrix();<\/span><\/div>\n
\n 
\n<\/span>strokeWeight(9);<\/span><\/div>\n
\n 
\n<\/span>stroke(30,250,60);<\/span><\/div>\n
\n 
\n<\/span>translate(width\/2,height-height*0.074);<\/span><\/div>\n
\n 
\n<\/span>line(0,0,(height-height*0.12)*cos(radians(iAngle)),-(height-height*0.12)*sin(radians(iAngle)));<\/span><\/div>\n
\n 
\n<\/span>popMatrix();<\/span><\/div>\n
\n}<\/span><\/div>\n
\nvoid drawText() {<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>pushMatrix();<\/span><\/div>\n
\n 
\n<\/span>if(iDistance>40) {<\/span><\/div>\n
\n 
\n<\/span>noObject = \u00abOut of Range\u00bb;<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n 
\n<\/span>else {<\/span><\/div>\n
\n 
\n<\/span>noObject = \u00abIn Range\u00bb;<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n 
\n<\/span>fill(0,0,0);<\/span><\/div>\n
\n 
\n<\/span>noStroke();<\/span><\/div>\n
\n 
\n<\/span>rect(0, height-height*0.0648, width, height);<\/span><\/div>\n
\n 
\n<\/span>fill(98,245,31);<\/span><\/div>\n
\n 
\n<\/span>textSize(25);<\/span><\/div>\n
\n 
\n<\/span><\/span><\/div>\n
\n 
\n<\/span>text(\u00ab10cm\u00bb,width-width*0.3854,height-height*0.0833);<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab20cm\u00bb,width-width*0.281,height-height*0.0833);<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab30cm\u00bb,width-width*0.177,height-height*0.0833);<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab40cm\u00bb,width-width*0.0729,height-height*0.0833);<\/span><\/div>\n
\n 
\n<\/span>textSize(40);<\/span><\/div>\n
\n 
\n<\/span>text(\u00abObject: \u00bb + noObject, width-width*0.875,
\nheight-height*0.0277);<\/span><\/div>\n
\n 
\n<\/span>text(\u00abAngle: \u00bb + iAngle +\u00bb \u00b0\u00bb, width-width*0.48,
\nheight-height*0.0277);<\/span><\/div>\n
\n 
\n<\/span>text(\u00abDistance: \u00ab, width-width*0.26, height-height*0.0277);<\/span><\/div>\n
\n 
\n<\/span>if(iDistance<40) {<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab        <\/span>\u00bb +
\niDistance +\u00bb cm\u00bb, width-width*0.225, height-height*0.0277);<\/span><\/div>\n
\n 
\n<\/span>}<\/span><\/div>\n
\n 
\n<\/span>textSize(25);<\/span><\/div>\n
\n 
\n<\/span>fill(98,245,60);<\/span><\/div>\n
\n 
\n<\/span>translate((width-width*0.4994)+width\/2*cos(radians(30)),(height-height*0.0907)-width\/2*sin(radians(30)));<\/span><\/div>\n
\n 
\n<\/span>rotate(-radians(-60));<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab30\u00b0\u00bb,0,0);<\/span><\/div>\n
\n 
\n<\/span>resetMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate((width-width*0.503)+width\/2*cos(radians(60)),(height-height*0.0888)-width\/2*sin(radians(60)));<\/span><\/div>\n
\n 
\n<\/span>rotate(-radians(-30));<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab60\u00b0\u00bb,0,0);<\/span><\/div>\n
\n 
\n<\/span>resetMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate((width-width*0.507)+width\/2*cos(radians(90)),(height-height*0.0833)-width\/2*sin(radians(90)));<\/span><\/div>\n
\n 
\n<\/span>rotate(radians(0));<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab90\u00b0\u00bb,0,0);<\/span><\/div>\n
\n 
\n<\/span>resetMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate(width-width*0.513+width\/2*cos(radians(120)),(height-height*0.07129)-width\/2*sin(radians(120)));<\/span><\/div>\n
\n 
\n<\/span>rotate(radians(-30));<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab120\u00b0\u00bb,0,0);<\/span><\/div>\n
\n 
\n<\/span>resetMatrix();<\/span><\/div>\n
\n 
\n<\/span>translate((width-width*0.5104)+width\/2*cos(radians(150)),(height-height*0.0574)-width\/2*sin(radians(150)));<\/span><\/div>\n
\n 
\n<\/span>rotate(radians(-60));<\/span><\/div>\n
\n 
\n<\/span>text(\u00ab150\u00b0\u00bb,0,0);<\/span><\/div>\n
\n 
\n<\/span>popMatrix(); <\/span><\/div>\n
\n}<\/span>
\n
<\/span>
\n
<\/span>
\nV\u00cdDEO<\/b><\/span><\/u>
\n
<\/b><\/span><\/u><\/p>\n
\n