Angular Sweep Radar with Ultrasonic Sensor and Servo Integration

// www.matthewtechub.com
// radar

import processing.serial.*;
import java.util.concurrent.CopyOnWriteArrayList;

Serial myPort;  // The serial port
String angleDistance = "";  // String to hold the data from the Arduino
CopyOnWriteArrayList<Line> lines = new CopyOnWriteArrayList<Line>();  // Thread-safe list

void setup() {
  size(400, 400);
  myPort = new Serial(this, "/dev/cu.usbserial-10", 9600); // Adjust COM port to match your Arduino
  myPort.bufferUntil('\n');
}

void draw() {
  background(200);  // Light gray background
  translate(width/2, height/2);  // Move the origin to the center of the screen
  
  // Draw the radar circles
  stroke(0, 255, 0);
  noFill();
  ellipse(0, 0, 300, 300);  // Outer circle
  ellipse(0, 0, 200, 200);  // Middle circle
  ellipse(0, 0, 100, 100);  // Inner circle
  
  // Draw the radar sweep line
  stroke(0, 255, 0);
  if (lines.size() > 0) {
    // Draw a line representing the sweep direction based on the last angle
    float lastAngle = lines.get(lines.size() - 1).angle;
    line(0, 0, 150 * cos(radians(lastAngle)), 150 * sin(radians(lastAngle)));  // Radar sweep line
  }

  // Draw all detected lines
  for (Line l : lines) {
    stroke(255, 0, 0);  // Red color for the line
    line(0, 0, l.x, l.y);  // Draw the line from the origin to the detected point
  }
}

void serialEvent(Serial myPort) {
  angleDistance = myPort.readStringUntil('\n').trim();  // Read the serial data
  if (angleDistance != null && angleDistance.length() > 0) {
    // Split the angle and distance
    String[] parts = angleDistance.split(",");
    if (parts.length == 2) {
      float angle = float(parts[0]);  // Get the angle in degrees
      float distance = float(parts[1]);  // Get the distance

      // Calculate x and y position
      float x = distance * cos(radians(angle));
      float y = distance * sin(radians(angle));

      // Update the line for the given angle or add a new one
      boolean updated = false;
      for (Line l : lines) {
        if (l.angle == angle) {
          l.x = x;
          l.y = y;
          updated = true;
          break;
        }
      }
      
      if (!updated) {
        lines.add(new Line(x, y, angle));
      }
    }
  }
}

// Class to manage radar lines
class Line {
  float x, y;
  float angle;  // Angle at which the line was recorded

  Line(float x, float y, float angle) {
    this.x = x;
    this.y = y;
    this.angle = angle;
  }
}