Satyavrat Wagle
Published © GPL3+

Ultrasonic Map-Maker using an Arduino Yun

Generates maps based on distance between itself and obstacles autonomously and provides visual feedback.

EasyFull instructions provided4 hours51,795
Ultrasonic Map-Maker using an Arduino Yun

Things used in this project

Hardware components

Arduino Yun
Arduino Yun
×1
Ultrasonic Sensor
×1
Servos (Tower Pro MG996R)
×1
Jumper wires (generic)
Jumper wires (generic)
×10

Software apps and online services

Arduino IDE
Arduino IDE
MATLAB
MATLAB

Story

Read more

Schematics

YunConfig.fzz

Fritzing file for servo and Ultrasonic sensor connections

Code

matlab_code_to_run_on_pc.m

MATLAB
MatLab code to be compiled and executed on PC
theta = 0:(pi/180):pi;
s = serial('COM10');
s.BaudRate=9600
fopen(s)
i = 0;

inc = 1;

while i<180
   A = fgets(s);
   num(i+1) = str2num(A);
   i = i+1;
end
fclose(s)

j = 1

while j<181
    tab(j,1) = (j-1)*inc
    tab(j,2) = num(j)
    tab(j,3) = num(j)*cosd((j-1)*inc)
    tab(j,4) = num(j)*sind((j-1)*inc)
    j = j+1
end
%figure
%polar(theta,num)

plot(tab(:,3),tab(:,4))

Arduino Code

Arduino
Arduino Code to be uploaded to Arduino Yun
#include <Servo.h>
#include <NewPing.h>

#define TRIGGER_PIN  12 
#define ECHO_PIN     11  
#define MAX_DISTANCE 200 

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); 
Servo myservo;  

int pos = 0;   
int it = 10;

void setup() {
  myservo.attach(9); 
  Serial.begin(9600);
  delay(3000);
}

void loop() {
  int i = 0;
  int t = 0;
  int a = 0;

  for (i = 0; i < 180; i ++)
  {
    unsigned int uS = sonar.ping();
    myservo.write(i);
    delay(20);
    for (t = 0; t < it; t++)
    {
      uS = sonar.ping();
      a = uS/US_ROUNDTRIP_CM + a;
      delay(30);
    }
    
    a = a / (it-1);
    t = 0;

    Serial.println(a); 
    a = 0;
  }

}

Credits

Satyavrat Wagle

Satyavrat Wagle

6 projects • 37 followers
I have an active interest in IoT, Wireless Sensor Networks, Single Board Computing Implementations, Embedded Systems, and Robotics.

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