Notes

/*------------------------------------------
Sonar Radar System
By https://nonstopengineering.blogspot.com/
Using Arduino,Ultrasonic and Servo
------------------------------------------*/
#include <Servo.h> //Servo Library

const int trigPin = 9; //Initializing trigger pin
const int echoPin = 8; //Initializing echo pin
long duration;
int distance;

Servo myServo; // Creating a servo object for controlling the servo motor

void setup() {
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
Serial.begin(9600); //Sets Baud rate for Serial communication
myServo.attach(10); // Defines on which pin is the servo motor attached
}
void loop() {
for(int a=0;a<=180;a++) // rotates the servo motor from 0 to 180 degrees
{
myServo.write(a); //Sending stes to servo which servo should move
delay(20);
distance = Distance(); // Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
Serial.print(a); // Sends the current degree into the Serial Port
Serial.print(","); // Sends addition character right next to the previous value needed later in the Processing IDE for indexing
Serial.println(distance); // Sends the distance value into the Serial Port
}
for(int b=180;b>0;b--) // Rversing rotation from 180 to 0 degrees
{
myServo.write(b);
delay(20);
distance = Distance();
Serial.print(b);
Serial.print(",");
Serial.println(distance);
}
}

int Distance() // Function for calculating the distance measured by the Ultrasonic sensor
{

digitalWrite(trigPin, LOW); // Sets the trigPin on LOW state for 2 micro seconds
delayMicroseconds(2);
digitalWrite(trigPin, HIGH); // Sets the trigPin on HIGH state for 10 micro seconds
delayMicroseconds(10);
digitalWrite(9, LOW);
duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
distance= duration*0.034/200; //Converting distance into meters
return distance;
}