servo_motor.ino

Arduino Code for Servomotor Interfacing

#include <Servo.h>. // includes the Servo library
// Defines Tirg and Echo pins of the Ultrasonic Sensor
int trigPin = 8;
int echoPin = 9;
// Variables for the duration and the distance
long duration;
int distance;
Servo myServo; // Creates 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); //baud rate
myServo.attach(12); // Defines on which pin is the servo motor attached
}
void loop() {
// rotates the servo motor from 15 to 165 degrees
for(int i=15;i<=165;i++){
myServo.write(i);
delay(30);
distance = calculateDistance();
// Calls a function for calculating the distance measured by the Ultrasonic sensor for each degree
Serial.print(i); // 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.print(distance); // Sends the distance value into the Serial Port
Serial.print(".");
// Sends addition character right next to the previous value needed later in the Processing IDE for indexing
}

// Repeats the previous lines from 165 to 15 degrees for reverse operation
for(int i=165;i>15;i--){
myServo.write(i);
delay(50);
distance = calculateDistance();
Serial.print(i);
Serial.print(",");
Serial.print(distance);
Serial.print(".");
}
}
// Function for calculating the distance measured by the Ultrasonic sensor
int calculateDistance(){
//Sets the trigPin on LOW state for 2 micro seconds
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH); // Reads the echoPin, returns the sound wave travel time in microseconds
distance= duration*0.034/2; //Formula of calculating the distance
return distance;
}
}

}