Update tank_0.1.ino

tank_0.1.ino

@@ -12,6 +12,15 @@
 int motorSpeedA = 0;
 int motorSpeedB = 0;
 int i;
+// Includes the Servo library
+#include <Servo.h>. 
+// Defines Tirg and Echo pins of the Ultrasonic Sensor
+const int trigPin = 10;
+const int echoPin = 11;
+// 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(enA, OUTPUT);
@@ -20,6 +29,10 @@ void setup() {
   pinMode(in2, OUTPUT);
   pinMode(in3, OUTPUT);
   pinMode(in4, OUTPUT);
+  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
+  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
+  Serial.begin(9600);
+  myServo.attach(12); // Defines on which pin is the servo motor attached
 }
 void loop() {
     // Set Motor A forkward
@@ -49,4 +62,38 @@ void loop() {
       delay(200);
     }
     delay(2000);
+     // 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(int i=165;i>15;i--){  
+  myServo.write(i);
+  delay(30);
+  distance = calculateDistance();
+  Serial.print(i);
+  Serial.print(",");
+  Serial.print(distance);
+  Serial.print(".");
+  }
 }
+// Function for calculating the distance measured by the Ultrasonic sensor
+int calculateDistance(){ 
+  
+  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;
+  return distance;
+}
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