Arduino Ultrasonic Project

 int trig2 = 11; //Trig and echo pin setup for the Ultrasonic sensors

int echo2 = 10;

int trig1 = 13;

int echo1 = 12;

int trig3 = 7;

int echo3 = 6;

int trig4 = 4;

int echo4 = 3;

int button1 = 8;  //Button variable setup

int button2 = 9;

int button3 = 2;

int button0 = 5;

int x;       //x integer for the x coordinate

int y;       //y integer for the y coordinate

int px = x;  //sets previous x as x

int py = y;  // sets previous y as y

int inByte = 0;  //For arduino to processing serial com

int s1 = 4; //sesnor region 1

int s12 = 6; //sesnor region 1 and 2

int s2 = 8; //sesnor region 2

int s23 = 10; //sesnor region 2 and 3

int s3 = 12; //sesnor region 3

int s34 = 14; //sesnor region 3 and 4

int s4 = 16; //sesnor region 4

int potpin = 2; //potentiometer pin

int pot;  //potentiometer value

int colorval; //color value (from potentiometer)

void setup() {

  Serial.begin (9600);

  pinMode(trig2, OUTPUT);

  pinMode(echo2, INPUT);

  pinMode(trig4, OUTPUT);

  pinMode(echo4, INPUT);

  pinMode(trig3, OUTPUT);

  pinMode(echo3, INPUT);

  pinMode(trig1, OUTPUT);

  pinMode(echo1, INPUT);

  pinMode(button1, INPUT);

  pinMode(button2, INPUT);

  pinMode(button3, INPUT);

  pinMode(button0, INPUT);

  establishContact(); //establish contact with processing

}

void loop() {

  int button1val = digitalRead(button1);   //setting up buttons

  int button2val = digitalRead(button2);

  int button3val = digitalRead(button3);

  int button0val = digitalRead(button0);

  pot= analogRead(potpin);  //reads potentiometer value

  colorval = pot; //translates pot val to color

  

  if (Serial.available() > 0)

  {

    inByte = Serial.read();

    long duration2, distance2; //duration and distance for the sensors

    long duration4, distance4;

    long duration3, distance3;

    long duration1, distance1;

  

    digitalWrite(trig2, LOW); //trigger the ultrasonic pins

    delay(.002);

    digitalWrite(trig2, HIGH);

    delay(.01);

    digitalWrite(trig2, LOW);

    duration2 = pulseIn(echo2, HIGH); //record the time it takes for the sound to return

    distance2 = (duration2 / 2) / 29.1; //convert the time to distance

    digitalWrite(trig4, LOW);

    delay(.002);

    digitalWrite(trig4, HIGH);

    delay(.01);

    digitalWrite(trig4, LOW);

    duration4 = pulseIn(echo4, HIGH);

    distance4 = (duration4 / 2) / 29.1;

    digitalWrite(trig3, LOW);

    delay(.002);

    digitalWrite(trig3, HIGH);

    delay(.01);

    digitalWrite(trig3, LOW);

    duration3 = pulseIn(echo3, HIGH);

    distance3 = (duration3 / 2) / 29.1;

    digitalWrite(trig1, LOW);

    delay(.002);

    digitalWrite(trig1, HIGH);

    delay(.01);

    digitalWrite(trig1, LOW);

    duration1 = pulseIn(echo1, HIGH);

    distance1 = (duration1 / 2) / 29.1;

    if (distance1 <30 && distance2 >30) //If sensor detects in a certain area 

    {

      x = distance1;   //set x and y to the recorded distances

      y = s1;

    }

    else if (distance1 <30 && distance2 <30) 

    {

      x = ((distance1+distance2)/2);

      y = s12;

    }

    else if (distance2 <30 && distance3 >30) //different statements for different sensors

    {

      x = distance2;

      y = s2;

    }

     else if (distance2 <30 && distance3 <30)

    {

      x = ((distance2+distance3)/2);

      y = s23;

    }

     else if (distance2 >30 && distance3 <30)

    {

      x = distance3;

      y = s3;

    }

     else if (distance3 <30 && distance4 <30)

    {

      x = ((distance3+distance4)/2);

      y = s34;

    }

    else if (distance3 >30 && distance4 <30)

    {

      x = distance4;

      y = s4;

    }

    

   

    Serial.write(x);    //Serial write everything (sends it to processing via serial)

      Serial.write(y);    

      Serial.write(px);

     Serial.write(py);

     Serial.write(button1val);

     Serial.write(button2val);

     Serial.write(button3val);

     Serial.write(button0val);

     Serial.write(colorval);

       px = x;  //Set px and py to x and y (used if lines are reimplemented)

      py= y; 

      

   // }

    delay(50);

  }

}

void establishContact() {   //prints A until contact is established.

  while (Serial.available() <= 0) {

    Serial.print('A');   // send a capital A

    delay(300);

  }

}