Ze Complete Chaoz

// ZE Complete Chaoz

// Coded By: Vincent Arndt and Evan Finch

//This is maily created to have a servo rotate a platform that can hold any camera or such to rotate in the direction of movement.

#include <Servo.h> // Includes Servo Library
Servo plat; // Gives the Servo a name
int currentUSposition = 0;// Sets the original starting position
int trigPin[] = {2,3,4,5,6}; // Puts all Trigger Pins from the Ultrasonic Sensors into a variable table
int echoPin[] = {7,8,10,11,12}; // Puts all Echo Pins from the Ultrasonic Sensors into a variable table
int currentUSpin = 8; // Sets the starting input pin
int ultraPrev[] = {HIGH, HIGH, HIGH, HIGH, HIGH}; // Sets all previous Ultrasonic Sensors to "OFF"
int USposition[] = {157,117.75,78.5,39.25,0}; // Assigns degrees to the Pins in the variable table
int duration, distance; // Creates the distance and duration variable
boolean USstatus; // Sets a boolean or randomized value to USstatus

void setup()
{
  Serial.begin(9600); // Starts the serial where communication is made in serial monitor
  plat.attach(9); // Assigns the Servo Pin
  pinMode (trigPin, OUTPUT); // Sets the Output
  pinMode (echoPin, INPUT); // Sets the Input

  Serial.print("Calibrating Ultrasonic Sensors "); // Prints in serial monitor words incased {lines 18-27 are used from https://www.hackster.io/lindsi8784/motion-following-motorized-camera-base-61afeb?ref=user&ref_id=58889&offset=0}
    for(int c = 0; c < 15; c++) // Creates a delay in order to fully calibrate the Ultrasonic Sensors
      {
        Serial.print("."); // Prints in serial monitor symbol incased
        delay(1000); // Adds a 1 second delay per increase of "c"
      }
   Serial.println("Ultrasonic Sensors Ready"); // Prints in serial monitor words incased

  plat.write(78.5); // Sets the starting degrees for the servo to turn to if not already there

}

void loop()
{
  digitalWrite(trigPin, HIGH); // Sets the frequency to activate
  delayMicroseconds (10); // Adds a microsecond delay
  digitalWrite(trigPin, LOW); // Sets the frequency to deactivate
  duration = pulseIn (echoPin,HIGH); // Uses the pulse received to create a duration
  distance = (duration/2) / 29.1; // Creates a distance based off the duration read previously
  if (distance >= 700 || distance <=0) // Creates a requirement pool
  {
    Serial.println("No object detected"); // If the requirements are met the serial monitor will output the message
  }

 for (int US = 0; US < 5; US++) // Sets up reading through all Ultrasonic Sensors
 {
  currentUSpin = echoPin[US]; // sets variables to equal each other from varial table
  USstatus = digitalRead (currentUSpin); // Uses boolean to set values to be used

  if(ultraPrev[US] == LOW) // Uses the opposite setup of state to initiate the rotation
  {
    if (currentUSposition != currentUSpin && ultraPrev[US] == LOW) // Set up requirement pool
    {
      plat.write(USposition[US]); // Sets the Servo to face a particular direction
      Serial.println(USposition[US]); // Displays where the sound is being heard
      Serial.println ("Distance:"); // Prints in serial monitor the message
      Serial.print(distance); //  Prints the number being used as distance
      delay(50); // Sets a small delay
      currentUSposition = currentUSpin; // Changes the position of the Servo to match the pin registering noise
      ultraPrev[US] = HIGH; // Sets the Pin sensing noise to a ON state
    }
    ultraPrev[US] = HIGH; // Sets Sensor to ON state
    }
  else // Creates a backup
  {
    ultraPrev[US] = LOW; // Sets Sensors to OFF state
  }
 }
}