//https://projecthub.arduino.cc/harshdeepsingh/mini-radar-station-with-position-indicator-and-real-time-range-variation-80a49b
#include <Servo.h>

#define trigPin 22  // Ultrasonic sensor trig pin
#define echoPin 24  // Ultrasonic sensor echo pin
#define servoPin 2  // Servo motor signal pin

Servo myservo;
// Servo position (0-180 degrees)
int pos = 0;
int ledPins[] = {3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
int ledScanPos[] = {27, 29, 31, 33, 35, 37, 39, 41, 43, 45};
int ledDist[] = {26, 28, 30, 32, 34, 36, 38, 40, 42, 44};
int numLeds = sizeof(ledPins) / sizeof(ledPins[0]);
int dt = 200;
int potPin = A0, mapped_value, distance_pot, distIndex;
long duration, distance_cm;

void setup() {
  Serial.begin(9600);
  myservo.attach(servoPin);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  for (int i = 0; i < numLeds; i++) {
    pinMode(ledPins[i], OUTPUT);
  }
}

void loop() {
  // One direction scan
  // Scan in 18-degree increments
  for (pos = 0; pos <= 180; pos += 18) {
    myservo.write(pos);
    // Adjust scan speed as needed
    delay(dt);

    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    duration = pulseIn(echoPin, HIGH);
    distance_cm = duration * 0.034 / 2;

    mapped_value = analogRead(potPin);
    distance_pot = map(mapped_value, 0, 1023, 10, 100);
    distIndex = map(mapped_value, 0, 1023, 0, 10);

    for (int k = 0; k < 10; k++) {
      digitalWrite(ledDist[k], k < distIndex ? HIGH : LOW);
    }
    // Determine which LED corresponds to the servo angle
    int ledIndex = pos / 18;
    //Tells the status of scan
    digitalWrite(ledScanPos[ledIndex], HIGH);

    if (distance_cm < distance_pot) {
      // Turn on LED if obstacle detected
      digitalWrite(ledPins[ledIndex], HIGH);
    } else {
      // Turn off LED if no obstacle
      digitalWrite(ledPins[ledIndex], LOW);
    }
    Serial.print("Angle: ");
    Serial.print(pos);
    Serial.print(" degrees, Distance: ");
    Serial.print(distance_cm);
    Serial.println(" cm");
  }
  // Other direction scan
  // Scan in 18-degree increments
  for (pos = 180; pos >= 0; pos -= 18) {
    myservo.write(pos);
    // Adjust scan speed as needed
    delay(dt);

    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);

    duration = pulseIn(echoPin, HIGH);
    distance_cm = duration * 0.034 / 2;

    mapped_value = analogRead(potPin);
    distance_pot = map(mapped_value, 0, 1023, 10, 100);
    distIndex = map(mapped_value, 0, 1023, 0, 10);

    for (int k = 0; k < 10; k++) {
      digitalWrite(ledDist[k], k < distIndex ? HIGH : LOW);
    }
    // Determine which LED corresponds to the servo angle
    int ledIndex = pos / 18;
    // Tells the status of scan
    digitalWrite(ledScanPos[ledIndex], LOW);
    if (distance_cm < distance_pot) {
      // Turn on LED if obstacle detected
      digitalWrite(ledPins[ledIndex], HIGH);
    } else {
      // Turn off LED if no obstacle
      digitalWrite(ledPins[ledIndex], LOW);
    }
    Serial.print("Angle: ");
    Serial.print(pos);
    Serial.print(" degrees, Distance: ");
    Serial.print(distance_cm);
    Serial.println(" cm");
  }
  // Turn off all LEDs at the end of scan
  for (int i = 0; i < numLeds; i++) {
    digitalWrite(ledScanPos[i], LOW);
  }
  // Delay between scans (adjust as needed)
  delay(dt);
}