// Radar version 2
#define ANGLE 1000
#define SPEED 65
#define DOTTED_LINES 1

int Radar[100];
int Position;

///////////////////////////////////////////////////////////////////////
void Initialize_screen( void)
{  int i;

   ClearScreen();
   for (i=0; i<100; i++)
   {   if (Radar[i]>4 && Radar[i]<128)
          CircleOut( i, Radar[i]/2, 3, DRAW_OPT_NORMAL);
          
       Radar[i] = 0;
       
       if (i & DOTTED_LINES)
       {  PointOut( i, 16);  PointOut( i, 32);  PointOut( i, 48);
       }
   }
}

//////////////////////////////////////////////////////////////////////
task Turn_radar()
{
  ResetTachoCount( OUT_A);
  while (true)
  {
      Initialize_screen( );
      RotateMotor( OUT_A, +SPEED, ANGLE);
      
      Initialize_screen( );
      RotateMotor( OUT_A, -SPEED, ANGLE);
  }
}

///////////////////////////////////////////////////////////////////////
task Radar_unit()
{ int Distance;

   SetSensorLowspeed(IN_4);
   while (true)
   {  Distance = SensorUS( IN_4);
      Position = MotorTachoCount(OUT_A)*100/ANGLE;
      
      if (Position<0) Position = 0;
      Position = (Position<100)? Position : 99;
      
      Radar[ Position] = Distance;
      
      if (Distance>4 && Distance<128)
         CircleOut( Position, Distance/2, 2, DRAW_OPT_FILL_SHAPE);
         
      LineOut(0,0,Position,0);
      LineOut(Position,0,99,0,DRAW_OPT_CLEAR);
      printf("%5d", Distance);
      Wait( 50);
   }
}

///////////////////////////////////////////////////////////////////////
task main()
{  Precedes(Turn_radar,Radar_unit);
   ClearScreen();
}