MATLAB CODE

clear all; 
a = arduino('COM7', 'Uno', 'Libraries', {'Ultrasonic', 'Servo'}); 
 sensor = ultrasonic(a, 'D12', 'D13'); 
servo_motor = servo(a, 'D3'); 
i = 1; 
table = zeros(180,2); 
for theta = 0 : 1/180 : 1 
 writePosition(servo_motor, theta); 
 dist1 = readDistance(sensor); 
 pause(.04); 
 dist2 = readDistance(sensor); 
 dist = (dist1+dist2)/2; 
 table(i,1) = (i-1); 
 table(i,2) = round(dist * 100,2); 
 i = i + 1; 
end 
j = 1; 
for theta = 1 : -1/180 : 0 
 writePosition(servo_motor, theta); 
 dist1 = readDistance(sensor); 
 pause(.04); 
 dist2 = readDistance(sensor); 
 dist = (dist1+dist2)/2;
table(i-j,2) = (table(i-j,2) + round(dist * 100,2))/2; 
 
 j = j + 1; 
end 
polarplot (table(:,1)*pi/180, table (:,2)); 
disp(polarplot (table(:,1)*pi/180, table (:,2))) 
title('Map of the Environment'); 
thetalim([0 180]); 
grid on;