clear;

clc;
delete(instrfind);
figure;
for theta=0:1:180
for i=1:1:50
x1(i)=i*cos(theta*3.14/180);
y1(i)=i*sin(theta*3.14/180);
end
plot(0,0,x1,y1,'color','g','LineWidth',10);
hold on;
end
xlabel('Distance (cm)');
for R=10:10:50
k=1;
for i=0:1:180
x(k)=R*cos(i*3.14/180);
y(k)=R*sin(i*3.14/180);
k=k+1;
end
plot(x,y,'color','k','LineWidth',4);
hold on;
end
for theta=0:30:180
for i=1:1:50
x11(i)=i*cos(theta*3.14/180);
y11(i)=i*sin(theta*3.14/180);
end
plot(0,0,x11,y11,'color','k','LineWidth',4);
hold on;
end
labels=cellstr(num2str([0:30:180]'));
text([50*cos(0);50*cos(3.18/6);50*cos(2*3.18/6);50*cos(3*3.18/6);50*cos(4*3.18/6);50*cos(5*3.1
8/6);50*cos(3.18)],[50*sin(0);50*sin(3.18/6);50*sin(2*3.18/6);50*sin(3*3.18/6);50*sin(4*3.18/6);5
0*sin(5*3.18/6);50*sin(3.18)],labels,'BackgroundColor',[.7 .9 .7]);
s=serial('COM3');
s.BaudRate=9600;
fopen(s);
while(1)
if (fscanf(s,'%f')=='.')==[1 0 0]
angle=fscanf(s,'%f');
distance=fscanf(s,'%f');
elseif (fscanf(s,'%f')=='.')==[1 0 0]
angle=fscanf(s,'%f');
 distance=fscanf(s,'%f');
else
fscanf(s,'%f');
angle=fscanf(s,'%f');
distance=fscanf(s,'%f');
end
if distance>50
distance=50;
end
x3=distance*cos(angle*3.14/180);
y3=distance*sin(angle*3.14/180);
x4=50*cos(angle*3.14/180);
y4=50*sin(angle*3.14/180);
x5=distance*cos((angle+2)*3.14/180);
y5=distance*sin((angle+2)*3.14/180);
x6=50*cos((angle+2)*3.14/180);
y6=50*sin((angle+2)*3.14/180);
x7=distance*cos((angle-2)*3.14/180);
y7=distance*sin((angle-2)*3.14/180);
x8=50*cos((angle-2)*3.14/180);
y8=50*sin((angle-2)*3.14/180);
x9=distance*cos((angle+3)*3.14/180);
y9=distance*sin((angle+3)*3.14/180);
x10=50*cos((angle+3)*3.14/180);
y10=50*sin((angle+3)*3.14/180);
x11=distance*cos((angle-3)*3.14/180);
y11=distance*sin((angle-3)*3.14/180);
x12=50*cos((angle-3)*3.14/180);
y12=50*sin((angle-3)*3.14/180);
X3=distance*cos(angle*3.14/180);
Y3=distance*sin(angle*3.14/180);
X4=50*cos(angle*3.14/180);
Y4=50*sin(angle*3.14/180);
X5=0;
Y5=0;
X6=50*cos((angle+2)*3.14/180);
Y6=50*sin((angle+2)*3.14/180);
X7=0;
Y7=0;
X8=50*cos((angle-2)*3.14/180);
Y8=50*sin((angle-2)*3.14/180);
X9=0;
Y9=0;
X10=50*cos((angle+3)*3.14/180);
Y10=50*sin((angle+3)*3.14/180);
X11=0;
Y11=0;
X12=50*cos((angle-3)*3.14/180);
Y12=50*sin((angle-3)*3.14/180);
hold on;
n=plot([X3,X4,X5,X6,X7,X8,X9,X10,X11,X12],[Y3,Y4,Y5,Y6,Y7,Y8,Y9,Y10,Y11,Y12],'color','y','Li
neWidth',20);
m=plot([x3,x4,x5,x6,x7,x8,x9,x10,x11,x12],[y3,y4,y5,y6,y7,y8,y9,y10,y11,y12],'color','r','LineWidt
h',20);
drawnow;
delete(m,n);
end
fclose(s);