🍓 BerrySonar

BerrySonar is a Linux-based C# application developed for the Raspberry Pi, designed to act as a DIY LIDAR-like system—similar in concept to the object detection systems used in autonomous vehicles like Teslas. It uses trigonometry and an ultrasonic sensor rotated by a stepper motor to scan a 180° field, detect and display nearby objects. The data is transmitted securely to a Firebase Realtime Database for monitoring and analysis. The GUI of the application is served as a React based application called berry-sonar-view that is getting the LIDAR metadata in real time using Firebase real-time database and rendering the data in a sonar UI element that is drew and rendered dynamically in the browser

BerrySonar-ezgif.com-gif-maker.mp4

🚀 Features

• 🧠 LIDAR-like Scanning – Scans a 180° arc using a rotating ultrasonic sensor.

• 🔄 Stepper Motor Rotation – Uses a 28BYJ-48 stepper motor to rotate the sensor precisely.

• 🧰 Raspberry Pi-Controlled – All hardware is interfaced and controlled via GPIO pins.

• ☁️ Firebase Realtime Database – Secure, cloud-based storage of distance and angle data.

• 🔐 Secure Writes – Only the super-admin can write data.

• 👀 Read-Only Access – A restricted admin account can read data.

🧱 Tech Stack

• Programming Language: C# (.NET Core)

• Platform: Linux (Ubuntu Server)

• Cloud: Firebase Realtime Database

• Security: Firebase Authentication & Realtime Database Rules

• Communication: GPIO with PWM for motor control & timing for ultrasonic pulse detection

🔩 Hardware Requirements

• 🧠 Raspberry Pi (any model with GPIO support; tested on Raspberry Pi 3/4)

• 📏 HC-SR04 Ultrasonic Sensor – For distance measurement

• 🔁 28BYJ-48 Stepper Motor with ULN2003 Driver Board – For rotating the sensor

• 🪛 Breadboard & Jumper Wires – For circuit connections *🔌 5V Power Supply – To power the motor and sensor

⚙️ Configuration

🖥️ Software Configuration

Driver dependencies

Install the required GPIO drivers using APT.

sudo apt install gpio -y || sudo apt install wiringpi -y && sudo apt install libgpiod-dev -y

Download the release

Download the application from the repository Release section and run the application as sudo

sudo -i && ./BerrySonar

🔩 Hardware Setup

🧱 Required Hardware 🧠🔩

🔁 28BYJ-48 Electric Stepper Motor

🌀 Tiny but mighty! This 5V stepper motor rotates the ultrasonic sensor to scan the surroundings.

⚙️ ULN2003A Stepper Motor Driver Board

🧠 The brain behind the motor! Controls the motor's stepping sequence and power delivery.

📡 HC-SR04 Ultrasonic Distance Sensor

👀 The “eyes” of BerrySonar. Sends sound waves and listens for echoes to measure object distances.

🔩🧰 Hardware Configuration and Wiring