Ultrasonic sonic sensors controlling a robot

Projects Discussion and Showcase Robotics
1

I have 3 HCsro4 ultra sonic senors attached to a arduino atMega with 4 motors running off motor controllers im having issues with this piece of code

   else if (CM2 < 30 && CM2 > 3)
   {
     LPCOUNT =7 ;
     
      BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1400);
     FrontRight.writeMicroseconds (1400);
     FrontLeft.writeMicroseconds (1600);

       unsigned int CM1 = sonar.ping_cm();
        delay (50);
      unsigned int CM2 = sonar2.ping_cm();
          delay (50);
          unsigned int CM3 = sonar3.ping_cm();
  delay (50);

it constantly find this statement true heres the rest

#include <Servo.h>

#include <NewPing.h>

#define TRIGGER_PIN 53
#define ECHO_PIN 52
#define MAX_DISTANCE 400
#define TRIGGER_PIN2 50
#define ECHO_PIN2 51
#define MAX_DISTANCE2 400
#define TRIGGER_PIN3 49
#define ECHO_PIN3 48
#define MAX_DISTANCE3 400

int LPCOUNT = 0;
 
Servo BackLeft;
Servo BackRight;
Servo FrontLeft;
Servo FrontRight;

NewPing sonar (TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // SETUP for 1st ultrasonic sensor
NewPing sonar2 (TRIGGER_PIN2, ECHO_PIN2, MAX_DISTANCE2);// SETUP for 1st ultrasonic sensor
NewPing sonar3 (TRIGGER_PIN3, ECHO_PIN3, MAX_DISTANCE3);

void setup()
{
  BackLeft.attach (2); // attach all of the servos to a pin on the board
  BackRight.attach (3);
  FrontRight.attach(4);
  FrontLeft.attach (5);
}

void loop ()

{
  unsigned int CM1 = sonar.ping_cm();
  delay (50);
  unsigned int CM2 = sonar2.ping_cm();
  delay (50);
    unsigned int CM3 = sonar3.ping_cm();
  delay (50);
  
  if ( CM1 > 1 && CM1 < 20 && LPCOUNT== 5)
  {

     BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1400);
     FrontRight.writeMicroseconds (1600);
     FrontLeft.writeMicroseconds (1400);
     delay (500); 
     BackLeft.writeMicroseconds (1550);
     BackRight.writeMicroseconds (1550);
     FrontRight.writeMicroseconds (1550);
     FrontLeft.writeMicroseconds (1550);
      unsigned int CM1 = sonar.ping();
      delay (50);
      unsigned int CM2 = sonar2.ping_cm();
      delay (50);
      unsigned int CM3 = sonar3.ping_cm();
  delay (50);
  }
    else if ( CM1 > 30 && LPCOUNT == 5)
    {
     BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1600);
     FrontRight.writeMicroseconds (1600);
     FrontLeft.writeMicroseconds (1600);
      unsigned int CM1 = sonar.ping_cm();
        delay (50);
      unsigned int CM2 = sonar2.ping_cm();
      delay (50);
      unsigned int CM3 = sonar3.ping_cm();
  delay (50);
    }
   else if (CM2 < 30 && CM2 > 3)
   {
     LPCOUNT =7 ;
     
      BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1400);
     FrontRight.writeMicroseconds (1400);
     FrontLeft.writeMicroseconds (1600);

       unsigned int CM1 = sonar.ping_cm();
        delay (50);
      unsigned int CM2 = sonar2.ping_cm();
          delay (50);
          unsigned int CM3 = sonar3.ping_cm();
  delay (50);
     }
      else if (CM2 > 30)
      {
        LPCOUNT= 5;
      }
      else if (CM3 > 40)
      {
        LPCOUNT = 5;
      }
      else if (CM2 < 32)
      {
        LPCOUNT= 5;
      }
   else if (CM3 < 30 && CM3 > 2)
   {
     LPCOUNT= 7;
      BackLeft.writeMicroseconds (1400);
     BackRight.writeMicroseconds (1600);
     FrontRight.writeMicroseconds (1600);
     FrontLeft.writeMicroseconds (1400);

       unsigned int CM1 = sonar.ping_cm();
        delay (50);
      unsigned int CM2 = sonar2.ping_cm();
          delay (50);
          unsigned int CM3 = sonar3.ping_cm();
  delay (50);
     }
     else if (CM2 > 30)
     {
        BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1600);
     FrontRight.writeMicroseconds (1600);
     FrontLeft.writeMicroseconds (1600);
     }
   else 
  {
     BackLeft.writeMicroseconds (1600);
     BackRight.writeMicroseconds (1600);
     FrontRight.writeMicroseconds (1600);
     FrontLeft.writeMicroseconds (1600);
       unsigned int CM1 = sonar.ping_cm();
        delay (50);
      unsigned int CM2 = sonar2.ping_cm(); 
          delay (50);
          unsigned int CM3 = sonar3.ping_cm();
  delay (50);
      
  }
}

any help would be appreciated

2

Have you tried printing out the various values to Serial to make sure they are reading what you expect?

3

http://embeddedsystem1.blogspot.in/search/label/Ping%20Sensor

4

These three variables

  unsigned int CM1 = sonar.ping_cm();
  unsigned int CM2 = sonar2.ping_cm();
  unsigned int CM3 = sonar3.ping_cm();

and these three variables:

       unsigned int CM1 = sonar.ping_cm();
       unsigned int CM2 = sonar2.ping_cm();
          unsigned int CM3 = sonar3.ping_cm();

are not the same variables.
How you expect the last three to affect any if statement is a mystery.

Go to File + Preferences, and uncheck the stupid random indent value for tab spacing. It makes your code look stupid.