3 servo motors and "delay" problems

Projects Programming
1

What I am trying to programmate ?

  • I build up table tennis robot like robopong,butterfly ammicus etc...
    -If I tryed to motors sepparatelly everything was great, but If I used everything in whole one arduino program, everymotor was freezing and not work properly.

I need help please. I am a newbie in arduino programming and I am using much delays and then everything freezes and is delayed.

Please help me to rewrite the arduino code. Thank you very much.

#include <Servo.h>

Servo servo1; // feed servo
Servo motor1;  // brushless main motor
Servo otacachor; //  horizontal rotation servo
int malymot =12; //small motor,helps feed servo to feed balls
int led = 13;  //just led
int potpin1 = A0;  // potenciometer  for main brushless motor
int potpin2 = A3; // potenciometer for servomotor(servo1) (feed servo)
int potpin3= A5; //potenciometer for horizontal rotation servo
int val1 ;     // motor1
int val2;    // servomotor
int val3;   // motor for horizontal rotation
int random1; //randomizer for servo
int random2; //randomizer for horizontal motor
int toogleservo1 = 5 ; //toogle switch for activate the randomizer for feed servo
int toogleservo2= 6; //toogle switch for activate the randomizer for horizontal rotation servo
void setup()
{  pinMode(led, OUTPUT);
  pinMode(malymot, OUTPUT);
  pinMode (toogleservo1, INPUT);
 pinMode (toogleservo2, INPUT);
  motor1.attach(9);  // attaches the servo on pin 9 to the servo object
  servo1.attach(3);  
  otacachor.attach(11); 
}

void loop() 
{ 
  { int toogleservo1ON = digitalRead (toogleservo1);
  val2 = analogRead(potpin2);            // reads the value of the potentiometer (value between 0 and 1023) 
     val2 = map(val2, 0, 1023, 2000, 500);  //waiting between 0,5 - 2sek
  if (toogleservo1ON == HIGH){   // randomizer for horizontal servo
       random1 = random (500,2000);  
       servo1.write (172);
       delay (500);
       servo1.write (30);
       delay(random1);
       digitalWrite(malymot, HIGH);
       digitalWrite(led, LOW);}
    else if (val2 > 1900){    //val2 is for potentiometer just to stop the feed servo
         servo1.write (30);
         delay (15);
         digitalWrite(malymot, LOW);
         digitalWrite(led, HIGH);}
    else if (val1<110){    //to not feed the robot until the brushless motor doesnt work
         servo1.write (30);
         delay (15);
         digitalWrite(malymot, HIGH);
         digitalWrite(led, HIGH);}
    else {
         servo1.write (172);
     delay (500);
     servo1.write (30);
     delay(val2);
     digitalWrite(malymot, HIGH);
     digitalWrite(led, HIGH);}
     }
    
  val1 = analogRead(potpin1);            // the main brushless motor 
  val1 = map(val1, 0, 1023, 60, 170);    
  motor1.write(val1);                  
  delay (15);
  
  
  int toogleservo2ON = digitalRead (toogleservo2);
  val3= analogRead(potpin3);       // horizontal rotation servo
  val3 = map(val3,0,1023,0,180);
  otacachor.write(val3);
  delay(15);
   if (toogleservo2ON == HIGH){   // randomizer for horizontal servo
       random2 = random (70,110);  //random the angle of rotation
       otacachor.write (random2);
       delay (val2);    //to delay  the time the feed servo delays
}       
}
2

I am using much delays

The correct number of calls to delay() is ZERO.

  { int toogleservo1ON = digitalRead (toogleservo1);

Why is there a useless curly brace there?

You need to completely rewrite your code. The loop() function should do only positive things - read switches, add numbers, move a servo, record when actions happen, etc. It should NOT do negative things, like waste time.

You need to keep track of whether a servo needs to be moved, and, if so, where is needs to move to next, and when it moved last.

You need to do this independently for each servo.

3

thank you for the reply, could you help me to rewrite the code please ? I am totally noob in programming and dont really understand what you mean.. Thank you very much, I really appreciate your effort

4

See this post:
Doing several things at a time
and also look up 'State machine'.

5

@Henry_Best has a glitch in his link. This one works several things at a time

...R

6

Robin2:
@Henry_Best has a glitch in his link. This one works several things at a time

Reminder to self: Do not use forum's post link icon!

7

Henry_Best:
Reminder to self: Do not use forum's post link icon!

It works fine when your edit window is in "View Source" mode.

...R