thanks for the reply, my account is too new to post a file so I'll copy my code below:
#define IR_CAT 7
#define LS_FWD 9
#define LS_BWD 10
#define IN_1 11
#define IN_2 12
#define HE_HOME 13
#define HOME 100
#define START_HOME_BWD 200
#define CHANGE_BWD 300
#define START_BWD_HOME 400
#define PASS_HOME_FWD 500
#define START_HOME_FWD 600
#define CHANGE_FWD 700
#define START_FWD_HOME 800
#define ERROR 900
int state = HOME; // assume program starts with robot at home
bool catishere = 0; // assume program starts with cat not here
void setup() {
Serial.begin(9600);
// inputs
pinMode(IR_CAT, INPUT_PULLUP);
pinMode(LS_FWD, INPUT_PULLUP);
pinMode(LS_BWD, INPUT_PULLUP);
pinMode(HE_HOME, INPUT_PULLUP);
// outputs
pinMode(IN_1, OUTPUT);
pinMode(IN_2, OUTPUT);
}
void loop() {
if (digitalRead(IR_CAT) == LOW) {
catishere = 1;
// restart last seen timer to 0
}
else {
catishere = 0;
// start last seen timer
}
switch(state) {
case HOME:
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, HIGH);
if (catishere) // cat is probably here so don't move //define function for clock, this function should check if 5 minutes are up, if time is ended then it proceeds. How to do that
{
state = HOME; // stay here
}
else { // cat was last seen 5 minutes ago
state = START_HOME_BWD; // start home to backward
break;
}
case START_HOME_BWD:;
if (catishere) // cat is probably here so don't move
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, HIGH);
state = START_HOME_BWD; // stay here
break;
}
digitalWrite(IN_1, HIGH); // move the motor backward
digitalWrite(IN_2, LOW);
if (LS_BWD == HIGH) { // hit backward limit switch
state = CHANGE_BWD; // change at backward
}
else { // otherwise stay here
state = START_HOME_BWD;
}
break;
case CHANGE_BWD:;
if (catishere) // cat is probably here so don't move
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, HIGH);
state = CHANGE_BWD; // stay here
break;
digitalWrite(IN_1, LOW); // change the motor direction
digitalWrite(IN_2, HIGH);
state = START_BWD_HOME; // start backward to home
break;
}
case START_BWD_HOME:;
if (catishere) // cat is probably here so don't move
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, HIGH);
state = START_BWD_HOME; // stay here
break;
}
if (analogRead(HE_HOME) >= 500) { // hit home 1st time
state = PASS_HOME_FWD; // pass home to forward
}
else {
state = START_BWD_HOME; // otherwise stay here
}
break;
case PASS_HOME_FWD:;
state = START_HOME_FWD; // start home to forward
break;
case START_HOME_FWD:;
if (digitalRead(LS_FWD) == HIGH) { // hit forward limit switch
state = CHANGE_FWD; // change at forward
}
else {
state = START_HOME_FWD; // otherwise stay here
}
break;
case CHANGE_FWD:;
if (catishere) // cat is probably here so don't move
{
digitalWrite(IN_1, HIGH);
digitalWrite(IN_2, HIGH);
state = CHANGE_FWD; // stay here
break;
}
digitalWrite(IN_1, HIGH); // change the motor direction
digitalWrite(IN_2, LOW);
state = START_FWD_HOME; // start forward to home
break;
case START_FWD_HOME:;
if (digitalRead(HE_HOME) == HIGH) { // hit home 2nd time
state = HOME; // stay home
}
else {
state = START_FWD_HOME; // otherwise stay here
}
break;
case ERROR:
{
Serial.print("ERROR: program is in an undefined state");
state = ERROR; // stay here and spam the serial console
break;
}
}
}
