I'm making a robot vehicle that has 2 DC motors for wheels and 2 servos controlling an arm. I am controlling it via Bluetooth by an App Inventor app.
This setup (and code/app) works fine for the 2 servos on their own and the DC motors on their own, but combining the code makes the servos stop functioning.
(Circuit Diagram attached and code below)
If I am unclear please ask,
Thanks in advance!
#include <SoftwareSerial.h> // TX RX software library for bluetooth
#include <Servo.h> // servo library
Servo bigservo, smallservo; // servo name - big servo for moving left and right - small servo for moving up and down
int bluetoothTx = 1; // bluetooth tx to 1 pin
int bluetoothRx = 0; // bluetooth rx to 0 pin
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
int motorPin1 = 3; // pin 2 on L293D IC
int motorPin2 = 4; // pin 7 on L293D IC
int motorPin3 = 7; // pin 10 on L293D IC
int motorPin4 = 8; // pin 15 on L293D IC
int enablePin1 = 5; // pin 1 on L293D IC
int enablePin2 = 9; // pin 9 on L293D IC
int state;
int flag=0; //makes sure that the serial only prints once the state
void setup() {
// sets the pins as outputs:
pinMode(motorPin1, OUTPUT);
pinMode(motorPin2, OUTPUT);
pinMode(motorPin3, OUTPUT);
pinMode(motorPin4, OUTPUT);
pinMode(enablePin1, OUTPUT);
pinMode(enablePin2, OUTPUT);
bigservo.attach(10); // attach big servo signal wire to pin 10
smallservo.attach(11); // attach small servo signal wire to pin 11
// sets enablePin 1 and 2 high so that motor can turn on:
digitalWrite(enablePin1, HIGH);
digitalWrite(enablePin2, HIGH);
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
//Setup Bluetooth serial connection to android
bluetooth.begin(9600);
}
void loop() {
//if some date is sent, reads it and saves in state
if(Serial.available() <= 4){
state = Serial.read();
flag=0;
}
// if the state is '0' the DC motor will turn off
if (state == '0') {
digitalWrite(motorPin1, LOW); // set pin 2 on L293D low
digitalWrite(motorPin2, LOW); // set pin 7 on L293D low
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, LOW);
if(flag == 0){
Serial.println("Motors: off");
flag=1;
}
}
// if the state is '1' the motor will move forward
else if (state == '1') {
digitalWrite(motorPin1, LOW); // set pin 2 on L293D low
digitalWrite(motorPin2, HIGH); // set pin 7 on L293D high
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
if(flag == 0){
Serial.println("Motor: forward");
flag=1;
}
}
// if the state is '2' the motor will move backward
else if (state == '2') {
digitalWrite(motorPin1, HIGH); // set pin 2 on L293D high
digitalWrite(motorPin2, LOW); // set pin 7 on L293D low
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
if(flag == 0){
Serial.println("Motor: left");
flag=1;
}
}
// if the state is '3' the motor will move left
else if (state == '3') {
digitalWrite(motorPin1, HIGH);
digitalWrite(motorPin2, LOW);
digitalWrite(motorPin3, LOW);
digitalWrite(motorPin4, HIGH);
if(flag == 0){
Serial.println("Motor: left");
flag=1;
}
}
// if the state is '4' the motors will move right
else if (state == '4') {
digitalWrite(motorPin1, LOW);
digitalWrite(motorPin2, HIGH);
digitalWrite(motorPin3, HIGH);
digitalWrite(motorPin4, LOW);
if(flag == 0){
Serial.println("Motor: right");
flag=1;
}
}
//Read from bluetooth and write to usb serial
else if(bluetooth.available() >4) // receive number from bluetooth
{
unsigned int servopos = bluetooth.read();
unsigned int servopos1 = bluetooth.read();
unsigned int realservo = (servopos1 *256) + servopos;
Serial.println(realservo);
if (realservo >= 1000 && realservo <1180) {
int servo1 = realservo;
servo1 = map(servo1, 1000, 1180, 0, 180);
bigservo.write(servo1);
Serial.println("Big Servo ON");
delay(10);
}
if (realservo >= 2000 && realservo <2180) {
int servo2 = realservo;
servo2 = map(servo2, 2000, 2180, 0, 180);
smallservo.write(servo2);
Serial.println("Small Servo ON");
delay(10);
}
}
}
