button - robot PROBLEM

arduiNICK · July 9, 2019, 2:58pm

Hello.I have a robot and I have a main function (name: AUTO_FUNCTION() ) where the robot goes forward and if the ultrasonic find an obstacle ,the robot turns right or left accordingly the distances that sensor "read".
Also,I have 2 buttons and when I press the left button(for example) ,I call the AUTO_FUNCTION() ,and when I press the right button,I call the STOP() funtion.
but the problem is that the sensor does nothing .
After ,when I press the right button ,the robot stops(as I said) ,but after that when I press agai any button ,nothig happens...

// My problem is only the buttons ,nothing else... <<<---------
// Do not give much importance to other things...

Here is my code:

const int IN_1_back_left = 53;
const int IN_2_back_left = 51;
const int PWM_back_left = 2;
const int IN_1_back_right = 49;
const int IN_2_back_right = 47;
const int PWM_back_right = 3;
const int IN_1_front_left = 45;
const int IN_2_front_left = 43;
const int PWM_front_left = 4;
const int IN_1_front_right = 41;
const int IN_2_front_right = 39;
const int PWM_front_right = 3;

int prev_button_state_auto = LOW;
int prev_button_state_stop = LOW;


const int button_for_auto = 13;
const int button_for_stop = 37;

const int led = 9;
int ledState = LOW;
boolean flash_enabled = false;

boolean enable_forward = true;
boolean enable_stop;
boolean enable_right;
boolean enable_left;
boolean enable_rotate_AUTO = false;

const int Trig_pin_front = 8;
const int Echo_pin_front = 10;
const int Trig_pin_right = 6;
const int Echo_pin_right = 7;
const int Trig_pin_left = 11;
const int Echo_pin_left = 12;
long duration_front , duration_right , duration_left;
float distance_front , distance_right , distance_left;



unsigned long presentMillis = 0;
unsigned long prev_Millis = 0;


void setup()
{
  pinMode(button_for_auto, INPUT);
  pinMode(button_for_stop, INPUT);


  pinMode(led, OUTPUT);
  pinMode(Echo_pin_front , INPUT);
  pinMode(Trig_pin_front , OUTPUT);
  pinMode(Echo_pin_right , INPUT);
  pinMode(Trig_pin_right , OUTPUT);
  pinMode(Echo_pin_left , INPUT);
  pinMode(Trig_pin_left , OUTPUT);
  analogWrite(PWM_back_left , 255);
  analogWrite(PWM_back_right , 255);
  analogWrite(PWM_front_left , 255);
  analogWrite(PWM_front_right , 255);
  pinMode(PWM_back_left, OUTPUT);
  pinMode(PWM_back_right, OUTPUT);
  pinMode(PWM_front_left, OUTPUT);
  pinMode(PWM_front_right, OUTPUT);

  pinMode(IN_1_back_left, OUTPUT);
  pinMode(IN_2_back_left, OUTPUT);
  pinMode(IN_1_back_right, OUTPUT);
  pinMode(IN_2_back_right, OUTPUT);

  pinMode(IN_1_front_left, OUTPUT);
  pinMode(IN_2_front_left, OUTPUT);
  pinMode(IN_1_front_right, OUTPUT);
  pinMode(IN_2_front_right, OUTPUT);
}


void ultrasonic_sensor_forward()
{
  digitalWrite(Trig_pin_front , HIGH);           
  delayMicroseconds(11);                  
  digitalWrite(Trig_pin_front , LOW);            

  duration_front = pulseIn(Echo_pin_front , HIGH);     
  distance_front = duration_front * 0.034 / 2;     
}


void ultrasonic_sensor_right()
{
  digitalWrite(Trig_pin_right , HIGH);           
  delayMicroseconds(11);                   
  digitalWrite(Trig_pin_right , LOW);           

  duration_right = pulseIn(Echo_pin_right , HIGH);  
  distance_right = duration_right * 0.034 / 2;         
}


void ultrasonic_sensor_left()
{
  digitalWrite(Trig_pin_left , HIGH);           
  delayMicroseconds(11);                  
  digitalWrite(Trig_pin_left , LOW);            

  duration_left = pulseIn(Echo_pin_left , HIGH);     
  distance_left = duration_left * 0.034 / 2;        
}


void led_on_off()
{
  unsigned long currentTime = millis();

  if (currentTime - prev_Millis >= 100)
  {
    prev_Millis = currentTime;

    if (ledState == LOW)
    {
      ledState = HIGH;
    }

    else
    {
      ledState = LOW;
    }

    digitalWrite(led, ledState);
  }
}


void check_blink_led()
{
  if (flash_enabled)
  {
    led_on_off();
  }
  else
  {
    led_off();
  }
}


void led_off()
{
  ledState = LOW;
  digitalWrite(led, ledState);
}


void FORWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //fordward
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void BACKWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);       //backward
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void STOP()
{
  flash_enabled = true;
  digitalWrite(IN_1_back_left , LOW);       //stop
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , LOW);
}


void RIGHT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //right
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void LEFT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);      //left
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void AUTO_FUNCTION()
{
  ultrasonic_sensor_forward();
  ultrasonic_sensor_right();
  ultrasonic_sensor_left();
  check_blink_led();
  unsigned long currentMillis = millis();

  if (enable_forward)
  {
    if (currentMillis - presentMillis >= 500)            
    {
      FORWARD();
      enable_forward = false;
      enable_stop = true;
      presentMillis = currentMillis;
    }
  }

  if (enable_stop && distance_front <= 10)
  {
    if (currentMillis - presentMillis >= 600)            
    {
      STOP();
      enable_stop = false;
      enable_rotate_AUTO = true;
      presentMillis = currentMillis;
    }
  }
  if (enable_rotate_AUTO)                            
  {
    if (currentMillis - presentMillis >= 500)
    {
      presentMillis = currentMillis;
      if (distance_right > distance_left)
      {
        RIGHT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
      else if (distance_right < distance_left)
      {
        LEFT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
    }
  }
}


void loop()
{
  int button_after_auto = digitalRead(button_for_auto);
  int button_after_stop = digitalRead(button_for_stop);


  if (prev_button_state_auto == LOW && button_after_auto == HIGH)
  {
    AUTO_FUNCTION();
  }
  else if (prev_button_state_stop == LOW && button_after_stop == HIGH)
  {
    STOP();
  }
}

Before put the buttons in the circuit ,the code with the AUTO_FUNCTION was running normal
So ,the problem is the buttons...

Thanks a lot and I hope you gonna help me!!!

UKHeliBob · July 9, 2019, 3:02pm

You do not update prev_button_state_auto in the program so its value will always be LOW.

Could that be a problem, I wonder ?

arduiNICK · July 9, 2019, 3:05pm

No,the same thing happens ...

I changed this:

int prev_button_state_auto ;
int prev_button_state_stop ;

arduiNICK · July 9, 2019, 3:22pm

Also the ultrasonic sensor does not read anything while I pressed the right button...

UKHeliBob · July 9, 2019, 3:30pm

I changed this:

Changed what exactly ?

Does the code (which you did not post) now update the "prev" button states ?

arduiNICK · July 9, 2019, 3:38pm

What should I do?

system · July 9, 2019, 3:43pm

arduiNICK:
What should I do?

Post your code, explain the problem.

UKHeliBob · July 9, 2019, 3:44pm

If you are going to compare the previous value of a switch input with its current state then you must save the previous value before reading it again.

Look at the StateChangeDetection example in the IDE

arduiNICK · July 9, 2019, 3:56pm

Ok ,I will see it...

arduiNICK · July 9, 2019, 5:16pm

I'm doing this,but the same thing happens again...
I followed the StateChangeDetection example as you said...

const int IN_1_back_left = 53;
const int IN_2_back_left = 51;
const int PWM_back_left = 2;
const int IN_1_back_right = 49;
const int IN_2_back_right = 47;
const int PWM_back_right = 3;
const int IN_1_front_left = 45;
const int IN_2_front_left = 43;
const int PWM_front_left = 4;
const int IN_1_front_right = 41;
const int IN_2_front_right = 39;
const int PWM_front_right = 3;

int prev_button_state_auto = LOW;
int prev_button_state_stop = LOW;
int current_button_state_auto = LOW;
int current_button_state_stop = LOW;


const int button_for_auto = 13;
const int button_for_stop = 37;

const int led = 9;
int ledState = LOW;
boolean flash_enabled = false;

boolean enable_forward = true;
boolean enable_stop;
boolean enable_right;
boolean enable_left;
boolean enable_rotate_AUTO = false;

const int Trig_pin_front = 8;
const int Echo_pin_front = 10;
const int Trig_pin_right = 6;
const int Echo_pin_right = 7;
const int Trig_pin_left = 11;
const int Echo_pin_left = 12;
long duration_front , duration_right , duration_left;
float distance_front , distance_right , distance_left;



unsigned long presentMillis = 0;
unsigned long prev_Millis = 0;


void setup()
{
  pinMode(button_for_auto, INPUT);
  pinMode(button_for_stop, INPUT);


  pinMode(led, OUTPUT);
  pinMode(Echo_pin_front , INPUT);
  pinMode(Trig_pin_front , OUTPUT);
  pinMode(Echo_pin_right , INPUT);
  pinMode(Trig_pin_right , OUTPUT);
  pinMode(Echo_pin_left , INPUT);
  pinMode(Trig_pin_left , OUTPUT);
  analogWrite(PWM_back_left , 255);
  analogWrite(PWM_back_right , 255);
  analogWrite(PWM_front_left , 255);
  analogWrite(PWM_front_right , 255);
  pinMode(PWM_back_left, OUTPUT);
  pinMode(PWM_back_right, OUTPUT);
  pinMode(PWM_front_left, OUTPUT);
  pinMode(PWM_front_right, OUTPUT);

  pinMode(IN_1_back_left, OUTPUT);
  pinMode(IN_2_back_left, OUTPUT);
  pinMode(IN_1_back_right, OUTPUT);
  pinMode(IN_2_back_right, OUTPUT);

  pinMode(IN_1_front_left, OUTPUT);
  pinMode(IN_2_front_left, OUTPUT);
  pinMode(IN_1_front_right, OUTPUT);
  pinMode(IN_2_front_right, OUTPUT);
}


void ultrasonic_sensor_forward()
{
  digitalWrite(Trig_pin_front , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_front , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_front = pulseIn(Echo_pin_front , HIGH);     //επιστροφή τιμής "period"
  distance_front = duration_front * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_right()
{
  digitalWrite(Trig_pin_right , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_right , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_right = pulseIn(Echo_pin_right , HIGH);     //επιστροφή τιμής "period"
  distance_right = duration_right * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_left()
{
  digitalWrite(Trig_pin_left , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_left , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_left = pulseIn(Echo_pin_left , HIGH);     //επιστροφή τιμής "period"
  distance_left = duration_left * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void led_on_off()
{
  unsigned long currentTime = millis();

  if (currentTime - prev_Millis >= 100)
  {
    prev_Millis = currentTime;

    if (ledState == LOW)
    {
      ledState = HIGH;
    }

    else
    {
      ledState = LOW;
    }

    digitalWrite(led, ledState);
  }
}


void check_blink_led()
{
  if (flash_enabled)
  {
    led_on_off();
  }
  else
  {
    led_off();
  }
}


void led_off()
{
  ledState = LOW;
  digitalWrite(led, ledState);
}


void FORWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //fordward
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void BACKWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);       //backward
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void STOP()
{
  flash_enabled = true;
  digitalWrite(IN_1_back_left , LOW);       //stop
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , LOW);
}


void RIGHT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //right
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void LEFT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);      //left
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void AUTO_FUNCTION()
{
  // ΠΑΝΤΑ Η ΚΑΘΕ ΚΙΝΗΣΗ ΠΟΥ ΘΕΛΩ ΝΑ ΚΑΝΩ ΚΟΙΤΑΕΙ ΤΟΝ ΕΠΟΜΕΝΟ ΧΡΟΝΟ ...     < < < < < < < < < < -------------------- *** ΠΡΟΣΟΧΗ ***   !!!

  ultrasonic_sensor_forward();
  ultrasonic_sensor_right();
  ultrasonic_sensor_left();
  check_blink_led();
  unsigned long currentMillis = millis();

  if (enable_forward)
  {
    if (currentMillis - presentMillis >= 500)            //ΠΗΓΑΙΝΕΙ ΜΠΡΟΣΤΑ (FORDWARD) ΜΕΧΡΙ ΝΑ ΣΥΝΑΝΤΗΣΕΙ ΚΑΠΟΙΟ ΕΜΠΟΔΙΟ ...
    {
      FORWARD();
      enable_forward = false;
      enable_stop = true;
      presentMillis = currentMillis;
    }
  }

  if (enable_stop && distance_front <= 10)
  {
    if (currentMillis - presentMillis >= 600)            //ΘΑ ΣΤΑΜΑΤΗΣΕΙ (STOP) ΓΙΑ 500 ms ...
    {
      STOP();
      enable_stop = false;
      enable_rotate_AUTO = true;
      presentMillis = currentMillis;
    }
  }
  if (enable_rotate_AUTO)                            //ΘΑ ΣΤΡΙΨΕΙ ΔΕΞΙΑ (RIGHT) 'Η ΑΡΙΣΤΕΡΑ (LEFT),--ΑΝΑΛΟΓΑ ΤΗΝ ΕΝΔΕΙΞΗ ΤΟΥ ΑΙΣΘΗΤΗΡΑ-- ΚΑΙ ΘΑ ΣΤΡΙΨΕΙ ΓΙΑ 600 ms ...
  {
    if (currentMillis - presentMillis >= 500)
    {
      presentMillis = currentMillis;
      if (distance_right > distance_left)
      {
        RIGHT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
      else if (distance_right < distance_left)
      {
        LEFT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
    }
  }
}


void loop()
{
  current_button_state_auto = digitalRead(button_for_auto);
  current_button_state_stop = digitalRead(button_for_stop);


  if (current_button_state_auto != prev_button_state_auto)
  {
    if (current_button_state_auto == HIGH)
    {
      AUTO_FUNCTION();
    }
  }
  prev_button_state_auto = current_button_state_auto;

  if (current_button_state_stop != prev_button_state_stop)
  {
    if (current_button_state_stop == HIGH)
    {
      STOP();
    }
  }
  prev_button_state_stop = current_button_state_stop;
}

arduiNICK · July 9, 2019, 5:26pm

Any proposal please!!!

UKHeliBob · July 9, 2019, 5:32pm

How are the inputs wired ?
Any pulldown resistors in place to keep the inputs in a known state or are they floating in the breeze at an unknown (possibly HIGH, possibly LOW) state ?

arduiNICK · July 9, 2019, 5:40pm

I use small buttons as we all know(it has 4 pinouts (2 up and 2 down) )
Down: In the left side I have the volts(5 volt) and in th right side I have the ground through a resistance
Up: In the right side(only) I have the pin (It goed to arduino).

Blue_Eyes · July 9, 2019, 7:32pm

My understanding of the problem is once you force a stop with the button the robot fails to go back to auto mode.

My reading of the code is that the AUTO_FUNCTION will do nothing if enable_forward, enable_stop and enable_rotate_AUTO are all false.

enable_rotate_AUTO only gets set to true if enable_stop is true. enable_stop only gets set to true if enable_forward is true. enable_forward only gets set to true if enable_rotate_AUTO is true.

When the function STOP gets called on line #259 the following three lines set variables enable_stop, enable_rotate_AUTO and presentMillis. Try copying those three lines to loop() after STOP is called explicitly due to a button press.

It that does not work put print statements throughout the code to tell you the values of the variables.

arduiNICK · July 10, 2019, 11:47am

Now when I press a button ,nothing happens...

const int IN_1_back_left = 53;
const int IN_2_back_left = 51;
const int PWM_back_left = 2;
const int IN_1_back_right = 49;
const int IN_2_back_right = 47;
const int PWM_back_right = 3;
const int IN_1_front_left = 45;
const int IN_2_front_left = 43;
const int PWM_front_left = 4;
const int IN_1_front_right = 41;
const int IN_2_front_right = 39;
const int PWM_front_right = 3;

int prev_button_state_auto = LOW;
int prev_button_state_stop = LOW;
int current_button_state_auto;
int current_button_state_stop;


const int button_for_auto = 13;
const int button_for_stop = 36;

const int led = 9;
int ledState = LOW;
boolean flash_enabled = false;

boolean enable_forward = true;
boolean enable_stop;
boolean enable_right;
boolean enable_left;
boolean enable_rotate_AUTO = false;

const int Trig_pin_front = 8;
const int Echo_pin_front = 10;
const int Trig_pin_right = 6;
const int Echo_pin_right = 7;
const int Trig_pin_left = 11;
const int Echo_pin_left = 12;
long duration_front , duration_right , duration_left;
float distance_front , distance_right , distance_left;



unsigned long presentMillis = 0;
unsigned long prev_Millis = 0;


void setup()
{
  pinMode(button_for_auto, INPUT);
  pinMode(button_for_stop, INPUT);


  pinMode(led, OUTPUT);
  pinMode(Echo_pin_front , INPUT);
  pinMode(Trig_pin_front , OUTPUT);
  pinMode(Echo_pin_right , INPUT);
  pinMode(Trig_pin_right , OUTPUT);
  pinMode(Echo_pin_left , INPUT);
  pinMode(Trig_pin_left , OUTPUT);
  analogWrite(PWM_back_left , 255);
  analogWrite(PWM_back_right , 255);
  analogWrite(PWM_front_left , 255);
  analogWrite(PWM_front_right , 255);
  pinMode(PWM_back_left, OUTPUT);
  pinMode(PWM_back_right, OUTPUT);
  pinMode(PWM_front_left, OUTPUT);
  pinMode(PWM_front_right, OUTPUT);

  pinMode(IN_1_back_left, OUTPUT);
  pinMode(IN_2_back_left, OUTPUT);
  pinMode(IN_1_back_right, OUTPUT);
  pinMode(IN_2_back_right, OUTPUT);

  pinMode(IN_1_front_left, OUTPUT);
  pinMode(IN_2_front_left, OUTPUT);
  pinMode(IN_1_front_right, OUTPUT);
  pinMode(IN_2_front_right, OUTPUT);
}


void ultrasonic_sensor_forward()
{
  digitalWrite(Trig_pin_front , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_front , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_front = pulseIn(Echo_pin_front , HIGH);     //επιστροφή τιμής "period"
  distance_front = duration_front * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_right()
{
  digitalWrite(Trig_pin_right , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_right , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_right = pulseIn(Echo_pin_right , HIGH);     //επιστροφή τιμής "period"
  distance_right = duration_right * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_left()
{
  digitalWrite(Trig_pin_left , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_left , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_left = pulseIn(Echo_pin_left , HIGH);     //επιστροφή τιμής "period"
  distance_left = duration_left * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void led_on_off()
{
  unsigned long currentTime = millis();

  if (currentTime - prev_Millis >= 100)
  {
    prev_Millis = currentTime;

    if (ledState == LOW)
    {
      ledState = HIGH;
    }

    else
    {
      ledState = LOW;
    }

    digitalWrite(led, ledState);
  }
}


void check_blink_led()
{
  if (flash_enabled)
  {
    led_on_off();
  }
  else
  {
    led_off();
  }
}


void led_off()
{
  ledState = LOW;
  digitalWrite(led, ledState);
}


void FORWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //fordward
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void BACKWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);       //backward
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void STOP()
{
  flash_enabled = true;
  digitalWrite(IN_1_back_left , LOW);       //stop
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , LOW);
}


void RIGHT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //right
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void LEFT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);      //left
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void AUTO_FUNCTION()
{
  // ΠΑΝΤΑ Η ΚΑΘΕ ΚΙΝΗΣΗ ΠΟΥ ΘΕΛΩ ΝΑ ΚΑΝΩ ΚΟΙΤΑΕΙ ΤΟΝ ΕΠΟΜΕΝΟ ΧΡΟΝΟ ...     < < < < < < < < < < -------------------- *** ΠΡΟΣΟΧΗ ***   !!!

  ultrasonic_sensor_forward();
  ultrasonic_sensor_right();
  ultrasonic_sensor_left();
  check_blink_led();
  unsigned long currentMillis = millis();

  if (enable_forward)
  {
    if (currentMillis - presentMillis >= 500)            //ΠΗΓΑΙΝΕΙ ΜΠΡΟΣΤΑ (FORDWARD) ΜΕΧΡΙ ΝΑ ΣΥΝΑΝΤΗΣΕΙ ΚΑΠΟΙΟ ΕΜΠΟΔΙΟ ...
    {
      FORWARD();
      enable_forward = false;
      enable_stop = true;
      presentMillis = currentMillis;
    }
  }

  if (enable_stop && distance_front <= 10)
  {
    if (currentMillis - presentMillis >= 600)            //ΘΑ ΣΤΑΜΑΤΗΣΕΙ (STOP) ΓΙΑ 500 ms ...
    {
      STOP();
      enable_stop = false;
      enable_rotate_AUTO = true;
      presentMillis = currentMillis;
    }
  }
  if (enable_rotate_AUTO)                            //ΘΑ ΣΤΡΙΨΕΙ ΔΕΞΙΑ (RIGHT) 'Η ΑΡΙΣΤΕΡΑ (LEFT),--ΑΝΑΛΟΓΑ ΤΗΝ ΕΝΔΕΙΞΗ ΤΟΥ ΑΙΣΘΗΤΗΡΑ-- ΚΑΙ ΘΑ ΣΤΡΙΨΕΙ ΓΙΑ 600 ms ...
  {
    if (currentMillis - presentMillis >= 500)
    {
      presentMillis = currentMillis;
      if (distance_right > distance_left)
      {
        RIGHT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
      else if (distance_right < distance_left)
      {
        LEFT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
    }
  }
}


void loop()
{
  current_button_state_auto = digitalRead(button_for_auto);
  current_button_state_stop = digitalRead(button_for_stop);


  if (prev_button_state_auto == LOW && current_button_state_auto == HIGH)        //AUTO
  {
    AUTO_FUNCTION();
  }

  //-----------------------------------------------------------------------     //STOP
  if (prev_button_state_stop == LOW && current_button_state_stop == HIGH)
  {
    STOP();
  }

}

arduiNICK · July 10, 2019, 12:14pm

Any advice ,please.....

I also tried this one:

void loop()
{
  current_button_state_auto = digitalRead(button_for_auto);
  current_button_state_stop = digitalRead(button_for_stop);


  if (current_button_state_auto != prev_button_state_auto)
  {
    if (current_button_state_auto == HIGH)
    {
      AUTO_FUNCTION();
    }
  }

  if (current_button_state_stop != prev_button_state_stop)
  {
    if (current_button_state_stop == HIGH)
    {
      STOP();
    }
  }
}

arduiNICK · July 10, 2019, 12:55pm

Will anybody help me?

system · July 10, 2019, 12:57pm

Bumping after less than an hour?

Any advice ,please.....

Patience.
Some effort on your part.

UKHeliBob · July 10, 2019, 1:14pm

arduiNICK:
Will anybody help me?

Where are you updating the previous button states in either program ?

arduiNICK · July 10, 2019, 1:34pm

In my last program ,I have this:

const int IN_1_back_left = 53;
const int IN_2_back_left = 51;
const int PWM_back_left = 2;
const int IN_1_back_right = 49;
const int IN_2_back_right = 47;
const int PWM_back_right = 3;
const int IN_1_front_left = 45;
const int IN_2_front_left = 43;
const int PWM_front_left = 4;
const int IN_1_front_right = 41;
const int IN_2_front_right = 39;
const int PWM_front_right = 3;

int prev_button_state_auto = LOW;
int prev_button_state_stop = LOW;
int current_button_state_auto = LOW;
int current_button_state_stop = LOW;


const int button_for_auto = 13;
const int button_for_stop = 37;

const int led = 9;
int ledState = LOW;
boolean flash_enabled = false;

boolean enable_forward = true;
boolean enable_stop;
boolean enable_right;
boolean enable_left;
boolean enable_rotate_AUTO = false;

const int Trig_pin_front = 8;
const int Echo_pin_front = 10;
const int Trig_pin_right = 6;
const int Echo_pin_right = 7;
const int Trig_pin_left = 11;
const int Echo_pin_left = 12;
long duration_front , duration_right , duration_left;
float distance_front , distance_right , distance_left;



unsigned long presentMillis = 0;
unsigned long prev_Millis = 0;


void setup()
{
  pinMode(button_for_auto, INPUT);
  pinMode(button_for_stop, INPUT);


  pinMode(led, OUTPUT);
  pinMode(Echo_pin_front , INPUT);
  pinMode(Trig_pin_front , OUTPUT);
  pinMode(Echo_pin_right , INPUT);
  pinMode(Trig_pin_right , OUTPUT);
  pinMode(Echo_pin_left , INPUT);
  pinMode(Trig_pin_left , OUTPUT);
  analogWrite(PWM_back_left , 255);
  analogWrite(PWM_back_right , 255);
  analogWrite(PWM_front_left , 255);
  analogWrite(PWM_front_right , 255);
  pinMode(PWM_back_left, OUTPUT);
  pinMode(PWM_back_right, OUTPUT);
  pinMode(PWM_front_left, OUTPUT);
  pinMode(PWM_front_right, OUTPUT);

  pinMode(IN_1_back_left, OUTPUT);
  pinMode(IN_2_back_left, OUTPUT);
  pinMode(IN_1_back_right, OUTPUT);
  pinMode(IN_2_back_right, OUTPUT);

  pinMode(IN_1_front_left, OUTPUT);
  pinMode(IN_2_front_left, OUTPUT);
  pinMode(IN_1_front_right, OUTPUT);
  pinMode(IN_2_front_right, OUTPUT);
}


void ultrasonic_sensor_forward()
{
  digitalWrite(Trig_pin_front , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_front , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_front = pulseIn(Echo_pin_front , HIGH);     //επιστροφή τιμής "period"
  distance_front = duration_front * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_right()
{
  digitalWrite(Trig_pin_right , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_right , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_right = pulseIn(Echo_pin_right , HIGH);     //επιστροφή τιμής "period"
  distance_right = duration_right * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void ultrasonic_sensor_left()
{
  digitalWrite(Trig_pin_left , HIGH);           //ο πομπός διαβάζει τον υπέρηχο (ON)
  delayMicroseconds(11);                   //αναμονη για 11*(10^6) sec =11 μsec.
  digitalWrite(Trig_pin_left , LOW);            //ο πομπός δεν δεχεται κανένα μήνυμα(υπέρηχο) (OFF)

  duration_left = pulseIn(Echo_pin_left , HIGH);     //επιστροφή τιμής "period"
  distance_left = duration_left * 0.034 / 2;         //υπολογισμός απόστασης αισθητήρα - εμποδίου
}


void led_on_off()
{
  unsigned long currentTime = millis();

  if (currentTime - prev_Millis >= 100)
  {
    prev_Millis = currentTime;

    if (ledState == LOW)
    {
      ledState = HIGH;
    }

    else
    {
      ledState = LOW;
    }

    digitalWrite(led, ledState);
  }
}


void check_blink_led()
{
  if (flash_enabled)
  {
    led_on_off();
  }
  else
  {
    led_off();
  }
}


void led_off()
{
  ledState = LOW;
  digitalWrite(led, ledState);
}


void FORWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //fordward
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void BACKWARD()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);       //backward
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void STOP()
{
  flash_enabled = true;
  digitalWrite(IN_1_back_left , LOW);       //stop
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , LOW);
}


void RIGHT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , HIGH);      //right
  digitalWrite(IN_2_back_left , LOW);
  digitalWrite(IN_1_back_right , LOW);
  digitalWrite(IN_2_back_right , HIGH);

  digitalWrite(IN_1_front_left , HIGH);
  digitalWrite(IN_2_front_left , LOW);
  digitalWrite(IN_1_front_right , LOW);
  digitalWrite(IN_2_front_right , HIGH);
}


void LEFT()
{
  flash_enabled = false;
  digitalWrite(IN_1_back_left , LOW);      //left
  digitalWrite(IN_2_back_left , HIGH);
  digitalWrite(IN_1_back_right , HIGH);
  digitalWrite(IN_2_back_right , LOW);

  digitalWrite(IN_1_front_left , LOW);
  digitalWrite(IN_2_front_left , HIGH);
  digitalWrite(IN_1_front_right , HIGH);
  digitalWrite(IN_2_front_right , LOW);
}


void AUTO_FUNCTION()
{
  // ΠΑΝΤΑ Η ΚΑΘΕ ΚΙΝΗΣΗ ΠΟΥ ΘΕΛΩ ΝΑ ΚΑΝΩ ΚΟΙΤΑΕΙ ΤΟΝ ΕΠΟΜΕΝΟ ΧΡΟΝΟ ...     < < < < < < < < < < -------------------- *** ΠΡΟΣΟΧΗ ***   !!!


  unsigned long currentMillis = millis();

  ultrasonic_sensor_forward();
  ultrasonic_sensor_right();
  ultrasonic_sensor_left();
  check_blink_led();

  if (enable_forward)
  {
    if (currentMillis - presentMillis >= 500)            //ΠΗΓΑΙΝΕΙ ΜΠΡΟΣΤΑ (FORDWARD) ΜΕΧΡΙ ΝΑ ΣΥΝΑΝΤΗΣΕΙ ΚΑΠΟΙΟ ΕΜΠΟΔΙΟ ...
    {
      FORWARD();
      enable_forward = false;
      enable_stop = true;
      presentMillis = currentMillis;
    }
  }

  if (enable_stop && distance_front <= 10)
  {
    if (currentMillis - presentMillis >= 600)            //ΘΑ ΣΤΑΜΑΤΗΣΕΙ (STOP) ΓΙΑ 500 ms ...
    {
      STOP();
      enable_stop = false;
      enable_rotate_AUTO = true;
      presentMillis = currentMillis;
    }
  }
  if (enable_rotate_AUTO)                            //ΘΑ ΣΤΡΙΨΕΙ ΔΕΞΙΑ (RIGHT) 'Η ΑΡΙΣΤΕΡΑ (LEFT),--ΑΝΑΛΟΓΑ ΤΗΝ ΕΝΔΕΙΞΗ ΤΟΥ ΑΙΣΘΗΤΗΡΑ-- ΚΑΙ ΘΑ ΣΤΡΙΨΕΙ ΓΙΑ 600 ms ...
  {
    if (currentMillis - presentMillis >= 500)
    {
      presentMillis = currentMillis;
      if (distance_right > distance_left)
      {
        RIGHT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
      else if (distance_right < distance_left)
      {
        LEFT();
        enable_forward = true;
        enable_rotate_AUTO = false;
      }
    }
  }
}

boolean a;
boolean b;

void loop()
{
  current_button_state_auto = digitalRead(button_for_auto);
  current_button_state_stop = digitalRead(button_for_stop);

if(current_button_state_auto )
{
  AUTO_FUNCTION();
}
if(current_button_state_stop )
{
STOP();
}

In this way,everything works correctly,but when I press the button to call AUTO_FUNCTION() ,program sticks....I think of the boolean variables I have in AUTO_FUNCTION().