UKHeliBob:
void loop()
{
if (digitalRead(anInput) == HIGH)
{
loop1();
}
else
{
loop2();
}
}
Robin2:
Have a look at the readButton() function in Several Things at a TimeIt should not be difficult to adapt that to call another function, or to set a variable so that another function will always be called if that variable has a certain value. For example your code in loop() could be something like this
void loop() {
readButton();
if (loopChosen == 1) {
loop1();
}
else if (loopChosen == 2) {
loop2();
}
}
and put code in your readButton() function that sets the value of loopChosen appropriately ...R
in case of changing push button state from low to high state during the working of project it will automatically move fromfunction ( loop1 ()) to function ( loop2() ) ? or it will keep executing first function ( loop1() )
the code after modification
#include <NewPing.h>
#include <PS3BT.h>
#include <usbhub.h>
#ifdef dobogusinclude
#include <spi4teensy3.h>
#endif
#include <SPI.h>
int Motor_A_Enable = 9;
int Motor_A_Reverse = 4;
int Motor_A_Forward = 3;
int Motor_B_Enable = 10;
int Motor_B_Reverse = 7;
int Motor_B_Forward = 12;
const int buttonPin = 13;
int buttonState = 0;
void setup() {
setup1();
setup2();
PBS();
}
void loop() {
buttonState = digitalRead(buttonPin);
if (buttonState == LOW){
loop1();}
else if (buttonState == HIGH){
loop2();}
}
void setup1() {
// put your setup code here, to run once:
Serial.begin(38400);
pinMode(Motor_A_Enable, OUTPUT);
pinMode(Motor_A_Forward, OUTPUT);
pinMode(Motor_A_Reverse, OUTPUT);
pinMode(Motor_B_Enable, OUTPUT);
pinMode(Motor_B_Forward, OUTPUT);
pinMode(Motor_B_Reverse, OUTPUT);
}
void loop1() {
if (Serial.available() > 0)
{
char data;
data = Serial.read();
Serial.write(Serial.read());
switch (data)
{
case '4': //FORWARD
//delay(1000);
digitalWrite(Motor_A_Reverse, LOW);
digitalWrite(Motor_B_Reverse, LOW);
digitalWrite(Motor_A_Forward, HIGH);
digitalWrite(Motor_B_Forward, HIGH);
for (int a = 0; a < 200; a++)
{
analogWrite(Motor_B_Enable, a);
analogWrite(Motor_A_Enable, a);
delay(5);
}
break;
case '5': //REVERSE
//delay(1000);
digitalWrite(Motor_A_Forward, LOW);
digitalWrite(Motor_B_Forward, LOW);
digitalWrite(Motor_A_Reverse, HIGH);
digitalWrite(Motor_B_Reverse, HIGH);
for (int a = 0; a < 200; a++)
{
analogWrite(Motor_B_Enable, a);
analogWrite(Motor_A_Enable, a);
delay(5);
}
break;
case '7': //FORWARD LEFT
for (int a = 0; a < 255; a++)
{
analogWrite(Motor_A_Enable, a);
//analogWrite(Motor_B_Enable, a);
delay(5);
}
// analogWrite(Motor_A_Enable, 230);
//analogWrite(Motor_B_Enable, 255);
digitalWrite(Motor_A_Forward, HIGH);
// digitalWrite(Motor_B_Reverse, HIGH);
digitalWrite(Motor_A_Reverse, LOW);
// digitalWrite(Motor_B_Forward, LOW);
break;
case '6': //FORWARD RIGHT
for (int a = 0; a < 255; a++)
{
//analogWrite(Motor_A_Enable, a);
analogWrite(Motor_B_Enable, a);
delay(5);
}
// analogWrite(Motor_A_Enable, 250);
analogWrite(Motor_B_Enable, 230);
// digitalWrite(Motor_A_Reverse, HIGH);
digitalWrite(Motor_B_Forward, HIGH);
// digitalWrite(Motor_A_Forward, LOW);
digitalWrite(Motor_B_Reverse, LOW);
break;
default: //If bluetooth module receives any value not listed above, both motors turn off
analogWrite(Motor_A_Enable, 0);
analogWrite(Motor_B_Enable, 0);
}
}
}
#define trig_pin A1 //analog input 1
#define echo_pin A2 //analog input 2
#define maximum_distance 200
boolean goesForward = false;
int distance = 100;
NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
USB Usb;
BTD Btd(&Usb);
//PS3BT PS3(&Btd);
PS3BT PS3(&Btd); // This will just create the instance
//PS3BT PS3(&Btd, 0x00, 0x15, 0x83, 0x3D, 0x0A, 0x57); // This will also store the bluetooth address - this can be obtained from the dongle when running the sketch
int const PWMA = 3;
int const PWMB = 5;
int const dirA = 2;
int const dirB = 4;
void _mForward()
{
digitalWrite(dirA, 255);
analogWrite(PWMA, HIGH);
digitalWrite(dirB, 255);
analogWrite(PWMB, HIGH);
}
void _mBack()
{
digitalWrite(dirA, LOW);
analogWrite(PWMA, 255);
digitalWrite(dirB, LOW);
analogWrite(PWMB, 255);;
}
void _mleft()
{
digitalWrite(dirA, LOW);
analogWrite(PWMA, 255);
digitalWrite(dirB, HIGH);
analogWrite(PWMB, 255);
}
void _mright()
{
digitalWrite(dirA, HIGH);
analogWrite(PWMA, 255);
digitalWrite(dirB, LOW);
analogWrite(PWMB, 255);
}
void _mStop()
{
digitalWrite(dirA, 0);
analogWrite(PWMA, 0);
digitalWrite(dirB, 0);
analogWrite(PWMB, 0);
}
void setup2() {
Serial.begin(9600);
if (Usb.Init() == -1) {
Serial.print(F("\r\nOSC did not start"));
while (1); //halt
}
Serial.print(F("\r\nPS3 Bluetooth Library Started"));
pinMode(PWMA, OUTPUT);
pinMode(PWMB, OUTPUT);
pinMode(dirA, OUTPUT);
pinMode(dirB, OUTPUT);
distance = readPing();
}
void loop2() {
Usb.Task();
int distanceRight = 0;
int distanceLeft = 0;
if (PS3.PS3Connected || PS3.PS3NavigationConnected) {
if (distance <= 20) {
_mStop();
delay(300);
_mForward();
delay(400);
_mStop();
delay(300);
}
else {
if (PS3.getButtonPress(RIGHT))
{
_mright();
}
else if (PS3.getButtonPress(LEFT)) {
_mleft();
}
else if (PS3.getButtonPress(CROSS))
{
_mForward();
}
else if (PS3.getButtonPress(TRIANGLE))
{
_mBack();
}
else {
_mStop();
}
}
}
distance = readPing();
}
int readPing() {
delay(0);
int cm = sonar.ping_cm();
if (cm == 0) {
cm = 250;
}
return cm;
}
void PBS() {
pinMode(buttonPin, INPUT_PULLUP);
}