Can`t stop car automatically

Hello everyone, I encountered a problem in my project, my project about a smart robot car(Osoyoos V2 robot car) with Arduino Uno & ESP8266 board, when I wrote the stopping condition of the car in the loop method does not stop but continues to move automatically and does not stop, how do I stop the car permanently in this case?

#define speedPinR 3   
#define RightDirectPin1  12    
#define RightDirectPin2  11   
#define speedPinL 6       
#define LeftDirectPin1  7    
#define LeftDirectPin2  8  
#define LPT 2 
int sensor=A0; 
#define SERVO_PIN     9  

#define Echo_PIN    2 
#define Trig_PIN    10 

#define BUZZ_PIN     13
#define FAST_SPEED  250     
#define SPEED  120     
#define TURN_SPEED  200     
#define BACK_SPEED1  255     
#define BACK_SPEED2  90    
#define USE_ARDUINO_INTERRUPTS true    


int Threshold = 550;          
 
                     
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30; 
const int sidedistancelimit = 30; 
int distance;
int numcycles = 0;
const int turntime = 250; 
const int backtime = 300;

int thereis;
Servo head;
/*motor control*/
void go_Advance(void)  //Forward
{
  digitalWrite(RightDirectPin1, HIGH);
  digitalWrite(RightDirectPin2, LOW);
  digitalWrite(LeftDirectPin1, HIGH);
  digitalWrite(LeftDirectPin2, LOW);
}
void go_Left()  //Turn left
{
  digitalWrite(RightDirectPin1, HIGH);
  digitalWrite(RightDirectPin2, LOW);
  digitalWrite(LeftDirectPin1, LOW);
  digitalWrite(LeftDirectPin2, HIGH);
}
void go_Right()  //Turn right
{
  digitalWrite(RightDirectPin1, LOW);
  digitalWrite(RightDirectPin2, HIGH);
  digitalWrite(LeftDirectPin1, HIGH);
  digitalWrite(LeftDirectPin2, LOW);
}
void go_Back()  //Reverse
{
  digitalWrite(RightDirectPin1, LOW);
  digitalWrite(RightDirectPin2, HIGH);
  digitalWrite(LeftDirectPin1, LOW);
  digitalWrite(LeftDirectPin2, HIGH);
}
void stop_Stop()    //Stop
{
  digitalWrite(RightDirectPin1, LOW);
  digitalWrite(RightDirectPin2, LOW);
  digitalWrite(LeftDirectPin1, LOW);
  digitalWrite(LeftDirectPin2, LOW);
  set_Motorspeed(0, 0);
}

/*set motor speed */
void set_Motorspeed(int speed_L, int speed_R)
{
  analogWrite(speedPinL, speed_L);
  analogWrite(speedPinR, speed_R);
}

void buzz_ON()   //open buzzer
{

  for (int i = 0; i < 100; i++)
  {
    digitalWrite(BUZZ_PIN, LOW);
    delay(2);//wait for 1ms
    digitalWrite(BUZZ_PIN, HIGH);
    delay(2);//wait for 1ms
  }
}
void buzz_OFF()  //close buzzer
{
  digitalWrite(BUZZ_PIN, HIGH);

}
void alarm() {
  buzz_ON();

  buzz_OFF();
}
/*detection of ultrasonic distance*/
int watch() {
  long echo_distance;
  digitalWrite(Trig_PIN, LOW);
  delayMicroseconds(5);
  digitalWrite(Trig_PIN, HIGH);
  delayMicroseconds(15);
  digitalWrite(Trig_PIN, LOW);
  echo_distance = pulseIn(Echo_PIN, HIGH);
  echo_distance = echo_distance * 0.01657; //how far away is the object in cm
  //Serial.println((int)echo_distance);
  return round(echo_distance);
}
//Meassures distances to the right, left, front, left diagonal, right diagonal and asign them in cm to the variables rightscanval,
//leftscanval, centerscanval, ldiagonalscanval and rdiagonalscanval (there are 5 points for distance testing)
String watchsurrounding() {
  /*  obstacle_status is a binary integer, its last 5 digits stands for if there is any obstacles in 5 directions,
       for example B101000 last 5 digits is 01000, which stands for Left front has obstacle, B100111 means front, right front and right ha
  */

  int obstacle_status = B100000;
  centerscanval = watch();
  if (centerscanval < distancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | B100;
  }
  head.write(120);
  delay(100);
  ldiagonalscanval = watch();
  if (ldiagonalscanval < distancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | B1000;
  }
  head.write(170); //Didn't use 180 degrees because my servo is not able to take this angle
  delay(300);
  leftscanval = watch();
  if (leftscanval < sidedistancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | B10000;
  }

  head.write(90); //use 90 degrees if you are moving your servo through the whole 180 degrees
  delay(100);
  centerscanval = watch();
  if (centerscanval < distancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | B100;
  }
  head.write(40);
  delay(100);
  rdiagonalscanval = watch();
  if (rdiagonalscanval < distancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | B10;
  }
  head.write(0);
  delay(100);
  rightscanval = watch();
  if (rightscanval < sidedistancelimit) {
    stop_Stop();
    alarm();
    obstacle_status  = obstacle_status | 1;
  }
  head.write(90); //Finish looking around (look forward again)
  delay(300);
  String obstacle_str = String(obstacle_status, BIN);
  obstacle_str = obstacle_str.substring(1, 6);

  return obstacle_str; //return 5-character string standing for 5 direction obstacle status
}

void auto_avoidance() {

  ++numcycles;
  if (numcycles >= LPT) { //Watch if something is around every LPT loops while moving forward
    stop_Stop();
    String obstacle_sign = watchsurrounding(); // 5 digits of obstacle_sign binary value means the 5 direction obstacle status
    Serial.print("begin str=");
    Serial.println(obstacle_sign);
    if ( obstacle_sign == "10000") {
      Serial.println("SLIT right");
      set_Motorspeed(FAST_SPEED, SPEED);
      go_Advance();

      delay(turntime);
      stop_Stop();
    }
    else    if ( obstacle_sign == "00001"  ) {
      Serial.println("SLIT LEFT");
      set_Motorspeed(SPEED, FAST_SPEED);
      go_Advance();

      delay(turntime);
      stop_Stop();
    }
    else if ( obstacle_sign == "11100" || obstacle_sign == "01000" || obstacle_sign == "11000"  || obstacle_sign == "10100"  || obstacle_sign == "01100" || obstacle_sign == "00100"  || obstacle_sign == "01000" ) {
      Serial.println("hand right");
      go_Right();
      set_Motorspeed(TURN_SPEED, TURN_SPEED);
      delay(turntime);
      stop_Stop();
    }
    else if ( obstacle_sign == "00010" || obstacle_sign == "00111" || obstacle_sign == "00011"  || obstacle_sign == "00101" || obstacle_sign == "00110" || obstacle_sign == "01010" ) {
      Serial.println("hand left");
      go_Left();//Turn left
      set_Motorspeed(TURN_SPEED, TURN_SPEED);
      delay(turntime);
      stop_Stop();
    }

    else if (  obstacle_sign == "01111" ||  obstacle_sign == "10111" || obstacle_sign == "11111"  ) {
      Serial.println("hand back right");
      go_Left();
      set_Motorspeed( FAST_SPEED, SPEED);
      delay(backtime);
      stop_Stop();
    }
    else if ( obstacle_sign == "11011"  ||    obstacle_sign == "11101"  ||  obstacle_sign == "11110"  || obstacle_sign == "01110"  ) {
      Serial.println("hand back left");
      go_Right();
      set_Motorspeed( SPEED, FAST_SPEED);
      delay(backtime);
      stop_Stop();
    }

    else Serial.println("no handle");
    numcycles = 0; //Restart count of cycles
  } else {
    set_Motorspeed(SPEED, SPEED);
    go_Advance();  // if nothing is wrong go forward using go() function above.
    delay(backtime);
    stop_Stop();
  }

  //else  Serial.println(numcycles);

  distance = watch(); // use the watch() function to see if anything is ahead (when the robot is just moving forward and not looking around it will test the distance in front)
  if (distance < distancelimit) { // The robot will just stop if it is completely sure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic sensor's false signals)
    Serial.println("final go back");
    go_Right();
    set_Motorspeed( SPEED, FAST_SPEED);
    delay(backtime * 3 / 2);
    ++thereis;
  }
  if (distance > distancelimit) {
    thereis = 0;
  } //Count is restarted
  if (thereis > 25) {
    Serial.println("final stop");
    stop_Stop(); // Since something is ahead, stop moving.
    thereis = 0;
  }
}
void stopCar(){
   set_Motorspeed(0, 0);
}

void setup() {
  /*setup L298N pin mode*/
  pinMode(RightDirectPin1, OUTPUT);
  pinMode(RightDirectPin2, OUTPUT);
  pinMode(speedPinL, OUTPUT);
  pinMode(LeftDirectPin1, OUTPUT);
  pinMode(LeftDirectPin2, OUTPUT);
  pinMode(speedPinR, OUTPUT);
  stop_Stop();//stop move
  /*init HC-SR04*/
  pinMode(Trig_PIN, OUTPUT);
  pinMode(Echo_PIN, INPUT);
 
  
  /*init buzzer*/
  pinMode(BUZZ_PIN, OUTPUT);
  digitalWrite(BUZZ_PIN, HIGH);
  buzz_OFF();

  digitalWrite(Trig_PIN, LOW);
  /*init servo*/
  head.attach(SERVO_PIN);
  head.write(90);
  delay(2000);





  Serial.begin(9600);


}


void loop() {
  auto_avoidance();
  
 int msensor =analogRead(sensor);
                                           
  
    if(msensor>90 || msensor<200){

 Serial.println("car want self-stop automatically "); 
go_Right();
stopCar();

    }

delay(20);

}

Your program needs state - as it is when the condition for stopping happens it will stop only as long as that condition holds, whereas I think you want it to stay stopped.

Perhaps a variable:

bool stopped = false ;


void loop ()
{
  int msensor =analogRead(sensor);                                            
  if(msensor>90 || msensor<200){
    Serial.println("car want self-stop automatically "); 
    stopped = true ;
    go_Right();
    stopCar();
  }
  if (!stopped)
    auto_avoidance();
}

Thus auto_avoidance should take note of whether your in the stop state.

1 Like

thank you for help me and answerd my question , your help for stop my robot car but car does not turn right befor stop .how can I solve it ?

You don't give the right turn code any time to do its thing before calling stop. Simplest would be to put a delay between them.

1 Like

thank you for help me ,it`s work .

but still, the car stop does not go to the right then stop. how can I make a car self stop or self-parking in the right direction?

just put a line of code with motor speed movement. hope you are using L293D motor driver

1 Like

no,I have this model https://osoyoo.com/2017/08/15/osoyoo-model-x-motor-driver-module/