change activity with time

Projects Programming
6

Gotcha guys, sorry about that. heres the whole picture:

#include <Wire.h>

#include <Servo.h>  //includes the servo library to PWM the servo
#include <Time.h> //??

unsigned long time = millis();

int HMC6352Address = 0x42;
// This is calculated in the setup() function
int slaveAddress;
int ledPin = 13;
boolean ledState = false;
byte headingData[2];
int i, headingValue;

const int ENA = 9;
const int IN1 = 12;
const int IN2 = 13;

//servo control?
Servo Steering; //defines the servo to be used to steer?

int depthValue;

const int left = 135;
const int right = 45;
const int straight = 90;

void setup()
{
// Shift the device's documented slave address (0x42) 1 bit right
// This compensates for how the TWI library only wants the
// 7 most significant bits (with the high bit padded with 0)
slaveAddress = HMC6352Address >> 1;   // This results in 0x21 as the address to pass to TWI

Serial.begin(9600);


Wire.begin();

pinMode(ENA, OUTPUT); // only controls one motor - Hbridge could do 2...
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);

Depth.attach(11);
Steering.attach(10);  //attaches the steering servo to pin 10

}
void loop()
{
  
  // Send a "A" command to the HMC6352
  // This requests the current heading data
  Wire.beginTransmission(slaveAddress);
  Wire.write("A");              // The "Get Data" command
  Wire.endTransmission();
  delay(10);                   // The HMC6352 needs at least a 70us (microsecond) delay
  // after this command.  Using 10ms just makes it safe
  // Read the 2 heading bytes, MSB first
  // The resulting 16bit word is the compass heading in 10th's of a degree
  // For example: a heading of 1345 would be 134.5 degrees
  Wire.requestFrom(slaveAddress, 2);        // Request the 2 byte heading (MSB comes first)
  i = 0;
  while(Wire.available() && i < 2)
  { 
    headingData[i] = Wire.read();
    i++;
  }
  headingValue = headingData[0]*256 + headingData[1];  // Put the MSB and LSB together
  Serial.print("Current heading: ");
  Serial.print(int (headingValue / 10));     // The whole number part of the heading
  Serial.print(".");
  Serial.print(int (headingValue % 10));     // The fractional part of the heading
  Serial.println(" degrees");
  delay(500);
  
  delay(10);
//MOTOR CONTROL as taken from somewhere and butchered
digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW); // GO!
  
  
  //my attempts at driving this thing
if (time < 10000){ //for first ten seconds, go east
if(headingValue/10 >= 95 && headingValue/10 <= 270)
    Steering.write(left);
  if (headingValue/10 <= 85 || headingValue/10 > 270)
    Steering.write(right);
  if (headingValue/10 >85 && headingValue/10 <95)
    Steering.write(straight);
}
  delay(10);
  //turn around (west) and keep running home
  if(time >= 10000){
    if(headingValue/10 >= 275 || headingValue/10 <= 90)
    Steering.write(left);
  if (headingValue/10 <= 265 && headingValue/10 > 90)
    Steering.write(right);
  if (headingValue/10 >265 && headingValue/10 <275)
    Steering.write(straight);
}
delay (10);
}

I have changed the "while" statements since my original posting for "if" statements and have a faster refresh rate but it still refuses to read the second step - to turn around and go west

Thanks for the help