hi, so I am a beginner in Arduino programming and I don't have much experience in programming recently I made a obstacle avoiding car and a Bluetooth controlled car and now I want to make a car where I can have those two features and I can change modes from obstacle avoiding and Bluetooth controlling just by pressing a button from my phone I have trying to do it for a few days but I was unsuccessful somebody please tell me how I can add this feature
Welcome to the forum
Please post your best attempt at combining the 2 sketches, using code tags when you do, and describe the problems that you have had
I don't normally complain about grammar, but you really need to use punctuation to allow your text to be read normally...
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And once you have actual sentences, it's customary to capitalize the first word of each one.
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#include <AFMotor.h>
#include <SoftwareSerial.h>
#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 200
#define MAX_SPEED 190 // sets speed of DC motors
#define MAX_SPEED_OFFSET 20
SoftwareSerial bluetoothSerial(0, 1); // RX, TX
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
//initial motors pin
AF_DCMotor motor1(1, MOTOR12_1KHZ);
AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
Servo myservo;
char command;
boolean goesForward=false;
int distance = 100;
int speedSet = 0;
int test = 33;
void setup()
{
bluetoothSerial.begin(9600);
myservo.attach(10);
myservo.write(115);
delay(2000);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
distance = readPing();
delay(100);
}
void loop() {
int distanceR = 0;
int distanceL = 0;
if (bluetoothSerial.available() > 0) {
command = bluetoothSerial.read();
Stop();
switch (command) {
case 'F':
forward();
break;
case 'B':
back();
break;
case 'L':
left();
break;
case 'R':
right();
break;
case 'V':
test = 33;
break;
case 'v':
test = 34;
break;
}
}
if(test=34){
if(distance<=30)
{
moveStop();
delay(400);
moveBackward();
delay(300);
}
else{}
}else{
if(distance<=30)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);
if(distanceR>=distanceL)
{
turnRight();
moveStop();
}else
{
turnLeft();
moveStop();
}
}else
{
moveForward();
}}
distance = readPing();
}
int lookRight()
{
myservo.write(50);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
}
int lookLeft()
{
myservo.write(170);
delay(500);
int distance = readPing();
delay(100);
myservo.write(115);
return distance;
delay(100);
}
int readPing() {
delay(0);
int cm = sonar.ping_cm();
if(cm==0)
{
cm = 100;
}
return cm;
}
void moveStop() {
motor1.run(RELEASE);
motor2.run(RELEASE);
motor3.run(RELEASE);
motor4.run(RELEASE);
}
void moveBackward() {
goesForward=false;
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}
void forward()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void back()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(BACKWARD); //rotate the motor anti-clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(BACKWARD); //rotate the motor anti-clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(BACKWARD); //rotate the motor anti-clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(BACKWARD); //rotate the motor anti-clockwise
}
void left()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(BACKWARD); //rotate the motor anti-clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(BACKWARD); //rotate the motor anti-clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(FORWARD); //rotate the motor clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(FORWARD); //rotate the motor clockwise
}
void right()
{
motor1.setSpeed(255); //Define maximum velocity
motor1.run(FORWARD); //rotate the motor clockwise
motor2.setSpeed(255); //Define maximum velocity
motor2.run(FORWARD); //rotate the motor clockwise
motor3.setSpeed(255); //Define maximum velocity
motor3.run(BACKWARD); //rotate the motor anti-clockwise
motor4.setSpeed(255); //Define maximum velocity
motor4.run(BACKWARD); //rotate the motor anti-clockwise
}
void Stop()
{
motor1.setSpeed(0); //Define minimum velocity
motor1.run(RELEASE); //stop the motor when release the button
motor2.setSpeed(0); //Define minimum velocity
motor2.run(RELEASE); //rotate the motor clockwise
motor3.setSpeed(0); //Define minimum velocity
motor3.run(RELEASE); //stop the motor when release the button
motor4.setSpeed(0); //Define minimum velocity
motor4.run(RELEASE); //stop the motor when release the button
}
void moveForward() {
if(!goesForward)
{
goesForward=true;
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
{
motor1.setSpeed(speedSet);
motor2.setSpeed(speedSet);
motor3.setSpeed(speedSet);
motor4.setSpeed(speedSet);
delay(5);
}
}
}
void turnRight() {
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
void turnLeft() {
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
delay(500);
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
}
This is my recent attempt on this project
So I am using an android app called Bluetooth RC Controller. and I have used the horn button to change the modes when I uploaded the code to my Arduino UNO the Bluetooth controlling works fine but when I turn it on the obstacle avoiding mode it doesn't work
Sorry for that
Sorry for that.
This is always true because you use the "=" operator to assign 34 to test, then the expression evaluates to non-zero and triggers the if(...) clause, and then you do a about a second's worth of object avoidance before you loop again and get a chance to read another bluetooth character.
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Really? A software serial instance on the existing, functional hardware serial pins? Why not just use the existing hardware serial port?
Why? What does this accomplish?
That's a non-blocking delay().
a7
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Thanks
your code needs at least 2 sub-functions: one that monitors for commands and a second that runs the robot, presumably autonomously in obstacle avoidance mode.
the obstacle avoidance sub-function is repeatedly invoke depending on a mode flag that can be toggled using a command. when NOT in obstacle avoidance mode, user controlled commands (i.e. "teleop")
are allowed. the mode flag can be used to check for or ignore those commands by calling a 3rd sub-function
it's about organizing the code
but it looks like your obstacle avoidance code, autonomously executes various move commands, is blocking and would need to complete before seeing another command
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