Code is not working if serial monitor is not open

Projects General Guidance
1

So this is the code that I've been working on so far. My current problem is that the conditions in the main loop only work when the serial monitor is open. How can I solve this problem? I'd be grateful for your help.



#include<AFMotor.h>
#include "SR04.h"
#include <Wire.h>
#include <MPU6050.h>




//for gyro

MPU6050 mpu;

// Timers
unsigned long timer = 0;
float timeStep = 0.01;

// Pitch, Roll and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;



AF_DCMotor motor1(1); // left motor
AF_DCMotor motor2(2); // right motor

void setup() {
  // run once at startup

   Serial.begin(115200);
   delay(1000);
   
   // Initialize MPU6050
   while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
   {
      Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
      delay(500);
   }
  
   // Calibrate gyroscope. The calibration must be at rest.
   // If you don't want calibrate, comment this line.
   mpu.calibrateGyro();

  // Set threshold sensivty. Default 3.
  // If you don't want use threshold, comment this line or set 0.
   mpu.setThreshold(3);

   delay(5000);
  
}


void loop(){
  

calculateYaw();

if ( yaw <= 0.5 && yaw >= -0.5 ) {   // you can increse the range to suit your sensor's accuracy

    motor1.setSpeed(225);
    motor2.setSpeed(225);
    motor1.run(FORWARD);
    motor2.run(FORWARD);
       
  
    }

else {
  if(yaw > 0.5){
    motor1.setSpeed(200);
    motor2.setSpeed(200);
    motor1.run(FORWARD);
    motor2.run(BACKWARD);
    

      if(yaw < 0.2 && yaw > -1) {
        motor1.setSpeed(100);
        motor2.setSpeed(100);
        motor1.run(FORWARD);
        motor2.run(FORWARD);
        delay(100);
      }
  }

  if(yaw < -5){
    motor1.setSpeed(200);
    motor2.setSpeed(200);
    motor1.run(BACKWARD);
    motor2.run(FORWARD);
    delay(100);
  

        if(yaw > -1 && yaw < 0.5) {
        motor1.setSpeed(100);
        motor2.setSpeed(100);
        motor1.run(FORWARD);
        motor2.run(FORWARD);
  }
    
 }
}
  
}

void calculateYaw(){
  timer = millis();

  // Read normalized values
  Vector norm = mpu.readNormalizeGyro();

  // Calculate Pitch, Roll and Yaw
  pitch = pitch + norm.YAxis * timeStep;
  roll = roll + norm.XAxis * timeStep;
  yaw = yaw + norm.ZAxis * timeStep;



  // Wait to full timeStep period
  delay((timeStep*1000) - (millis() - timer));

  // Output raw
  Serial.println(" Pitch = ");
  Serial.println(pitch);
  Serial.println(" Roll = ");
  Serial.println(roll);  
  Serial.println(" Yaw = ");
  Serial.println(yaw);
}
2

What Arduino board are you using?

3

this sounds risky if for whatever reason it took more than 10ms to execute mpu.readNormalizeGyro(); you get a negative number which will become a huge delay and will block your code for days

can you try to turn on the built in led at the start of calculateYaw() and turn it off after the delay()
if it does not turn off you'll know you are stuck in between,

4

You have other problems. How is 'yaw' ever going to be less than -5 and simultaneously greater than -1?

5

I'm using an Arduino Uno

6

Can you help me to fix my code?

7

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