Combining code (servo motor & l298N driver)

Projects Programming
1

I have two codes. They work fine independently. I want to combine the two codes. As I have combined them, only code 1 responds, not the code 2. Im a newbie and could not figure it out. Would appreciate any help!

#define pin1 2 // motor #1 +
#define pin2 3 // motor #1 โ€“
#define pw1 7 // motor #1 pwm
#define pin3 4 // motor #2 +
#define pin4 5 // motor #2 โ€“
#define pw2 6 // motor #2 pwm
#include <Servo.h>
#include <SoftwareSerial.h>


Servo myservo;
int bluetoothTx = 10; // bluetooth tx to 10 pin
int bluetoothRx = 11; // bluetooth rx to 11 pin

SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);


Servo ser; // create servo object to control a servo

int poser = 90; // initial position of servo

int value; // initial value of input


void setup() {
  pinMode(pin1, OUTPUT);
  pinMode(pin2, OUTPUT);
  pinMode(pin3, OUTPUT);
  pinMode(pin4, OUTPUT);
  pinMode(pw1, OUTPUT);
  pinMode(pw2, OUTPUT);
  Serial.begin(9600);
  digitalWrite(pin1, LOW);
  digitalWrite(pin2, LOW);
  digitalWrite(pin3, LOW);
  digitalWrite(pin4, LOW);
  analogWrite(pw1, 50);
  analogWrite(pw2, 50);
  myservo.attach(9);
  bluetooth.begin(9600);



}

void loop() {
//CODE 1
  if (bluetooth.available() >= 2 )
  {
    unsigned int a = bluetooth.read();
    unsigned int b = bluetooth.read();
    unsigned int val = (b * 256) + a;


    if (val == 200) // motor #1 stop
    {
      digitalWrite(pin1, LOW);
      digitalWrite(pin2, LOW);
    }
    else if (val == 300) // motor #1 forward
    {
      digitalWrite(pin1, HIGH);
      digitalWrite(pin2, LOW);
    }

    else if (val == 500) // motor #2 stop
    {
      digitalWrite(pin3, LOW);
      digitalWrite(pin4, LOW);
    }
    else if (val == 600) // motor #2 forward
    {
      digitalWrite(pin3, HIGH);
      digitalWrite(pin4, LOW);
    }
    else if (val >= 1000 && val <= 1255)
    {
      analogWrite (pw1, val - 1000);
    }
    else if (val >= 2000 && val <= 2255)
    {
      analogWrite (pw2, val - 2000);
      {

//CODE 2
  if(bluetooth.available()> 0 ) // receive number from bluetooth
  {
    int servopos = bluetooth.read(); // save the received number to servopos
    Serial.println(servopos); // serial print servopos current number received from bluetooth
    myservo.write(servopos); // roate the servo the angle received from the android app
  }
}  
}        
}        
}
2

check your braces

#define pin1 2 // motor #1 +
#define pin2 3 // motor #1 ฮ“ร‡รด
#define pw1 7 // motor #1 pwm
#define pin3 4 // motor #2 +
#define pin4 5 // motor #2 ฮ“ร‡รด
#define pw2 6 // motor #2 pwm
#include <Servo.h>
#include <SoftwareSerial.h>
Servo myservo;
int bluetoothTx = 10; // bluetooth tx to 10 pin
int bluetoothRx = 11; // bluetooth rx to 11 pin
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
Servo ser; // create servo object to control a servo
int poser = 90; // initial position of servo
int value; // initial value of input
void setup() {
    pinMode(pin1, OUTPUT);
    pinMode(pin2, OUTPUT);
    pinMode(pin3, OUTPUT);
    pinMode(pin4, OUTPUT);
    pinMode(pw1, OUTPUT);
    pinMode(pw2, OUTPUT);
    Serial.begin(9600);
    digitalWrite(pin1, LOW);
    digitalWrite(pin2, LOW);
    digitalWrite(pin3, LOW);
    digitalWrite(pin4, LOW);
    analogWrite(pw1, 50);
    analogWrite(pw2, 50);
    myservo.attach(9);
    bluetooth.begin(9600);
}

void loop() {
    //CODE 1
    if (bluetooth.available() >= 2 )
    {
        unsigned int a = bluetooth.read();
        unsigned int b = bluetooth.read();
        unsigned int val = (b * 256) + a;
        if (val == 200) // motor #1 stop
        {
            digitalWrite(pin1, LOW);
            digitalWrite(pin2, LOW);
        }
        else if (val == 300) // motor #1 forward
        {
            digitalWrite(pin1, HIGH);
            digitalWrite(pin2, LOW);
        }
        else if (val == 500) // motor #2 stop
        {
            digitalWrite(pin3, LOW);
            digitalWrite(pin4, LOW);
        }
        else if (val == 600) // motor #2 forward
        {
            digitalWrite(pin3, HIGH);
            digitalWrite(pin4, LOW);
        }
        else if (val >= 1000 && val <= 1255)
        {
            analogWrite (pw1, val - 1000);
        }
        else if (val >= 2000 && val <= 2255)
        {
            analogWrite (pw2, val - 2000);
            {
                //CODE 2
                if(bluetooth.available()> 0 ) // receive number from bluetooth
                {
                    int servopos = bluetooth.read(); // save the received number to servopos
                    Serial.println(servopos); // serial print servopos current number received from bluetooth
                    myservo.write(servopos); // roate the servo the angle received from the android app
                }
            }
        }
    }
}
3

Is pin 7 a PWM pin on your mystery Arduino board?

Good job posting code properly in your first post. Most new members do not bother reading the rules and have to be reminded.

1 Like
4

yes

6

Where in the code are you figuring out where (to which of the two programs) the incoming characters are supposed to go?

Seems like CODE 2 will never see anything available as you are reading from the same port earlier.

   //CODE 2
                if(bluetooth.available()> 0 ) // receive number from bluetooth
                {

a7

7

sorry i meant only the the code 2 works and code 1 doesnt

8

The way that you read from the software serial port is not very robust. There is no way for it to tell if the data is valid or not. I would suggest that you have a look at Robin2's serial input basics tutorial.

9

In the code 1, put in a serial print to see what is coming in and being written to the servo.

10

SERVO

#include <SoftwareSerial.h> // TX RX software library for bluetooth

#include <Servo.h> // servo library 
Servo myservo; // servo name

int bluetoothTx = 10; // bluetooth tx to 10 pin
int bluetoothRx = 11; // bluetooth rx to 11 pin

SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);

void setup()
{
  myservo.attach(9); // attach servo signal wire to pin 9
  //Setup usb serial connection to computer
  Serial.begin(9600);

  //Setup Bluetooth serial connection to android
  bluetooth.begin(9600);
}

void loop()
{
  //Read from bluetooth and write to usb serial
  if(bluetooth.available()> 0 ) // receive number from bluetooth
  {
    int servopos = bluetooth.read(); // save the received number to servopos
    Serial.println(servopos); // serial print servopos current number received from bluetooth
    myservo.write(servopos); // roate the servo the angle received from the android app
  }


}

L298N DRIVER


#define pin1 2 // motor #1 +
#define pin2 3 // motor #1 โ€“
#define pw1 7 // motor #1 pwm
#define pin3 4 // motor #2 +
#define pin4 5 // motor #2 โ€“
#define pw2 6 // motor #2 pwm
void setup() {
pinMode(pin1, OUTPUT);
pinMode(pin2, OUTPUT);
pinMode(pin3, OUTPUT);
pinMode(pin4, OUTPUT);
pinMode(pw1, OUTPUT);
pinMode(pw2, OUTPUT);
Serial.begin(9600);
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
analogWrite(pw1, 50);
analogWrite(pw2, 50);

}

void loop() {

if (Serial.available() >= 2 )
{
unsigned int a = Serial.read();
unsigned int b = Serial.read();
unsigned int val = (b * 256) + a;

if (val == 100) // motor 1 reverse
{
digitalWrite(pin1, LOW);
digitalWrite(pin2, HIGH);

}
else if (val == 200) // motor #1 stop
{
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
}
else if (val == 300) // motor #1 forward
{
digitalWrite(pin1, HIGH);
digitalWrite(pin2, LOW);
}
else if (val == 400) // motor #2 reverse
{
digitalWrite(pin3, LOW);
digitalWrite(pin4, HIGH);
}
else if (val == 500) // motor #2 stop
{
digitalWrite(pin3, LOW);
digitalWrite(pin4, LOW);
}
else if (val == 600) // motor #2 forward
{
digitalWrite(pin3, HIGH);
digitalWrite(pin4, LOW);
}
else if (val >= 1000 && val <= 1255)
{
analogWrite (pw1, val - 1000);
}
else if (val >= 2000 && val <= 2255)
{
analogWrite (pw2, val - 2000);
}
}
}
11

Does the second sketch in post #10 function?

What are you typing in the serial input area to get it to work?

256 * b + a looks like you are reading bytes meant to make up an integer.

a7

12

yes it does.i've copied it from ARDUINO How To Bluetooth Control 2 DC Motors Speed And Direction With A L298N - YouTube

13

Serial print some values so you can see what characters end up informing the process.

Do the same thing with the bluetooth characters received.

a7

14

is it like this?

#define pin1 2 // motor #1 +
#define pin2 3 // motor #1 ฮ“ร‡รด
#define pw1 7 // motor #1 pwm
#define pin3 4 // motor #2 +
#define pin4 5 // motor #2 ฮ“ร‡รด
#define pw2 6 // motor #2 pwm
#include <Servo.h>
#include <SoftwareSerial.h>
Servo myservo;
int bluetoothTx = 10; // bluetooth tx to 10 pin
int bluetoothRx = 11; // bluetooth rx to 11 pin
SoftwareSerial bluetooth(bluetoothTx, bluetoothRx);
Servo ser; // create servo object to control a servo
int poser = 90; // initial position of servo
int value; // initial value of input
void setup() {
  pinMode(pin1, OUTPUT);
  pinMode(pin2, OUTPUT);
  pinMode(pin3, OUTPUT);
  pinMode(pin4, OUTPUT);
  pinMode(pw1, OUTPUT);
  pinMode(pw2, OUTPUT);
  Serial.begin(9600);
  digitalWrite(pin1, LOW);
  digitalWrite(pin2, LOW);
  digitalWrite(pin3, LOW);
  digitalWrite(pin4, LOW);
  analogWrite(pw1, 50);
  analogWrite(pw2, 50);
  myservo.attach(9);
  bluetooth.begin(9600);
}

void loop() {
  //CODE 1
  if (bluetooth.available() >= 2 )
  {
    unsigned int a = bluetooth.read();
    unsigned int b = bluetooth.read();
    unsigned int val = (b * 256) + a;
    if (val == 200) // motor #1 stop
    {
      digitalWrite(pin1, LOW);
      digitalWrite(pin2, LOW);
    }
    else if (val == 300) // motor #1 forward
    {
      digitalWrite(pin1, HIGH);
      digitalWrite(pin2, LOW);
    }
    else if (val == 500) // motor #2 stop
    {
      digitalWrite(pin3, LOW);
      digitalWrite(pin4, LOW);
    }
    else if (val == 600) // motor #2 forward
    {
      digitalWrite(pin3, HIGH);
      digitalWrite(pin4, LOW);
    }
    else if (val >= 1000 && val <= 1255)
    {
      analogWrite (pw1, val - 1000);
    }
    else if (val >= 2000 && val <= 2255)
    {
      analogWrite (pw2, val - 2000);
      {
        int servopos = bluetooth.read(); // save the received number to servopos
        Serial.println(servopos); // serial print servopos current number received from bluetooth
        myservo.write(servopos); // roate the servo the angle received from the android app
      }
    }
  }
}
15

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.