Function not Looping issues

gundamreact · December 10, 2022, 7:16pm

Need help troubleshooting a sketch. The idea is you press a button it goes to the corresponding program loops until level then returns to the button. The problem is I can't get it to loop and I don't know where I'm going wrong. It'll only run through once.

 void leveling() {
    mpu.update();

  if ((millis() - timer) > 10) {  // print data every 10ms
    Serial.println("X : ");
    Serial.println(mpu.getAngleX());
    if (mpu.getAngleX() < -1 & mpu.getAngleX() > -15) digitalWrite(11, LOW);
    else {
      digitalWrite(11, HIGH);
    }
    if (mpu.getAngleX() > 1 & mpu.getAngleX() < 15) {
      digitalWrite(7, LOW);
    } else {
      digitalWrite(7, HIGH);
    }
    if (mpu.getAngleX() < 1 & mpu.getAngleX() > -1) digitalWrite(10, HIGH);
    else {
      digitalWrite(10, LOW);
    }
    timer = millis();
  }
    return;
  }

6v6gt · December 10, 2022, 8:25pm

&& for logical AND, not &

gundamreact · December 10, 2022, 8:56pm

made that adjustment still only going through once

6v6gt · December 10, 2022, 9:39pm

OK. Post your code again to show the changes.

You have some gaps. If , for example, mpu.getAngleX() is exactly equal to 1 it falls through or if >= 15.

How is function leveling() being called ? in a loop ? Show the code where it is called.

What is the data type of timer . It should be uint32_t.

What datatype does this return ?

gundamreact · December 10, 2022, 9:48pm

This is the full Sketch. its still only going through once. i probably have a fundamental issue somewhere

//RV auto leeveling program
//designed to run linear actuators to help leveling process


#include "Wire.h"
#include <MPU6050_light.h>
#include <LiquidCrystal_I2C.h>
#include <Keypad.h>

const byte ROWS = 1;  //1 rows
const byte COLS = 4;  //four columns
//define the cymbols on the buttons of the keypads
char hexaKeys[ROWS][COLS] = {
  { '1', '2', '3', 'A' },

};
byte rowPins[ROWS] = { 9 };     //connect to the row pinouts of the keypad
byte colPins[COLS] = { 5, 4 };  //connect to the column pinouts of the keypad

//initialize an instance of class NewKeypad
Keypad customKeypad = Keypad(makeKeymap(hexaKeys), rowPins, colPins, ROWS, COLS);
MPU6050 mpu(Wire);
unsigned long timer = 0;


int i = 0;

LiquidCrystal_I2C lcd(0x27, 16, 2);

void setup() {
  pinMode(10, OUTPUT);  //led
  //digitalWrite(10, LOW);
  pinMode(11, OUTPUT);  //Relay module 1
  digitalWrite(11, HIGH);
  pinMode(12, OUTPUT);
  digitalWrite(12, HIGH);  //Relay module 1
  pinMode(8, OUTPUT);
  digitalWrite(8, HIGH);  //Relay module 2
  pinMode(7, OUTPUT);
  digitalWrite(7, HIGH);  //Relay module 2
  Serial.begin(9600);
  lcd.init();
  lcd.setBacklight(HIGH);
  Wire.begin();

  customKeypad.addEventListener(keypadEvent);  // Add an event listener for this keypad
  byte status = mpu.begin();
  lcd.setCursor(0, 0);
  lcd.print(F("MPU6050 status: "));
  lcd.setCursor(0, 1);
  lcd.print(status);
  while (status != 0) {}  // stop everything if could not connect to MPU6050
  delay(1000);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.print(F("Calculating offsets,"));
  lcd.setCursor(0, 1);
  lcd.println("Do not move MPU6050");
  // mpu.upsideDownMounting = true; // uncomment this line if the MPU6050 is mounted upside-down
  mpu.calcOffsets();  // gyro and accelero
  delay(1000);
  lcd.clear();
  lcd.setCursor(0, 0);
  lcd.println("Done!\n");
  delay(1000);
  lcd.clear();
}
void loop() {
  int pitch = mpu.getAngleX();
  char customKey = customKeypad.getKey();  //converts character to integer
  mpu.update();
  lcd.setCursor(0, 0);
  lcd.print("1: Auto 2: RESET");
  lcd.setCursor(0, 1);
  lcd.print("Pitch:");
  lcd.print(mpu.getAngleX());
  if (customKey) {  // Waiting for button press from keypad
    Serial.println(customKey);
    Serial.println(pitch);
  }
}

void keypadEvent(KeypadEvent customKey) {
  switch (customKeypad.getState()) {
    case HOLD:
      if (customKey == '2') {
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Packing Up");
        delay(2000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("returning motors to up postion");
        digitalWrite(12, LOW);
        digitalWrite(8, LOW);
        delay(15000);
        digitalWrite(12, HIGH);
        digitalWrite(8, HIGH);
        lcd.setCursor(0, 0);
        lcd.print("Motors returned to up position");
        delay(2000);
      }
      break;
    case PRESSED:
      if (customKey == '1') {
        int pitch = mpu.getAngleX();
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Auto run");
        delay(3000);
        lcd.clear();

        leveling();

        delay(10000);
        digitalWrite(10, LOW);
        lcd.clear();

        lcd.setCursor(0, 0);
        lcd.print("Auto run Complete");
        lcd.setCursor(0, 1);
        lcd.print("System Level");
        delay(2000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Current Angle");
        lcd.setCursor(0, 1);
        lcd.print(mpu.getAngleX());
        delay(10000);
        lcd.clear();
      }
      break;
  }
}
void leveling() {  //runs relay module. this activates linear actuators to level trailer
  mpu.update();

  if ((millis() - timer) > 10) {  // print data every 10ms
    Serial.println("X : ");
    Serial.println(mpu.getAngleX());
    
    if (mpu.getAngleX() < -1 && mpu.getAngleX() > -15) digitalWrite(11, HIGH);  //parameters for out of level 15 degree max limit for 20ft trailer
    else {
      digitalWrite(11, HIGH);
    }
    if (mpu.getAngleX() > 1 && mpu.getAngleX() < 15) {  //parameters for out of level 15 degree max limit for 20ft trailer
      digitalWrite(7, HIGH);
    } else {
      digitalWrite(7, HIGH);
    }
    if (mpu.getAngleX() < 1 && mpu.getAngleX() > -1) digitalWrite(10, HIGH);  //parameters for being within level
    else {
      digitalWrite(10, HIGH);
    }
    timer = millis();
  }
  else {
    leveling();
  }

}

killzone_kid · December 10, 2022, 9:48pm

did you fix all cases or just that one?

gundamreact · December 10, 2022, 9:49pm

all cases were fixed

killzone_kid · December 10, 2022, 9:51pm

potential for infinite recursion

gundamreact · December 10, 2022, 9:51pm

i threw that in to try and force it to loop still wouldnt

6v6gt · December 10, 2022, 9:52pm

You are now calling function leveling() recursively. That may get stuck somewhere.

gundamreact · December 10, 2022, 9:54pm

i can put that line of code in or out and it doesnt change

6v6gt · December 10, 2022, 9:59pm

You are triggering leveling() only once on a button press.
You should, on the button press, set a global status variable. Leveling() should then be called in the loop when/while the status variable is set. The status variable can be unset when it is determined that the device is once again level.

gundamreact · December 10, 2022, 10:05pm

You lost me a little bit. Can you give me an example or more detail?

6v6gt · December 10, 2022, 10:11pm

roughly like this . . .

. . .
bool correctLevel = false ;  // global (read as level to be corrected)
. . .

void loop() {
. . .
if ( correctLevel == true ) leveling();
. . .
}


  
void keypadEvent(KeypadEvent customKey) {
. . .
    case PRESSED:
      if (customKey == '1') {
        int pitch = mpu.getAngleX();
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Auto run");
        delay(3000);
        lcd.clear();

        //leveling();
        correctLevel = true ; // new

        delay(10000);
. . .
}


void leveling() {
 . . .
 as before but . . .
 if ( <device now level> ) correctLevel = false ;   // you have to dermine that it is level somehow
 . . .
}

gundamreact · December 10, 2022, 10:46pm

No good. still running right past the loop

6v6gt · December 11, 2022, 3:25am

Ok. Show your code with the latest amendments.

gundamreact · December 11, 2022, 7:20am

A different approach was found to get it to run. Thank you for your help though.
a while loop was used at the beginning of leveling()

void leveling() {     //runs relay module. this activates linear actuators to level trailer
  while (true) {
    mpu.update();
    if ((millis() - timer) > 10) {
      Serial.println("X : ");
      Serial.println(mpu.getAngleX());
      if (mpu.getAngleX() < -1 & mpu.getAngleX() > -15) {         //parameters for out of level 15 degree max limit for 20ft traile
        digitalWrite(11, LOW);
      } else {
        digitalWrite(11, HIGH);
      }

      if (mpu.getAngleX() > 1 && mpu.getAngleX() < 15) {          //parameters for out of level 15 degree max limit for 20ft traile
        digitalWrite(7, LOW);
      } else {
        digitalWrite(7, HIGH);
      }

      if (mpu.getAngleX() < 1 && mpu.getAngleX() > -1) {          //parameters for LED = Indicates Level+ 
        digitalWrite(10, HIGH);
        return;
      } else {
        digitalWrite(10, LOW);
      }

      timer = millis();
    }
  }
}

6v6gt · December 11, 2022, 11:06am

That looks like a good solution but it will block other avtivities during a leveling operation. I now see what your stopping condition is -1 < mpu.getAngleX() < 1. Also putting the repeated calls of leveling() in the loop(), as I suggested, would not have worked correctly because of the delay() statements in keypadEvent() before dropping into the loop().

system · June 9, 2023, 11:06am

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Function not Looping issues

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