Helping about sumobot programming

Projects Programming
1

I was investigating in the forum about a Sumobot´s programming. However i didn´t found what i wanted so i decided open a new topic about it.

I have the IR program :

int ir1 = 2;

void setup() {
Serial.begin(9600);
pinMode(ir1; INPUT);
}

void loop() {
int estado = digitalRead(ir1);
Serial.println(estado);

delay(1);
}

The Ultrasoinc sensors:

long distancia; //distancia= distance
long tiempo;  // tiempo= time
int m1=10; //m1 here is a led
void setup() {
 Serial.begin(9600);
pinMode(9,OUTPUT);
pinMode(8,INPUT);
pinMode(10,OUTPUT);
pinMode(11,OUTPUT);
}

void loop() {
 digitalWrite(9,LOW);
 delayMicroseconds(10);
 digitalWrite(9,HIGH);
 delayMicroseconds(20);
 digitalWrite(9, LOW);
 tiempo=pulseIn(8,HIGH);
 distancia=int(0.017*tiempo);
  Serial.println("Distancia ");
 Serial.print(distancia);
 Serial.println(" cm");
  
    if (distancia<80&&distancia>0)
    { Serial.println ("Atack 12V");
      digitalWrite(m1,HIGH);
      
      }
  else
      {digitalWrite(m1,LOW);
      }
 } 
  delay(1000);
}

And it is now my program

int IRD=2, IRTI=3, IRTD=4, EDI=5, TDI=6, EDD=7, TDD=8, EI=9, TI=10, ED=11, TD=12, led=13, pul=14, MAI=15, MAD=16, MRI=17, MRD=18;
long distancia;
long tiempo;

void setup() {
Serial.begin(9600);
pinMode(2;INPUT);
pinMode(3;INPUT);
pinMode(4;INPUT);
pinMode(5;INPUT);
pinMode(6;OUTPUT);
pinMode(7;INPUT);
pinMode(8;OUTPUT);
pinMode(9;INPUT);
pinMode(10;OUTPUT);
pinMode(11;INPUT);
pinMode(12;OUTPUT);
pinMode(13;INPUT);
pinMode(14;INPUT);
pinMode(15;INPUT);
pinMode(16;INPUT);
pinMode(17;INPUT);
pinMode(18;INPUT);
pinMode(19;INPUT);
pinMode(20;INPUT);
enc=0;
}

void loop() {
int lb1 = digitalRead(IRD);
int lb2 = digitalRead(IRTI);
int lb3 = digitalRead(IRTD);
  
if ( digitalRead(pul)==HIGH && enc=0 )
   { digitalWrite(led==HIGH);
    delay(5000);
    enc=1;
   }
if (digitalRead(pul)==HIGH && enc=1)
  {digitalWrite(led==LOW);
  delay(100);
  enc=0;
  }
if (enc==1)  {  
  
 //program here!
 }
} 

void avanzar () {                     //forward
 digitalWrite(MRI==LOW);
 digitalWrite(MRD==LOW);
 delay(5);  
 digitalWrite(MAI==HIGH);
 digitalWrite(MAD==HIGH);
}

void giroizq () {                        //turnleft
  digitalWrite(MAI==LOW);
  digitalWrite(MRD==LOW);
  delay(5);
  digitalWrite(MRI==HIGH);
  digitalWrite(MAD==HIGH);
  }

void giroder () {                      //turnright
  digitalWrite(MRI==LOW);
  digitalWrite(MAD==LOW);
  delay(5);
  digitalWrite(MAI==HIGH);
  digitalWrite(MRD==HIGH);
  }

void retroceder () {                   //backward
 digitalWrite(MAI==LOW);
 digitalWrite(MAD==LOW);
 delay(5);  
 digitalWrite(MRI==HIGH);
 digitalWrite(MRD==HIGH);  
 }

IRD = IR forward
IRTI = IR BACK LEFT
IRTD = IR BACK RIGHT
EDI = ECHO forward left
TDI = TRIGGER forward left
EDD = ECHO forward right
TDD = TRIGGER forward right
EI = ECHO left
TI = TRIGGER left
ED= ECHO right
TD = TRIGGER right
MAI = motor forward left
MAD = motor forward right
MRI =motor backward left
MRD =motor backward right

Sorry for this but the acronym is in spanish for my classmates and teacher

I used:
3 CNY70
4 hc sr04
2 gearmotors
l298 dual h bridge
Arduino UNO

My problem is how to run the testings sensors simultaneously because if i use delay, the next function won't start until the last function ends. In other words, how to test the IR sensors while motors are ON

Thank you.

2

Use millis(). The code doesn't seem to use much delay, so the code should all work together-just call each function periodically.

3

Thank you, is for a school project so i decide for a more simple program. However, could you give an example with millis()?

4

See the BlinkWithoutDelay example.
You can also just call different functions repeatedly in the loop.