how do i combine these two programming codes?

zezai · June 7, 2020, 12:56pm

how can i combine these two codes and switch between them to function one at a time?
there are two codes the first one is a line tracking robot car code. While the second codes is a manual control robot car codes with a claw/gripper that is controlled via bluetooth. for the claw/gripper i used 2 servo motors.

this is the first code (line tracking codes):

int IRsensor1 = A0; //LEFT SENSOR
int IRsensor2 = A1; // CENTER SENSOR
int IRsensor3 = A2; // RIGHT SENSOR
int Sensorvalue1 = 0;
int Sensorvalue2 = 0;
int Sensorvalue3 = 0;
int MotorA = 12;
int EA = 10;
int MotorB = 13;
int EB = 11;

void setup() {
pinMode(IRsensor1,INPUT);
pinMode(IRsensor2,INPUT);
pinMode(IRsensor3,INPUT);
pinMode(MotorA, OUTPUT);
pinMode(MotorB, OUTPUT);
Serial.begin(9600);
Serial.println("Program Starting");
delay(100);
}

void loop() {
Sensorvalue1= analogRead(IRsensor1);
Sensorvalue2= analogRead(IRsensor2);
Sensorvalue3= analogRead(IRsensor3);
Serial.print("Sensorvalue1:");
Serial.println(Sensorvalue1);
Serial.print("Sensorvalue2:");
Serial.println(Sensorvalue2);
Serial.print("Sensorvalue3:");
Serial.println(Sensorvalue3);
delay(100);
if ((Sensorvalue3 <= 250) & (Sensorvalue2 >= 250) & (Sensorvalue1 <= 250))
{
Serial.println("FORWARD");
digitalWrite(MotorA, HIGH);
analogWrite(EA, 130);
digitalWrite(MotorB, HIGH);
analogWrite(EB, 130);
}
else if ((Sensorvalue1 >= 250) & (Sensorvalue2 >= 250) & (Sensorvalue3 >= 250))
{
Serial.println("STOP");
digitalWrite(MotorA, LOW);
analogWrite(EA, 0);
digitalWrite(MotorB, LOW);
analogWrite(EB, 0);

}
else if ((Sensorvalue3 >= 250 ) & (Sensorvalue2 >= 250) & (Sensorvalue1 <= 250))
{
Serial.println("SHARP LEFT");
digitalWrite(MotorA, HIGH);
analogWrite(EA, 220);
digitalWrite(MotorB, LOW);
analogWrite(EB, 175);
}
else if ((Sensorvalue3 >= 250 ) & (Sensorvalue2 <= 250) & (Sensorvalue1 <= 250))
{
Serial.println("LEFT");
digitalWrite(MotorA, HIGH);
analogWrite(EA, 160);
digitalWrite(MotorB, LOW);
analogWrite(EB, 150);
}
else if ((Sensorvalue3 <= 250) & (Sensorvalue2 >= 250) & (Sensorvalue1 >= 250))
{
Serial.println("SHARP RIGHT");
digitalWrite(MotorA, LOW);
analogWrite(EA, 175);
digitalWrite(MotorB, HIGH);
analogWrite(EB, 220);
}
else if ((Sensorvalue3 <= 250) & (Sensorvalue2 <= 250) & (Sensorvalue1 >= 250))
{
Serial.println("RIGHT");
digitalWrite(MotorA, LOW);
analogWrite(EA, 150);
digitalWrite(MotorB, HIGH);
analogWrite(EB, 160);
}}

this is the second codes (manual control codes):

#include <Servo.h>
Servo gripper;
Servo arm;
Servo arm2;
int MotorA = 12;
int EA = 10;
int MotorB = 13;
int EB = 11;
char incoming_byte = 0;
int value = 0;
int pos = 0;

void setup() {
// put your setup code here, to run once:
gripper.attach(A3);
arm.attach(A4);
arm2.attach(A5);
Serial.begin(9600);
}

void loop() {

{
if (Serial.available() > 0)
{
incoming_byte = Serial.read();

if (incoming_byte == '9')
{
arm.write(80);
arm2.write(10);
}
if (incoming_byte == '7')
{
arm.write(130);
arm2.write(130);
}
if (incoming_byte == 'E')
{
gripper.write(150);
}

else if (incoming_byte == 'R')
{
gripper.write(0);
}
if (incoming_byte == 'F')
{
arm.write(5);
}

else if (incoming_byte == 'G')
{
arm.write(12);
}
else if (incoming_byte == 'H')
{
arm.write(17);
}
else if (incoming_byte == 'J')
{
arm.write(25);
}
else if (incoming_byte == 'K')
{
arm.write(30);
}
if (incoming_byte == 'C')
{
arm2.write(0);
}
else if (incoming_byte == 'V')
{
arm2.write(10);
}
else if (incoming_byte == 'B')
{
arm2.write(20);
}
else if (incoming_byte == 'N')
{
arm2.write(30);
}
else if (incoming_byte == 'M')
{
arm2.write(40);
}
else if (incoming_byte == '1')
{
arm2.write(90);
}
else if (incoming_byte == '8')
{
arm2.write(120);
}
////////////Forward////////////
if (incoming_byte == 'W')
{
digitalWrite(MotorA, HIGH);
digitalWrite(MotorB, HIGH);
analogWrite(EA, 255);
analogWrite(EB, 255);
}
////////////Slow Forward////////////
if (incoming_byte == 'Q')
{
digitalWrite(MotorA, HIGH);
digitalWrite(MotorB, HIGH);
analogWrite(EA, 100);
analogWrite(EB, 100);
}
////////////Reverse////////////
if (incoming_byte == 'S')
{
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, LOW);
analogWrite(EA, 255);
analogWrite(EB, 255);
}
////////////Left////////////
if (incoming_byte == 'A')
{
digitalWrite(MotorA, HIGH);
digitalWrite(MotorB, LOW);
analogWrite(EA, 255);
analogWrite(EB, 255);
}
////////////Right////////////
if (incoming_byte == 'D')
{
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, HIGH);
analogWrite(EA, 255);
analogWrite(EB, 200);
}
////////////STOP////////////
if (incoming_byte == 'X')
{
digitalWrite(MotorA, LOW);
digitalWrite(MotorB, LOW);
analogWrite(EA, 0);
analogWrite(EB, 0);
}}}}

groundFungus · June 7, 2020, 1:17pm

Do a Google search for "merge Arduino code" for many pages to help with that.

Read the forum guidelines to see how to properly post code. Use the autoformat tool (ctrl-t or Tools, Auto Format) of the IDE to indent the code for better readability.

johnwasser · June 7, 2020, 1:35pm

Here are the two sketches 'combined'. They probably don't do what you want.

void setup()
{
  setup1();
  setup2();
}


void loop()
{
  loop1();
  loop2();
}


int IRsensor1 = A0; //LEFT SENSOR
int IRsensor2 = A1; // CENTER SENSOR
int IRsensor3 = A2; // RIGHT SENSOR
int Sensorvalue1 = 0;
int Sensorvalue2 = 0;
int Sensorvalue3 = 0;
int MotorA = 12;
int EA = 10;
int MotorB = 13;
int EB = 11;


void setup1()
{
  pinMode(IRsensor1, INPUT);
  pinMode(IRsensor2, INPUT);
  pinMode(IRsensor3, INPUT);
  pinMode(MotorA, OUTPUT);
  pinMode(MotorB, OUTPUT);
  Serial.begin(9600);
  Serial.println("Program Starting");
  delay(100);
}


void loop1()
{
  Sensorvalue1 = analogRead(IRsensor1);
  Sensorvalue2 = analogRead(IRsensor2);
  Sensorvalue3 = analogRead(IRsensor3);
  Serial.print("Sensorvalue1:");
  Serial.println(Sensorvalue1);
  Serial.print("Sensorvalue2:");
  Serial.println(Sensorvalue2);
  Serial.print("Sensorvalue3:");
  Serial.println(Sensorvalue3);
  delay(100);
  if ((Sensorvalue3 <= 250) & (Sensorvalue2 >= 250) & (Sensorvalue1 <= 250))
  {
    Serial.println("FORWARD");
    digitalWrite(MotorA, HIGH);
    analogWrite(EA, 130);
    digitalWrite(MotorB, HIGH);
    analogWrite(EB, 130);
  }
  else if ((Sensorvalue1 >= 250) & (Sensorvalue2 >= 250) & (Sensorvalue3 >= 250))
  {
    Serial.println("STOP");
    digitalWrite(MotorA, LOW);
    analogWrite(EA, 0);
    digitalWrite(MotorB, LOW);
    analogWrite(EB, 0);


  }
  else if ((Sensorvalue3 >= 250 ) & (Sensorvalue2 >= 250) & (Sensorvalue1 <= 250))
  {
    Serial.println("SHARP LEFT");
    digitalWrite(MotorA, HIGH);
    analogWrite(EA, 220);
    digitalWrite(MotorB, LOW);
    analogWrite(EB, 175);
  }
  else if ((Sensorvalue3 >= 250 ) & (Sensorvalue2 <= 250) & (Sensorvalue1 <= 250))
  {
    Serial.println("LEFT");
    digitalWrite(MotorA, HIGH);
    analogWrite(EA, 160);
    digitalWrite(MotorB, LOW);
    analogWrite(EB, 150);
  }
  else if ((Sensorvalue3 <= 250) & (Sensorvalue2 >= 250) & (Sensorvalue1 >= 250))
  {
    Serial.println("SHARP RIGHT");
    digitalWrite(MotorA, LOW);
    analogWrite(EA, 175);
    digitalWrite(MotorB, HIGH);
    analogWrite(EB, 220);
  }
  else if ((Sensorvalue3 <= 250) & (Sensorvalue2 <= 250) & (Sensorvalue1 >= 250))
  {
    Serial.println("RIGHT");
    digitalWrite(MotorA, LOW);
    analogWrite(EA, 150);
    digitalWrite(MotorB, HIGH);
    analogWrite(EB, 160);
  }
}




// this is the second codes (manual control codes):


#include <Servo.h>
Servo gripper;
Servo arm;
Servo arm2;
//  int MotorA = 12;
//  int EA = 10;
//  int MotorB = 13;
//  int EB = 11;
char incoming_byte = 0;
int value = 0;
int pos = 0;


void setup2()
{
  // put your setup code here, to run once:
  gripper.attach(A3);
  arm.attach(A4);
  arm2.attach(A5);
  Serial.begin(9600);
}


void loop2()
{
  if (Serial.available() > 0)
  {
    incoming_byte = Serial.read();


    if (incoming_byte == '9')
    {
      arm.write(80);
      arm2.write(10);
    }
    if (incoming_byte == '7')
    {
      arm.write(130);
      arm2.write(130);
    }
    if (incoming_byte == 'E')
    {
      gripper.write(150);
    }


    else if (incoming_byte == 'R')
    {
      gripper.write(0);
    }
    if (incoming_byte == 'F')
    {
      arm.write(5);
    }


    else if (incoming_byte == 'G')
    {
      arm.write(12);
    }
    else if (incoming_byte == 'H')
    {
      arm.write(17);
    }
    else if (incoming_byte == 'J')
    {
      arm.write(25);
    }
    else if (incoming_byte == 'K')
    {
      arm.write(30);
    }
    if (incoming_byte == 'C')
    {
      arm2.write(0);
    }
    else if (incoming_byte == 'V')
    {
      arm2.write(10);
    }
    else if (incoming_byte == 'B')
    {
      arm2.write(20);
    }
    else if (incoming_byte == 'N')
    {
      arm2.write(30);
    }
    else if (incoming_byte == 'M')
    {
      arm2.write(40);
    }
    else if (incoming_byte == '1')
    {
      arm2.write(90);
    }
    else if (incoming_byte == '8')
    {
      arm2.write(120);
    }
    ////////////Forward////////////
    if (incoming_byte == 'W')
    {
      digitalWrite(MotorA, HIGH);
      digitalWrite(MotorB, HIGH);
      analogWrite(EA, 255);
      analogWrite(EB, 255);
    }
    ////////////Slow Forward////////////
    if (incoming_byte == 'Q')
    {
      digitalWrite(MotorA, HIGH);
      digitalWrite(MotorB, HIGH);
      analogWrite(EA, 100);
      analogWrite(EB, 100);
    }
    ////////////Reverse////////////
    if (incoming_byte == 'S')
    {
      digitalWrite(MotorA, LOW);
      digitalWrite(MotorB, LOW);
      analogWrite(EA, 255);
      analogWrite(EB, 255);
    }
    ////////////Left////////////
    if (incoming_byte == 'A')
    {
      digitalWrite(MotorA, HIGH);
      digitalWrite(MotorB, LOW);
      analogWrite(EA, 255);
      analogWrite(EB, 255);
    }
    ////////////Right////////////
    if (incoming_byte == 'D')
    {
      digitalWrite(MotorA, LOW);
      digitalWrite(MotorB, HIGH);
      analogWrite(EA, 255);
      analogWrite(EB, 200);
    }
    ////////////STOP////////////
    if (incoming_byte == 'X')
    {
      digitalWrite(MotorA, LOW);
      digitalWrite(MotorB, LOW);
      analogWrite(EA, 0);
      analogWrite(EB, 0);
    }
  }
}

pcbbc · June 7, 2020, 3:02pm

Because you haven’t provided enough of a spec for how you expect to “switch between them to function one at a time“. What’s going to be the switch?

To combine sketches you need to first understand how they work individually, then usually at least partially rewrite them so they use the same pins, don’t interfere with each other, etc.

It’s not as simple has chucking both sketches together and hoping they work. If it were, the IDE would probably have an option for loading two sketches simultaneously.

Edit: ...and code In reference to computer programs is always in the singular, so never “codes”. Sketches or programs can be plural if you want.

slipstick · June 7, 2020, 3:08pm

John's code doesn't contain any way of switching between two options. That is left as an exercise for you to sort out. And then it will be your job to test the whole thing to see if it works as you want it to.

Steve

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how do i combine these two programming codes?

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