how to use accel stepper

Projects General Guidance
1

Guys,am new in programming and i want to make an obstacle avoidance robot.Am using 12V 28BYJ-48 motors and as i have read through different sources,the motors work very fine with accelStepper library.Can anyone help me on how to proceed to make the moveforward,left,right,stop and backward functions.I have attached the codes up to a point where the only thing left are the five functions.I have tried some few ways but since am new to programming,nothing works.I need help please because the deadline of my project is approaching real fast.May God bless you.

#include <Servo.h>
#include <NewPing.h>

#define USTrigger 13
#define USEcho 12
#define MaxDistance 100
#include <AccelStepper.h>
#define HALFSTEP 8

// motor pins
#define motorPin1  3     // IN1 on the ULN2003 driver 1
#define motorPin2  4     // IN2 on the ULN2003 driver 1
#define motorPin3  5     // IN3 on the ULN2003 driver 1
#define motorPin4  6     // IN4 on the ULN2003 driver 1

#define motorPin5  8     // IN1 on the ULN2003 driver 2
#define motorPin6  9     // IN2 on the ULN2003 driver 2
#define motorPin7  10    // IN3 on the ULN2003 driver 2
#define motorPin8  11    // IN4 on the ULN2003 driver 2
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);
AccelStepper stepper2(HALFSTEP, motorPin5, motorPin7, motorPin6, motorPin8);
Servo servo;
NewPing sonar(USTrigger, USEcho, MaxDistance);
unsigned int duration;
unsigned int distance;
unsigned int FrontDistance;
unsigned int LeftDistance;
unsigned int RightDistance;
unsigned int Time;
const int buttonpin = 2;
int buttonval = 1;
/*int motor1Pin1 = 11;
int motor1Pin2 = 10;
int motor1Pin3 = 9;
int motor1Pin4 = 8;
int motor2Pin1 = 7;
int motor2Pin2 = 6;
int motor2Pin3 = 5;
int motor2Pin4 = 4;*/
void setup(){
/*pinMode(motor1Pin1, OUTPUT);
pinMode(motor1Pin2, OUTPUT);
pinMode(motor1Pin3, OUTPUT);
pinMode(motor1Pin4, OUTPUT);
pinMode(motor2Pin1, OUTPUT);
pinMode(motor2Pin2, OUTPUT);
pinMode(motor2Pin3, OUTPUT);
pinMode(motor2Pin4, OUTPUT);*/
delay(3000); //sime time to put the robot down after swithing it on

  stepper1.setMaxSpeed(2000.0);
  stepper1.move(1);  // I found this necessary
  stepper1.setSpeed(stepperSpeed);

  stepper2.setMaxSpeed(2000.0);
  stepper2.move(-1);  // I found this necessary
  stepper2.setSpeed(stepperSpeed);
pinMode(buttonpin, INPUT);
digitalWrite(buttonpin, HIGH);
servo.attach(3); 
//Serial.begin(9600);
}
void loop(){
buttonval = digitalRead(buttonpin);
if (buttonval == 1){
 delay(500);
  servo.write(90);                                    //Rotate the servo to face the front                  
  scan();                                             //Go to the scan function
  FrontDistance = distance;                           //Set the variable FrontDistance to the value of the distance returned from the scan function
  if(FrontDistance > 40 || FrontDistance == 0)        //If there is nothing infront of the robot within 40cm or the distance value is 0 (which for the newping libary means no ping was returned) then...
  {
   moveForward();                                     //Go to the moveForward function
   delay(500);
} 
  else                                                //Else (if there is something infront of the robot within 40cm) then...
  {
    moveStop();                                       //Go to the moveStop function
    servo.write(180);                                 //Move the servo to the left (my little servos didn't like going to 180 so I played around with the value until it worked nicely)
    delay(500);                                       //Wait half a second for the servo to get there
    scan();                                           //Go to the scan function
    LeftDistance = distance;                          //Set the variable LeftDistance to the distance on the left
    servo.write(0);                                   //Move the servo to the right
    delay(500);                                       //Wait half a second for the servo to get there
    scan();                                           //Go to the scan function
    RightDistance = distance;                         //Set the variable RightDistance to the distance on the right
    if(RightDistance < LeftDistance)                  //If the distance on the right is less than that on the left then...
    {
     moveLeft();                                      //Go to the moveLeft function
     delay(500);                                      //Pause the program for half a second to let the robot turn
     
  }
    else if(LeftDistance < RightDistance)             //Else if the distance on the left is less than that on the right then...
    {
     moveRight();                                     //Go to the moveRight function
     delay(500);                                      //Pause the program for half a second to let the robot turn
    }
    else                                              //If the distance on the left and right are equal (highly unlikely but put in none the less) then...
    {
     moveBackward();                                  //Go to the moveBackward function
     delay(500);                                      //Pause the program for 200 milliseconds to let the robot reverse
     moveRight();                                     //Go to the moveRight function
     delay(500);                                      //Pause the program for 200 milliseconds to let the robot turn right
    }
  }
}


  else
  moveStop();
}
2

A few things ...

Edit your post and enclose your code in code tags (as explained in the How to Use The Forum) so it looks like this

Second, your code is long and poorly organized so I can't quickly see what it is supposed to do. It would be much easier to follow if you put the different actions into separate functions so that each piece is short.

Third, those delay() commands are likely to screw things up because the Arduino can do nothing else while it works through the delay period. Study the technique in the Blink Without Delay example in the IDE and look at the example I wrote in the first post of this Thread.

...R

3

I have modified the topic already

4

I have tested the above code with everything connected,and they work perfect except the motors are not turning

Third, those delay() commands are likely to screw things up because the Arduino can do nothing else while it works through the delay period. Study the technique in the Blink Without Delay example in the IDE and look at the example I wrote in the first post of this Thread.

...R

5

I have tested the above code with everything connected,and they work perfect except the motors are not turning

Because the code you posted doesn't tell them to.

6

Expletive Deleted How could you need that much code to move motors?

What sort of motors?

Where does accelStepper come into it?

Can't you organize the code so one function that accepts parameters (F B L R for example) will deal with all the moves?

Lines and lines of repetitive code like that are an invitation to silly typing errors.

...R