If not working as intended

Other Hardware Sensors
1

im programming a car controled with an HC-05. I've run into the problem of an if statement that shouls stop all the motors if the distance in less than 15, but it only works if the distance is less than 15 while i send another command. How can i make it to work all the time instead of only working when another command is sent to de car?

this is the code i have:

#include <SoftwareSerial.h>
#include <Servo.h>
Servo myservo;

SoftwareSerial CUCA (7, 8);   //RX | TX0
  char DATO = 0;
  
// define L293D
const int motorPin1 = 5;        // 1r motor        pin 2 L293D
const int motorPin2 = 6;                         //pin 7 L293D

const int motorPin3 = 12;                            // pin 10
const int motorPin4 = 13;                            // pin 14

// defines sensor pins numbers
const int trigPin = 9;                                                            // defineix una variable constant, una variable que no canbia de valor en tot el programa
const int echoPin = 10;    

//Prototipos de las funciones
double medirDistancia();

// define LEDS
int LED_FRENOS = 2;

// defines variables
long duration;                                                                 // variable converteix en un valor long la variable. var. que mesura la duració
int distance;                                                                  // var. que mesura la distancia mesurada pel sensor
int safetyDistance;   

void setup() {
  //SENSOR
pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin, INPUT); // Sets the echoPin as an Input
        //pinMode(led, OUTPUT); // LED as an output

    pinMode(motorPin1,OUTPUT);              //motor 1
    pinMode(motorPin2,OUTPUT);

    pinMode(motorPin3, OUTPUT);             //MOTOR 2
    pinMode(motorPin4, OUTPUT);
// LEDS
pinMode(LED_FRENOS, OUTPUT);            // LED frens
    

Serial.begin(9600); // Starts the serial communication
CUCA.begin(38400);  // començament del HC-05

//SERVO
  myservo.attach(3);
  myservo.write (90);

}

void loop() {
 distance = medirDistancia();   //Llama a medirDistancia
while (CUCA.available()){
  

  
DATO = CUCA.read(); 
    //ENDAVANT
              if (DATO == '1') {                                
              digitalWrite(motorPin1, HIGH);
              digitalWrite(motorPin2, LOW);

              digitalWrite(motorPin3, HIGH);
              digitalWrite(motorPin4, LOW);
              }
    //ENDARRERE
              if (DATO == '2'){
              digitalWrite(motorPin1, LOW);
              digitalWrite(motorPin2, HIGH);
              
              digitalWrite(motorPin3, LOW);
              digitalWrite(motorPin4, HIGH);
              }
      //STOP
              if (DATO == 'p'){
              digitalWrite(motorPin1, LOW);
              digitalWrite(motorPin2, LOW);

              digitalWrite(motorPin3, LOW);
              digitalWrite(motorPin4, LOW);
                }

              if (DATO == '3')                 
                myservo.write (40);                            
                

              if (DATO == '4')
                myservo.write (140);

              if (DATO == 's')
                myservo.write (90);       
  

 if (safetyDistance <= 15) {
    
      digitalWrite (LED_FRENOS, HIGH);
  
      digitalWrite(motorPin1, LOW);                             //motor 1 OFF
      digitalWrite(motorPin2, LOW);                               // direcció OFF

      digitalWrite(motorPin3, LOW);                             //motor 2 OFF
      digitalWrite(motorPin4, LOW);                               // direcció OFF
    //ESPERA 2s
      delay(2000);

    //  DIRECCIÓ CONTRARIA 1s
      digitalWrite(motorPin1, LOW);                             //motor 1 OFF
      digitalWrite(motorPin2, HIGH);                               // direcció OFF

      digitalWrite(motorPin3, LOW);                             //motor 2 OFF
      digitalWrite(motorPin4, HIGH);                               // direcció OFF
      delay(1000);

    // GIRAR SERVO- ENDEVANT

      myservo.write (40);
      delay(500);
      
      digitalWrite(motorPin1, HIGH);                             //motor 1 OFF
      digitalWrite(motorPin2, LOW);                               // direcció OFF

      digitalWrite(motorPin3, HIGH);                             //motor 2 OFF
      digitalWrite(motorPin4, LOW);    
      delay(1500);

    //APAGA MOTORS - TORNAR SERVO A 90 
      digitalWrite(motorPin1, LOW);                             //motor 1 OFF
      digitalWrite(motorPin2, LOW);                               // direcció OFF

      digitalWrite(motorPin3, LOW);                             //motor 2 OFF
      digitalWrite(motorPin4, LOW);                             // direcció OFF
      myservo.write(90);
    //  digitalWrite(LED_FRENOS, LOW);
      delay(1000);
     digitalWrite (LED_FRENOS, LOW);
    safetyDistance = 100;

  }
}
    } 
//medirDistancia: mide la distancia con un sensor de ultrasonidos
double medirDistancia(){
   int distance = 0;
   long duration = 0;
   digitalWrite(trigPin, LOW);
   delayMicroseconds(4);
   digitalWrite(trigPin, HIGH);
   delayMicroseconds(10);
   digitalWrite(trigPin, LOW);

   //Mide el tiempo entre pulsos (microsegundos)
   duration = pulseIn(echoPin, HIGH)/2;

   //Pasamos de tiempo a distancia (cm)
   distance = duration /29.2;
   safetyDistance = distance;
   return safetyDistance;
}

Any tips would be greatly appreciated

2

Take the conditional if (safetyDistance <= 15) {
outside of the block
while (CUCA.available()){

3

I've tried this but it doesn't work. Whenever i send a command to turn or if i press the button to go forward and then to go backwards it just does the loop of if the distance is less than 15.
It does work properly whenever the sensor detects anything in less than 15 cm tho.

4

Please post your revised code.

I suggest that you add a serial print out of saftyDistance to confirm that your sensor is giving you the values you think it is.

5

Ok i don't know why but writing Serial.print (distance) has just solved it?
now whenever something is near the sensor the loop of safetyDistance <= 15 does start and there are no more problems with the hc-05 commands, sending two commands at a time doesnt make the safetyDistance loop start anymore.

Many thanks for your help, i've been stuck with this problem for days and im glad that you helped me solve it.