Hello everyone, I encountered a problem in my project, my project about a smart robot car with Arduino Uno with ESP8266 board , when I wrote the stopping condition of the car in the loop method does not stop but continues to move automatically and does not stop, how do I stop the car permanently in this case?
#define speedPinR 3
#define RightDirectPin1 12
#define RightDirectPin2 11
#define speedPinL 6
#define LeftDirectPin1 7
#define LeftDirectPin2 8
#define LPT 2
int sensor=A0;
#define SERVO_PIN 9
#define Echo_PIN 2
#define Trig_PIN 10
#define BUZZ_PIN 13
#define FAST_SPEED 250
#define SPEED 120
#define TURN_SPEED 200
#define BACK_SPEED1 255
#define BACK_SPEED2 90
#define USE_ARDUINO_INTERRUPTS true
int Threshold = 550;
int leftscanval, centerscanval, rightscanval, ldiagonalscanval, rdiagonalscanval;
const int distancelimit = 30;
const int sidedistancelimit = 30;
int distance;
int numcycles = 0;
const int turntime = 250;
const int backtime = 300;
int thereis;
Servo head;
/*motor control*/
void go_Advance(void) //Forward
{
digitalWrite(RightDirectPin1, HIGH);
digitalWrite(RightDirectPin2, LOW);
digitalWrite(LeftDirectPin1, HIGH);
digitalWrite(LeftDirectPin2, LOW);
}
void go_Left() //Turn left
{
digitalWrite(RightDirectPin1, HIGH);
digitalWrite(RightDirectPin2, LOW);
digitalWrite(LeftDirectPin1, LOW);
digitalWrite(LeftDirectPin2, HIGH);
}
void go_Right() //Turn right
{
digitalWrite(RightDirectPin1, LOW);
digitalWrite(RightDirectPin2, HIGH);
digitalWrite(LeftDirectPin1, HIGH);
digitalWrite(LeftDirectPin2, LOW);
}
void go_Back() //Reverse
{
digitalWrite(RightDirectPin1, LOW);
digitalWrite(RightDirectPin2, HIGH);
digitalWrite(LeftDirectPin1, LOW);
digitalWrite(LeftDirectPin2, HIGH);
}
void stop_Stop() //Stop
{
digitalWrite(RightDirectPin1, LOW);
digitalWrite(RightDirectPin2, LOW);
digitalWrite(LeftDirectPin1, LOW);
digitalWrite(LeftDirectPin2, LOW);
set_Motorspeed(0, 0);
}
/*set motor speed */
void set_Motorspeed(int speed_L, int speed_R)
{
analogWrite(speedPinL, speed_L);
analogWrite(speedPinR, speed_R);
}
void buzz_ON() //open buzzer
{
for (int i = 0; i < 100; i++)
{
digitalWrite(BUZZ_PIN, LOW);
delay(2);//wait for 1ms
digitalWrite(BUZZ_PIN, HIGH);
delay(2);//wait for 1ms
}
}
void buzz_OFF() //close buzzer
{
digitalWrite(BUZZ_PIN, HIGH);
}
void alarm() {
buzz_ON();
buzz_OFF();
}
/*detection of ultrasonic distance*/
int watch() {
long echo_distance;
digitalWrite(Trig_PIN, LOW);
delayMicroseconds(5);
digitalWrite(Trig_PIN, HIGH);
delayMicroseconds(15);
digitalWrite(Trig_PIN, LOW);
echo_distance = pulseIn(Echo_PIN, HIGH);
echo_distance = echo_distance * 0.01657; //how far away is the object in cm
//Serial.println((int)echo_distance);
return round(echo_distance);
}
//Meassures distances to the right, left, front, left diagonal, right diagonal and asign them in cm to the variables rightscanval,
//leftscanval, centerscanval, ldiagonalscanval and rdiagonalscanval (there are 5 points for distance testing)
String watchsurrounding() {
/* obstacle_status is a binary integer, its last 5 digits stands for if there is any obstacles in 5 directions,
for example B101000 last 5 digits is 01000, which stands for Left front has obstacle, B100111 means front, right front and right ha
*/
int obstacle_status = B100000;
centerscanval = watch();
if (centerscanval < distancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | B100;
}
head.write(120);
delay(100);
ldiagonalscanval = watch();
if (ldiagonalscanval < distancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | B1000;
}
head.write(170); //Didn't use 180 degrees because my servo is not able to take this angle
delay(300);
leftscanval = watch();
if (leftscanval < sidedistancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | B10000;
}
head.write(90); //use 90 degrees if you are moving your servo through the whole 180 degrees
delay(100);
centerscanval = watch();
if (centerscanval < distancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | B100;
}
head.write(40);
delay(100);
rdiagonalscanval = watch();
if (rdiagonalscanval < distancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | B10;
}
head.write(0);
delay(100);
rightscanval = watch();
if (rightscanval < sidedistancelimit) {
stop_Stop();
alarm();
obstacle_status = obstacle_status | 1;
}
head.write(90); //Finish looking around (look forward again)
delay(300);
String obstacle_str = String(obstacle_status, BIN);
obstacle_str = obstacle_str.substring(1, 6);
return obstacle_str; //return 5-character string standing for 5 direction obstacle status
}
void auto_avoidance() {
++numcycles;
if (numcycles >= LPT) { //Watch if something is around every LPT loops while moving forward
stop_Stop();
String obstacle_sign = watchsurrounding(); // 5 digits of obstacle_sign binary value means the 5 direction obstacle status
Serial.print("begin str=");
Serial.println(obstacle_sign);
if ( obstacle_sign == "10000") {
Serial.println("SLIT right");
set_Motorspeed(FAST_SPEED, SPEED);
go_Advance();
delay(turntime);
stop_Stop();
}
else if ( obstacle_sign == "00001" ) {
Serial.println("SLIT LEFT");
set_Motorspeed(SPEED, FAST_SPEED);
go_Advance();
delay(turntime);
stop_Stop();
}
else if ( obstacle_sign == "11100" || obstacle_sign == "01000" || obstacle_sign == "11000" || obstacle_sign == "10100" || obstacle_sign == "01100" || obstacle_sign == "00100" || obstacle_sign == "01000" ) {
Serial.println("hand right");
go_Right();
set_Motorspeed(TURN_SPEED, TURN_SPEED);
delay(turntime);
stop_Stop();
}
else if ( obstacle_sign == "00010" || obstacle_sign == "00111" || obstacle_sign == "00011" || obstacle_sign == "00101" || obstacle_sign == "00110" || obstacle_sign == "01010" ) {
Serial.println("hand left");
go_Left();//Turn left
set_Motorspeed(TURN_SPEED, TURN_SPEED);
delay(turntime);
stop_Stop();
}
else if ( obstacle_sign == "01111" || obstacle_sign == "10111" || obstacle_sign == "11111" ) {
Serial.println("hand back right");
go_Left();
set_Motorspeed( FAST_SPEED, SPEED);
delay(backtime);
stop_Stop();
}
else if ( obstacle_sign == "11011" || obstacle_sign == "11101" || obstacle_sign == "11110" || obstacle_sign == "01110" ) {
Serial.println("hand back left");
go_Right();
set_Motorspeed( SPEED, FAST_SPEED);
delay(backtime);
stop_Stop();
}
else Serial.println("no handle");
numcycles = 0; //Restart count of cycles
} else {
set_Motorspeed(SPEED, SPEED);
go_Advance(); // if nothing is wrong go forward using go() function above.
delay(backtime);
stop_Stop();
}
//else Serial.println(numcycles);
distance = watch(); // use the watch() function to see if anything is ahead (when the robot is just moving forward and not looking around it will test the distance in front)
if (distance < distancelimit) { // The robot will just stop if it is completely sure there's an obstacle ahead (must test 25 times) (needed to ignore ultrasonic sensor's false signals)
Serial.println("final go back");
go_Right();
set_Motorspeed( SPEED, FAST_SPEED);
delay(backtime * 3 / 2);
++thereis;
}
if (distance > distancelimit) {
thereis = 0;
} //Count is restarted
if (thereis > 25) {
Serial.println("final stop");
stop_Stop(); // Since something is ahead, stop moving.
thereis = 0;
}
}
void stopCar(){
set_Motorspeed(0, 0);
}
void setup() {
/*setup L298N pin mode*/
pinMode(RightDirectPin1, OUTPUT);
pinMode(RightDirectPin2, OUTPUT);
pinMode(speedPinL, OUTPUT);
pinMode(LeftDirectPin1, OUTPUT);
pinMode(LeftDirectPin2, OUTPUT);
pinMode(speedPinR, OUTPUT);
stop_Stop();//stop move
/*init HC-SR04*/
pinMode(Trig_PIN, OUTPUT);
pinMode(Echo_PIN, INPUT);
/*init buzzer*/
pinMode(BUZZ_PIN, OUTPUT);
digitalWrite(BUZZ_PIN, HIGH);
buzz_OFF();
digitalWrite(Trig_PIN, LOW);
/*init servo*/
head.attach(SERVO_PIN);
head.write(90);
delay(2000);
Serial.begin(9600);
}
void loop() {
auto_avoidance();
int msensor =analogRead(sensor);
if(msensor>90 || msensor<200){
Serial.println("car want self-stop automatically ");
go_Right();
stopCar();
}
delay(20);
}```