# Loop problem in method calling

**URL:** <https://forum.arduino.cc/t/loop-problem-in-method-calling/924435>\
**Category:** Programming\
**Created:** [November 12, 2021, 5:20pm UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435 "2021-11-12T17:20:31Z")\
**Posts on this page:** 20\
**Page:** 1

<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 12, 2021, 5:20pm UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/1 "2021-11-12T17:20:31Z")

</div>

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?

````cpp

#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);

}```
````

---

<div class="post-metadata">

**Author:** ![J-M-L](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/j-m-l/32/766245_2.png) [@J-M-L](https://forum.arduino.cc/u/J-M-L)\
**Post date:** [November 12, 2021, 5:22pm UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/2 "2021-11-12T17:22:30Z")

</div>

> [@rana007](#):
>
> how do I stop the car permanently in this case

a big kick in the car may be ?

for more ideas, do yourself a favour and please read [How to get the best out of this forum](https://forum.arduino.cc/t/how-to-get-the-best-out-of-this-forum/679966) and modify your post accordingly (including code tags and necessary documentation of your ask).

---

<div class="post-metadata">

**Author:** ![giovanniguerra](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/giovanniguerra/32/227267_2.png) [@giovanniguerra](https://forum.arduino.cc/u/giovanniguerra)\
**Post date:** [November 12, 2021, 5:43pm UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/3 "2021-11-12T17:43:12Z")

</div>

Hmmm. You haven't exactly given us all the data... Could you post code...?

---

<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 14, 2021, 6:51am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/4 "2021-11-14T06:51:01Z")

</div>

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);

}

---

<div class="post-metadata">

**Author:** ![J-M-L](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/j-m-l/32/766245_2.png) [@J-M-L](https://forum.arduino.cc/u/J-M-L)\
**Post date:** [November 14, 2021, 8:25am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/5 "2021-11-14T08:25:54Z")

</div>

Hello, do yourself a favour and please read [How to get the best out of this forum](https://forum.arduino.cc/t/how-to-get-the-best-out-of-this-forum/679966) and modify your 2 post accordingly - esp. posting ALL the code, with code tags...

You might not get any further answer otherwise.

---

<div class="post-metadata">

**Author:** ![rohitbd](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rohitbd/32/225418_2.png) [@rohitbd](https://forum.arduino.cc/u/rohitbd)\
**Post date:** [November 14, 2021, 9:04am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/6 "2021-11-14T09:04:35Z")

</div>

> [@rana007](#):
>
> if(msensor\>90 || msensor\<200){
> 
> Serial.println("car want self-stop automatically ");  
> go\_Right();  
> stopCar();
> 
> }

So you want any value between 91 and 199 to do the go right and stop thing...?

---

<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 14, 2021, 9:52am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/7 "2021-11-14T09:52:20Z")

</div>

ok , i will do this thnk you.

---

<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 14, 2021, 9:53am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/8 "2021-11-14T09:53:43Z")

</div>

yes ,and otherwise the car will compelete driving.

---

<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 3:28am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/9 "2021-11-15T03:28:50Z")

</div>

otherwise, the car will complete driving

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<div class="post-metadata">

**Author:** ![red\_car](https://avatars.discourse-cdn.com/v4/letter/r/b77776/32.png) [@red\_car](https://forum.arduino.cc/u/red_car)\
**Post date:** [November 15, 2021, 3:35am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/10 "2021-11-15T03:35:54Z")

</div>

post **ALL** the code.. not just bits of it.

You sure this is supposed to be an OR (||)... or an AND (&&)... ?

> [@rana007](#):
>
> `msensor>90 || msensor<200`

This will ALWAYS be true!

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<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 3:58am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/11 "2021-11-15T03:58:04Z")

</div>

I put all code ,but in if condition I write || because I just need one value.

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<div class="post-metadata">

**Author:** ![paulpaulson](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/paulpaulson/32/363643_2.png) [@paulpaulson](https://forum.arduino.cc/u/paulpaulson)\
**Post date:** [November 15, 2021, 4:02am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/12 "2021-11-15T04:02:23Z")

</div>

Hello  
Did you post the sketch in code tags already?

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<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 4:40am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/13 "2021-11-15T04:40:01Z")

</div>

hi, sorry but I don`t know what you mean exactly

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<div class="post-metadata">

**Author:** ![paulpaulson](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/paulpaulson/32/363643_2.png) [@paulpaulson](https://forum.arduino.cc/u/paulpaulson)\
**Post date:** [November 15, 2021, 4:43am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/14 "2021-11-15T04:43:01Z")

</div>

read post #2.

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<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 5:37am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/15 "2021-11-15T05:37:17Z")

</div>

yes thank you ,but i have arduino uno with ESP8266 board

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<div class="post-metadata">

**Author:** ![red\_car](https://avatars.discourse-cdn.com/v4/letter/r/b77776/32.png) [@red\_car](https://forum.arduino.cc/u/red_car)\
**Post date:** [November 15, 2021, 5:47am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/16 "2021-11-15T05:47:59Z")

</div>

Did you read post 2? .. and post 5, and post 12, and post 14?

Maybe if you did that.. and you posted your code in code tags, someone might help.

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<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 7:33am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/17 "2021-11-15T07:33:07Z")

</div>

I shared my full code ,but I don`t know where put my tags

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<div class="post-metadata">

**Author:** ![red\_car](https://avatars.discourse-cdn.com/v4/letter/r/b77776/32.png) [@red\_car](https://forum.arduino.cc/u/red_car)\
**Post date:** [November 15, 2021, 7:36am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/18 "2021-11-15T07:36:50Z")

</div>

Click this button when posting \</\>... then post ALL your code.

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<div class="post-metadata">

**Author:** ![paulpaulson](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/paulpaulson/32/363643_2.png) [@paulpaulson](https://forum.arduino.cc/u/paulpaulson)\
**Post date:** [November 15, 2021, 7:37am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/19 "2021-11-15T07:37:59Z")

</div>

> [@How to get the best out of this forum](https://forum.arduino.cc/t/how-to-get-the-best-out-of-this-forum/679966#posting-code):
>
> See also [FAQ - Arduino Forum](https://forum.arduino.cc/faq) for general rules on forum behaviour and etiquette. Hello, Welcome to the Arduino Forum. This guide explains how to get the best out of this forum. Please read and follow the instructions below. Being new here you might think this is having rules for the sake of rules, but that is not the case. If you don’t follow the guidelines all that happens is there is a long exchange of posts while we try to get you to tell us what we need in order to help you, which is fru…

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<div class="post-metadata">

**Author:** ![rana007](https://dub1.discourse-cdn.com/arduino/user_avatar/forum.arduino.cc/rana007/32/363724_2.png) [@rana007](https://forum.arduino.cc/u/rana007)\
**Post date:** [November 15, 2021, 8:02am UTC](https://forum.arduino.cc/t/loop-problem-in-method-calling/924435/20 "2021-11-15T08:02:47Z")

</div>

ok, I will do this thank you.

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