Motor not working properly after integrating RFID module

Other Hardware Sensors
1

Hi

I am working on https://robokits.co.in/robot-kits/arduino-robot-kit/roundbot-arduino-compact-indoor-robot-fully-assembled?cPath=10_156& where I an trying to move the bot forward backward to read an RFID tag using RFID module. When I upload the navigation code and RFID reading part individually everything works fine. But when I am integrating both the codes to one file, only one motor moves. Somewhere SPI.begin() is causing and issue. I am new to arduino and need help figuring out the issue.
Below is my code :
<
#include <SPI.h>
#include <MFRC522.h>
#include<SoftwareSerial.h>
#include <MotorDriver.h>

#define RST_PIN 9 // Configurable, see typical pin layout above
#define SS_PIN 10 // Configurable, see typical pin layout above
SoftwareSerial bt(0,1);
MFRC522 mfrc522(SS_PIN, RST_PIN); // Create MFRC522 instance

MotorDriver m;
//*****************************************************************************************//
void setup() {
bt.begin(9600);
Serial.begin(9600); // Initialize serial communications with the PC
SPI.begin(); // Init SPI bus
mfrc522.PCD_Init(); // Init MFRC522 card
}

void loop() {
while(Serial.available())
{
char In=Serial.read();

if(In=='f' || In=='F') // Forward
{
m.motor(1,FORWARD,255);
m.motor(2,FORWARD,255);
}
else if(In=='b' || In=='B') //backward
{
m.motor(1,BACKWARD,255);
m.motor(2,BACKWARD,255);
}
else if(In=='r' || In=='R') // Release
{
m.motor(1,RELEASE,0);
m.motor(2,RELEASE,0);
}
else if(In=='s' || In=='S') // stop
{
m.motor(1,BRAKE, 0);
m.motor(2,BRAKE,0);
}
}

// Prepare key - all keys are set to FFFFFFFFFFFFh at chip delivery from the factory.
MFRC522::MIFARE_Key key;
for (byte i = 0; i < 6; i++) key.keyByte = 0xFF;

  • //some variables we need*

  • byte block;*

  • byte len;*

  • MFRC522::StatusCode status;*

  • // Reset the loop if no new card present on the sensor/reader. This saves the entire process when idle.*

  • if ( ! mfrc522.PICC_IsNewCardPresent()) {*

  • return;*

  • }*

  • // Select one of the cards*

  • if ( ! mfrc522.PICC_ReadCardSerial()) {*

  • return;*

  • }*
    _ Serial.println(F("Card Detected"));_
    _ bt.println(F("Card Detected"));_

  • //-------------------------------------------*

  • mfrc522.PICC_DumpDetailsToSerial(&(mfrc522.uid)); //dump some details about the card*

  • byte buffer1[18];*

  • block = 4;*

  • len = 18;*

  • //------------------------------------------- GET FIRST NAME*

  • status = mfrc522.PCD_Authenticate(MFRC522::PICC_CMD_MF_AUTH_KEY_A, 4, &key, &(mfrc522.uid)); //line 834 of MFRC522.cpp file*

  • if (status != MFRC522::STATUS_OK) {*

  • Serial.print(F("Authentication failed: "));*

  • Serial.println(mfrc522.GetStatusCodeName(status));*

  • bt.print(F("Authentication failed: "));*

  • bt.println(mfrc522.GetStatusCodeName(status));*

  • return;*

  • }*

  • status = mfrc522.MIFARE_Read(block, buffer1, &len);*

  • if (status != MFRC522::STATUS_OK) {*

  • Serial.print(F("Reading failed: "));*

  • Serial.println(mfrc522.GetStatusCodeName(status));*

  • bt.print(F("Reading failed: "));*

  • bt.println(mfrc522.GetStatusCodeName(status));*

  • return;*

  • }*

  • Serial.print(F("id: "));*

  • bt.print(F("id: "));*

  • //PRINT ID*

  • for (uint8_t i = 0; i < 16; i++)*

  • {*
    _ if (buffer1 != 32)_
    * {*
    _ Serial.write(buffer1*);
    bt.write(buffer1);
    }
    }
    byte buffer2[18];
    block = 1;_
    status = mfrc522.PCD_Authenticate(MFRC522::PICC_CMD_MF_AUTH_KEY_A, 1, &key, &(mfrc522.uid)); //line 834*
    * if (status != MFRC522::STATUS_OK) {
    _ Serial.print(F("Authentication failed: "));
    Serial.println(mfrc522.GetStatusCodeName(status));
    bt.print(F("Authentication failed: "));
    bt.println(mfrc522.GetStatusCodeName(status));
    return;
    }_
    status = mfrc522.MIFARE_Read(block, buffer2, &len);
    if (status != MFRC522::STATUS_OK) {
    _ Serial.print(F("Reading failed: "));
    Serial.println(mfrc522.GetStatusCodeName(status));
    bt.print(F("Reading failed: "));
    bt.println(mfrc522.GetStatusCodeName(status));
    return;
    }
    Serial.println();
    bt.println();
    Serial.print(F("Category: "));
    bt.print(F("Category: "));
    //PRINT NAME*
    * for (uint8_t i = 0; i < 16; i++) {*
    Serial.write(buffer2 ); // Serial.write
    bt.write(buffer2 );
    * }
    Serial.println();
    bt.println();
    Serial.println(F("End Reading"));
    bt.println(F("End Reading"));
    delay(1000); //change value if you want to read cards faster*
    * mfrc522.PICC_HaltA();
    mfrc522.PCD_StopCrypto1();*
    }
    />
    RKI-3200.pdf (554 KB)_

2

First: edit your post and insert code tags!

SoftwareSerial bt(0,1);

Bad idea: on pins 0 and 1 is the hardware serial interface (Serial) which you're using also in your code.

3

Thank you Shannon for replying. If I connect bluetooth module pins on any pins other than 0,1 it doesnt send or receive data at all. It is a Arduino UNO R3 based control board with motor shield and has only one set of TX/RX pins

4

You still didn't edit your post to include code tags!

f I connect bluetooth module pins on any pins other than 0,1 it doesnt send or receive data at all.

Did you try to connect to pins 2 and 3 and change the code accordingly?