Need help making IR sensors and whisker switches work

Projects Discussion and Showcase Robotics
#1

I’ve been trying to call the irLoop within the loop. I have also tried using if else statements instead but I still can’t get my code to work.

#include <Servo.h> //Including Servo library

Servo servoLeft; // Declaring left servo
Servo servoRight; // Declaring right servo

void setup() // built-in initialization

{
  pinMode(7, INPUT); // set right whisker pin
  pinMode(5, INPUT); // set left whisker pin
  pinMode(10, INPUT); // Left IR receiver
  pinMode(9, OUTPUT);  // Left IR LED
  pinMode(3, INPUT); // Right IR LED receiver
  pinMode(2, OUTPUT); // Right IR
  pinMode(11, OUTPUT); // set left LED indicator
  pinMode(1, OUTPUT); // set right LED indicator
  
  //tone(4, 3000, 1000); // Play tone for 1 second
  delay(1000); // Delay to finish tone for 1 second
  
  servoLeft. attach(13); // Attach left signal to pin 13
  servoRight.attach(12); // Attach tight signal to pin 12
}

void loop()
{
  byte wLeft = digitalRead(5); // Copy left result to wLeft
  byte wRight = digitalRead(7); // Copy right resutl to wRight
  int irLeft = irDetect(9, 10, 42000); // check for the object on the left
  int irRight = irDetect(2, 3, 42000); // check for the object on the right
 
  if ((wLeft == 0)&& (wRight ==0) ) // If both whiskers get in contact
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    irLoop; // go through the IR check
  
  }
  
  else if (wLeft == 0) // If only the left whisker gets in contact
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    irLoop; // go through the IR check
    
  }
  else if (wRight == 0)
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    irLoop; // go through the IR check
 
  }
  else
  {
    digitalWrite(1, LOW); // Right LED off
    digitalWrite(11, LOW); // Left LED off
    forward(20);
  }
}

void irLoop()
{
 int irLeft = irDetect(9, 10, 42000); // check for the object on the left
 int irRight = irDetect(2, 3, 42000); // check for the object on the right

 if ((irLeft  == 0 ) && (irRight == 0)) // both sides detect an object
 {
  digitalWrite(1, HIGH);  // Right LED on
  digitalWrite(11, HIGH);  // Left LED on
  backward(1500); // move backwards for 1.5 seconds
  }
 else if(irLeft == 0) // left side detects an object
  {
   digitalWrite(11, HIGH); // Left LED on
   turnRight( 400); // turn to the right about 60 degrees
  }
  else if(irRight == 0)// right side detects an objects
  {
   digitalWrite(1, HIGH); // Right LED on
   turnLeft(400); // turn to the left about 60 degrees
  }
  else // no object detected
  {
   forward(10); // move forward for 0.01 seconds
  }
  }
int irDetect(int irLedPin, int irReceiverPin, long frequency)
{
 tone(irLedPin, frequency, 11); // IRLED 38kHz for at least 1ms
 delay(1.5); //  wait for 1ms
 int ir = digitalRead(irReceiverPin); // IR receiver to the ir pin
 delay(1.5) ; // wait for 0.0015 seconds
 return ir; // return a 0 if ir detects and a 1 if ir does not detect 
}

void forward(int time) // Forward function
{
  servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
  servoRight.writeMicroseconds(1300); // Right wheel clockwise
  delay(time); // Maneuver for time ms
}

void turnLeft(int time) // Left turn function
{
  servoLeft.writeMicroseconds(1300);  // Left wheel clockwise
  servoRight.writeMicroseconds(1300); // Right wheel clockwise
 delay(time);  // Maneuver for time ms
}

void turnRight(int time) // Right turn function
{
 servoLeft.writeMicroseconds(1700);  // Left wheel counterclockwise
 servoRight.writeMicroseconds(1700);  // Right wheel counterclockwise
 delay(time);  // Maneuver for time ms
 }

void backward(int time) // Backward function
{
servoLeft.writeMicroseconds(1300);  // Left wheel clockwise
servoRight.writeMicroseconds(1700);  // Right wheel counterclockwise
delay(time);  // Maneuver for time ms
}

#include <Servo.h> //Including Servo library

Servo servoLeft; // Declaring left servo
Servo servoRight; // Declaring right servo

void setup() // built-in initialization

{
  pinMode(7, INPUT); // set right whisker pin
  pinMode(5, INPUT); // set left whisker pin
  pinMode(10, INPUT); // Left IR receiver
  pinMode(9, OUTPUT);  // Left IR LED
  pinMode(3, INPUT); // Right IR LED receiver
  pinMode(2, OUTPUT); // Right IR
  pinMode(11, OUTPUT); // set left LED indicator
  pinMode(1, OUTPUT); // set right LED indicator
  
  //tone(4, 3000, 1000); // Play tone for 1 second
  delay(1000); // Delay to finish tone for 1 second
  
  servoLeft. attach(13); // Attach left signal to pin 13
  servoRight.attach(12); // Attach tight signal to pin 12
}

void loop()
{
  byte wLeft = digitalRead(5); // Copy left result to wLeft
  byte wRight = digitalRead(7); // Copy right resutl to wRight
  int irLeft = irDetect(9, 10, 42000); // check for the object on the left
  int irRight = irDetect(2, 3, 42000); // check for the object on the right
 
  if ((wLeft == 0)&& (wRight ==0) ) // If both whiskers get in contact
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    if ((irLeft  == 0 ) && (irRight == 0)) // both sides detect an object
    {
    digitalWrite(1, HIGH);  // Right LED on
    digitalWrite(11, HIGH);  // Left LED on
    backward(1500); // move backwards for 1.5 seconds
    }
    else // no object detected
    {
    forward(10); // move forward for 0.01 seconds
    }
  }
  
  else if (wLeft == 0) // If only the left whisker gets in contact
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    if(irLeft == 0) // left side detects an object
    {
    digitalWrite(11, HIGH); // Left LED on
    turnRight( 400); // turn to the right about 60 degrees
    }
    else // no object detected
    {
    forward(10); // move forward for 0.01 seconds
    }
    
  }
  else if (wRight == 0)
  {
    //tone(4, 3000, 2000); // Play tone for 2 seconds
    delay(1000); //Delay to finish tone 
    
    if(irRight == 0)// right side detects an objects
    {
    digitalWrite(1, HIGH); // Right LED on
    turnLeft(400); // turn to the left about 60 degrees
    }
    else // no object detected
    {
    forward(10); // move forward for 0.01 seconds
    }
  }
  else
  {
    digitalWrite(1, LOW); // Right LED off
    digitalWrite(11, LOW); // Left LED off
    forward(20);
  }
}

int irDetect(int irLedPin, int irReceiverPin, long frequency)
{
 tone(irLedPin, frequency, 11); // IRLED 38kHz for at least 1ms
 delay(1.5); //  wait for 1ms
 int ir = digitalRead(irReceiverPin); // IR receiver to the ir pin
 delay(1.5) ; // wait for 0.0015 seconds
 return ir; // return a 0 if ir detects and a 1 if ir does not detect 
}

void forward(int time) // Forward function
{
  servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
  servoRight.writeMicroseconds(1300); // Right wheel clockwise
  delay(time); // Maneuver for time ms
}

void turnLeft(int time) // Left turn function
{
  servoLeft.writeMicroseconds(1300);  // Left wheel clockwise
  servoRight.writeMicroseconds(1300); // Right wheel clockwise
 delay(time);  // Maneuver for time ms
}

void turnRight(int time) // Right turn function
{
 servoLeft.writeMicroseconds(1700);  // Left wheel counterclockwise
 servoRight.writeMicroseconds(1700);  // Right wheel counterclockwise
 delay(time);  // Maneuver for time ms
 }

void backward(int time) // Backward function
{
servoLeft.writeMicroseconds(1300);  // Left wheel clockwise
servoRight.writeMicroseconds(1700);  // Right wheel counterclockwise
delay(time);  // Maneuver for time ms
}
#2

It would be easier to help you if you were to describe what happens and what you expect to happen. "My cod doesn't work" is not enough information.

#3

The robot only moves forward instead of using the switches to detect obstacles, stop and use the irLoop to double check the obstacle. I have tested the switches (used in the void loop) and they work fine. It is when I add the irLoop functionality within the void loop() when the robot stops working as it's suppose to.

#4