Obstacle avoidance robot wheel not working

Projects General Guidance
1

we made a obstacle avoidance robot, and all the hardware setup is correct and we tested it out with a code online and it works perfectly, but we're supposed to write the code with port manipulation(DDRD,PORTD, ...) so we switched the code to it, and now only 1 wheel is working and i can't seem to find the bug.
The Left Forward motor is pin 7
Left backward motor is pin 6
right forward motor is pin 4
right backward motor is 5

This is our code(we wrote it ourselves, we just used the working one as reference)

#include <Servo.h>        
#include <NewPing.h>   
boolean goesForward = false;
int distance = 150;
#define trig_pin A1 
#define echo_pin A2
#define maximum_distance 250

NewPing sonar(trig_pin, echo_pin, maximum_distance);
Servo servo_motor; 


void setup(){
  DDRD = B11110000;
  
  servo_motor.attach(10);

  servo_motor.write(115);
  delay(500);
  distance = readPing();
  delay(200);
}

void loop(){

  int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);

  if (distance <= 30){
    moveStop();
    delay(100);
    moveBackward();
    delay(900);
    moveStop();
    delay(300);
    distanceRight = lookRight();
    delay(200);
    distanceLeft = lookLeft();
    delay(200);

    if (distanceRight >= distanceLeft){
      turnRight();
      delay(400);
      moveStop();
    }
    
    else{
      turnLeft();
      delay(400);
      moveStop();
    }
  }
  else{
    moveForward(); 
  }
    distance = readPing();
}

int lookRight(){  
  servo_motor.write(145);
  delay(500);
  int distance = readPing();
  delay(500);
  servo_motor.write(90);
  return distance;
}

int lookLeft(){
  servo_motor.write(35);
  delay(500);
  int distance = readPing();
  delay(500);
  servo_motor.write(90);
  return distance;
}

int readPing(){
  delay(75);
  int cm = sonar.ping_cm();
  if (cm==0){
    cm=250;
  }
  return cm;
}

void moveStop(){
  
  PORTD = B00000000;
}

void moveForward(){
    
  PORTD = B10010000;
}

void moveBackward(){

  PORTD = B01100000;
}

void turnRight(){
n
  PORTD = B10100000;
}

void turnLeft(){

  PORTD = B01010000;
}

And this is the code that worked

#include <Servo.h>          //Servo motor library. This is standard library
#include <NewPing.h>        //Ultrasonic sensor function library. You must install this library

//our L298N control pins
const int LeftMotorForward = 7;
const int LeftMotorBackward = 6;
const int RightMotorForward = 4;
const int RightMotorBackward = 5;

//sensor pins
#define trig_pin A1 //analog input 1
#define echo_pin A2 //analog input 2

#define maximum_distance 250
boolean goesForward = false;
int distance = 150;

NewPing sonar(trig_pin, echo_pin, maximum_distance); //sensor function
Servo servo_motor; //our servo name


void setup(){

  pinMode(RightMotorBackward, OUTPUT);
  pinMode(RightMotorForward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  pinMode(LeftMotorBackward, OUTPUT);
  
  
  
  servo_motor.attach(10); //our servo pin

  servo_motor.write(115);
  delay(500);
  distance = readPing();
  delay(200);
}

void loop(){

  int distanceRight = 0;
  int distanceLeft = 0;
  delay(50);

  if (distance <= 30){
    moveStop();
    delay(100);
    moveBackward();
    delay(900);
    moveStop();
    delay(300);
    distanceRight = lookRight();
    delay(200);
    distanceLeft = lookLeft();
    delay(200);

    if (distanceRight >= distanceLeft){
      turnRight();
      delay(400)
      moveStop();
    }
    else{
      turnLeft();
      delay(400);
      moveStop();
    }
  }
  else{
    moveForward(); 
  }
    distance = readPing();
}

int lookRight(){  
  servo_motor.write(145);
  delay(500);
  int distance = readPing();
  delay(500);
  servo_motor.write(90);
  return distance;
}

int lookLeft(){
  servo_motor.write(35);
  delay(500);
  int distance = readPing();
  delay(500);
  servo_motor.write(90);
  return distance;
}

int readPing(){
  delay(75);
  int cm = sonar.ping_cm();
  if (cm==0){
    cm=250;
  }
  return cm;
}

void moveStop(){
  
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
}

void moveForward(){
    
    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(RightMotorForward, HIGH);
  
    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(RightMotorBackward, LOW); 
}

void moveBackward(){

  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward, HIGH);
  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward, LOW);
  
}

void turnRight(){

  
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(RightMotorForward, LOW);
  
  digitalWrite(LeftMotorBackward, LOW);
  digitalWrite(RightMotorBackward, HIGH);
 
  
  
}

void turnLeft(){

  
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(RightMotorForward, HIGH);
  
  digitalWrite(LeftMotorBackward, HIGH);
  digitalWrite(RightMotorBackward, LOW);
}
2

Hello, do yourself a favour and please read How to get the best out of this forum and modify your post accordingly (including code tags and necessary documentation of your ask).

PORT D relates to digital pins 0 to 7. when you do this

void moveStop()     {PORTD = B00000000;}
void moveForward()  {PORTD = B10010000;}
void moveBackward() {PORTD = B01100000;}
void turnRight()    {PORTD = B10100000;}
void turnLeft()     {PORTD = B01010000;}

you impact ALL pins. You might want to use &= or |= to only modify certain pins

PS/ I modified your post to use the </> code tags not the quotes...

3

Oh okay sorry it's my first post.
Okay i'll give it a try thank you

4

You swopped Your working code for an unknown code.
Your lesson should be that code is not like LEGO bricks. Looking good and useful? NOP.
Learn coding or stay away form work like this.

5

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