Odd problem with loop

Forum 2005-2010 (read only) Software Syntax & Programs
1

Ok I wrote this because I want my robot to be able to be controlled by the joy stick on my nunchuck controller. I thought I figured it out and it seems to kind of work but then stops and doesn't seem to follow any specific path in the code and not giving data to the serial line. I'm going to guess I'm trying to move too much information at once and it freaks out, but maybe its a simple fix.

#include <nunchuck_funcs.h>
#include <Wire.h>
#include <ServoTimeTimer1.h>

#define servoPin1 9 
#define servoPin2 10

int xjoy = 0;
int yjoy = 0;
int zbut = 0;
int x= 0;
unsigned long echo = 0;
int ultraSoundSignal = 11; // Ultrasound signal pin
unsigned long ultrasoundValue = 0;
 
ServoTimeTimer1 servo1;
ServoTimeTimer1 servo2;

void setup()
{
  nunchuck_init();
  servo1.attach(servoPin1);
  servo2.attach(servoPin2);
  Serial.begin(9600);
  pinMode(ultraSoundSignal,OUTPUT);
}

unsigned long ping(){
 pinMode(ultraSoundSignal, OUTPUT); // Switch signalpin to output
 digitalWrite(ultraSoundSignal, LOW); // Send low pulse
 delayMicroseconds(2); // Wait for 2 microseconds
 digitalWrite(ultraSoundSignal, HIGH); // Send high pulse
 delayMicroseconds(5); // Wait for 5 microseconds
 digitalWrite(ultraSoundSignal, LOW); // Holdoff
 pinMode(ultraSoundSignal, INPUT); // Switch signalpin to input
 digitalWrite(ultraSoundSignal, HIGH); // Turn on pullup resistor
  echo = pulseIn(ultraSoundSignal, HIGH); //Listen for echo
  ultrasoundValue = (echo / 58.138) * .39; //convert to CM then to inches
 return ultrasoundValue;
 }
 
void loop()
{
 nunchuck_get_data();
 
 zbut = nunchuck_zbutton();
 xjoy = nunchuck_joyx();
 yjoy = nunchuck_joyy();
 
 Serial.println(xjoy, DEC);
 Serial.println(yjoy, DEC);
 Serial.println(zbut, DEC);
 
 
 x = ping();
 Serial.println(x);
 delay(100);
 
if (zbut == HIGH)
 {
   if (x > 10)
   {
    servo1.write(500); 
    servo2.write(2500); 
   }
   else
   {
    servo1.write(1000); 
    servo2.write(1000);
    delay (1000);
   }
  }
if (zbut == LOW )
{ 
  servo2.write(((xjoy-30)*10)+500);
  servo1.write(((xjoy-30)*10)+500);
}
}
2

To get it going, I would start by simplifying the code.

First test the joystick code – in your loop just print the values you want to write to the servos:

void loop()
{
 nunchuck_get_data();

 zbut = nunchuck_zbutton();
 xjoy = nunchuck_joyx();
 yjoy = nunchuck_joyy();

 Serial.println(((xjoy-30)*10)+500);
 Serial.println(((xjoy-30)*10)+500);
}

Verify that these values follow the sticks and are within the range of the servos ( 500 – 2500)

If they are, add in the code that writes the values to the servos and see if they respond as expected.

If so, remove the joystick code and try the ping logic. When you have that working you can put the two together.

Anyhow, that's what I would do. Good luck!

3

Thanks. I did this but each works apart, but together they seem to interfere. When I add in the ping code it stops really responding once I initiate the z button to switch "modes." It just rotates the servos and thats it, the ping stops and joystick has no effect. Thanks anyway.

4

The ping value is only used if the Z button is HIGH so put the call to ping in the if statement and see if that is the problem.

5

Good idea. I'll give it a try when I get home. That will simplify the unnecessary need of the ping while im using the joystick. Thanks.