(please help)IR controller for robot switch case problem

Projects Programming
1

I am building a sumo robot that can be controlled by the IR or AUTO every thing worked fine(sensors,connection) but the only problem i am facing is in the code it self,i crated a array of state to jump to them when an action happen.

when i press the button it move to that case but when i press another button to go to another case it dose not response it stay in the same case.

i think the problem is that this line repeat in all of the case statement.
pls help me i have been trying to fix it for a week.

if (irrecv.decode(&results)){
           if (results.value == BUTTON_front)
                   currentState = MovingForward;
           
           if (results.value == BUTTON_back){
                   currentState = Backward;
                              
           if (results.value == BUTTON_right)
                   currentState = Turnright;
          
           if (results.value == BUTTON_left)
                   currentState = Turnleft;

          
                      irrecv.resume(); 


        }

I attached the file if u want to look at it

Update1: now i tested the code without powering the motor and it work fine but when i plug the motor the problems start......when i press the button it change the state but it dose not exit it(the IR stop lighting up) !!!!!?????

Update2 :i did change the motor output in every state to(0,0,0,0) which is OFF and the IR worked fine so the problem appear when one of the motor go high so i guess it is power problem,but i don't know why..... the motor connected to the external battery(L293D) and the sensors connected to the vcc.

any suggestion??

the_best.ino (4.1 KB)

2 
#include <IRremote.h>
#include <boarddefs.h>
#include <NewPing.h>
enum {Idle,MovingForward,Turnleft,Turnright,Turn,AM_Backward,Backward,rest,AM_MovingForward};
int currentState = Idle; 
int RECV_PIN = A4;
int VOID = LOW;
IRrecv irrecv(RECV_PIN);
decode_results results;
#define BUTTON_front 0xEFA25D
#define BUTTON_back 0xEFB24D
#define BUTTON_left 0xEF50AF
#define BUTTON_right 0xEF12ED
#define BUTTON_speedup 0xEFE817
#define BUTTON_speeddown 0xEF6897
#define ControlMotorLeft1 A0
#define ControlMotorLeft2 A1
#define ControlMotorRight1 A2
#define ControlMotorRight2 A3
#define TheLED 7
#define IRS 6
#define PushButtonON 5
#define PushButtonOFF 4
#define PushButtonAUTO 3
#define Controller A4
#define TRIGGER_PIN A5
#define ECHO_PIN     A5
#define MAX_DISTANCE 200
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);



void setup() {

Serial.begin(9600);  
//Control Motor Left
pinMode(ControlMotorLeft1, OUTPUT);
pinMode(ControlMotorLeft2, OUTPUT);
//Control Motor Right
pinMode(ControlMotorRight1, OUTPUT);
pinMode(ControlMotorRight2, OUTPUT);
//LED
pinMode(TheLED,OUTPUT);
//R1 sensor
pinMode(IRS,INPUT);
//button(ON)
pinMode(PushButtonON,INPUT_PULLUP);
//button(OFF)
pinMode(PushButtonOFF,INPUT_PULLUP);
//button(auto)
pinMode(PushButtonAUTO,INPUT_PULLUP);
//controller
irrecv.enableIRIn();

}
void AllOff(){
digitalWrite(ControlMotorLeft1,LOW);
digitalWrite(ControlMotorLeft2,LOW);
digitalWrite(ControlMotorRight1,LOW);
digitalWrite(ControlMotorRight2,LOW);
digitalWrite(TheLED,LOW);
}

void loop() {
  
    switch(currentState)
  {
  case Idle:{
        Serial.println("Idle");
      AllOff();
     if(!digitalRead(PushButtonON))
          currentState = rest;
    
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;
    break;
  }
  case rest:{
      Serial.println("Rest");
      digitalWrite(ControlMotorLeft1,LOW);
      digitalWrite(ControlMotorLeft2,LOW);
      digitalWrite(ControlMotorRight1,LOW);
      digitalWrite(ControlMotorRight2,LOW);
      digitalWrite(TheLED,HIGH);   
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;          
     if (irrecv.decode(&results)){
           if (results.value == BUTTON_front){
                   currentState = MovingForward;
                               irrecv.resume(); 

           }
           if (results.value == BUTTON_back){
                   currentState = Backward;
                               irrecv.resume(); 

           }
           if (results.value == BUTTON_right){
                   currentState = Turnright;
                               irrecv.resume(); 
          }
           if (results.value == BUTTON_left){
                   currentState = Turnleft;
                   irrecv.resume(); 

          }
                      irrecv.resume(); 

        }

    break;}
    case MovingForward:{
      Serial.println("Moving Forward");
      analogWrite(ControlMotorLeft1,150);
      analogWrite(ControlMotorLeft2,0);
      analogWrite(ControlMotorRight1,150);
      analogWrite(ControlMotorRight2,0);
      digitalWrite(TheLED,HIGH);   
      VOID = digitalRead(IRS);
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;          
     if (irrecv.decode(&results)){
           if (results.value == BUTTON_back){
                   currentState = Backward;
                               irrecv.resume(); 

           }
           if (results.value == BUTTON_right){
                   currentState = Turnright;
                               irrecv.resume(); 

          }
           if (results.value == BUTTON_left){
                   currentState = Turnleft;
                               irrecv.resume(); 

            }
            if (results.value == BUTTON_speedup){
                  analogWrite(ControlMotorLeft1,250);
                  analogWrite(ControlMotorRight1,250);

          }
                      irrecv.resume(); 

            if (results.value == BUTTON_speeddown){
                  digitalWrite(ControlMotorLeft1,100);
                  analogWrite(ControlMotorRight1,100);      
                  }
                  
     }    
      if (VOID == HIGH){
          currentState =Backward ;
     }


    break;}
    case Backward:{
      Serial.println("Backward");
      digitalWrite(ControlMotorLeft1,LOW);
      digitalWrite(ControlMotorLeft2,HIGH);
      digitalWrite(ControlMotorRight1,LOW);
      digitalWrite(ControlMotorRight2,HIGH);
      digitalWrite(TheLED,HIGH);
      VOID = digitalRead(IRS);         
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;          
      if (irrecv.decode(&results)){
          if (results.value == BUTTON_front){
                  currentState = MovingForward;
                              irrecv.resume(); 

           }
           if (results.value == BUTTON_right){
                   currentState = Turnright;
                               irrecv.resume(); 

          }
           if (results.value == BUTTON_left){
                   currentState = Turnleft;
                               irrecv.resume(); 

            }
            irrecv.resume(); 
      }          
      if (VOID == HIGH){
          currentState =MovingForward ;
     }

    break;}
    case Turnleft:{
      Serial.println("Turn left");
      digitalWrite(ControlMotorLeft1,LOW);
      digitalWrite(ControlMotorLeft2,HIGH);
      digitalWrite(ControlMotorRight1,HIGH);
      digitalWrite(ControlMotorRight2,LOW);
      digitalWrite(TheLED,HIGH);   
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;          
     if (irrecv.decode(&results)){
          if (results.value == BUTTON_front){
                  currentState = MovingForward;
           }
           if (results.value == BUTTON_back){
                   currentState = Backward;
           }
           if (results.value == BUTTON_right){
                   currentState = Turnright;
          }
          
           irrecv.resume(); 
  }          
    break;}
    case Turnright:{
      Serial.println("Rest");
      digitalWrite(ControlMotorLeft1,HIGH);
      digitalWrite(ControlMotorLeft2,LOW);
      digitalWrite(ControlMotorRight1,LOW);
      digitalWrite(ControlMotorRight2,HIGH);
      digitalWrite(TheLED,HIGH);   
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
     if(!digitalRead(PushButtonAUTO))
          currentState = AM_MovingForward;          
     if (irrecv.decode(&results)){
          if (results.value == BUTTON_front){
                  currentState = MovingForward;
           }
           if (results.value == BUTTON_back){
                   currentState = Backward;
           }
           if (results.value == BUTTON_left){
                   currentState = Turnleft;
            }
            irrecv.resume(); 
  }          

    break;}
  case AM_MovingForward:{
       Serial.println("Auto Mode");
      digitalWrite(ControlMotorLeft1,HIGH);
      digitalWrite(ControlMotorLeft2,LOW);
      digitalWrite(ControlMotorRight1,HIGH);
      digitalWrite(ControlMotorRight2,LOW);
      VOID = digitalRead(IRS);         
      digitalWrite(TheLED,HIGH);
       
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;

     if (VOID == HIGH){
            currentState =AM_Backward ;}
       
       if(sonar.ping_cm()<=8)
            currentState =AM_Backward ;
            
    break;}
   case AM_Backward:{
        Serial.println("Backward");
      digitalWrite(ControlMotorLeft1,LOW);
      digitalWrite(ControlMotorLeft2,HIGH);
      digitalWrite(ControlMotorRight1,LOW);
      digitalWrite(ControlMotorRight2,HIGH);
       digitalWrite(TheLED,HIGH);
       delay(1000);
       currentState = Turn; 
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;

            
    break;}
  case Turn:{
      Serial.println("Turn");
      digitalWrite(ControlMotorLeft1,HIGH);
      digitalWrite(ControlMotorLeft2,LOW);
      digitalWrite(ControlMotorRight1,LOW);
      digitalWrite(ControlMotorRight2,HIGH);
       digitalWrite(TheLED,HIGH);
       delay(1000);
       currentState = AM_MovingForward; 
     if(!digitalRead(PushButtonOFF))
          currentState = Idle;
            
    break;}
}
  
  
}
3

but when i give the IR a value it move to it and dose not exit

Please exaplin what this means? What is it supposed to exit from and does not do?

4

[/quote]

marco_c:
Please exaplin what this means? What is it supposed to exit from and does not do?

sorry if i was not clear.

what i mean is when i press the button to move forward it move but when i press another button lets say to go back it dose not response it keep moving forward.

5

Factoring out the common code in your state machine makes the code more readable and easier to modify:

// Note: analogWrite(p, 0) == digitalWrite(p, LOW) and analogWrite(p, 255) == digitalWrite(p, HIGH)
void ControlMotors(byte L1, byte L2, byte R1, byte R2) {
  analogWrite(ControlMotorLeft1, L1);
  analogWrite(ControlMotorLeft2, L2);
  analogWrite(ControlMotorRight1, R1);
  analogWrite(ControlMotorRight2, R2);
}

void IRInputCheck() {
  if (irrecv.decode(&results)) {
    switch (results.value) {
      case BUTTON_front:
        currentState = MovingForward;
        ControlMotors(150, 0, 150, 0);
        break;

      case BUTTON_back:
        currentState = Backward;
        break;

      case BUTTON_right:
        currentState = Turnright;
        break;

      case BUTTON_left:
        currentState = Turnleft;
        break;

      case BUTTON_speedup:
        if (currentState == MovingForward) {
          analogWrite(ControlMotorLeft1, 250);
          analogWrite(ControlMotorRight1, 250);
        }
        break;

      case BUTTON_speeddown:
        if (currentState == MovingForward) {
          digitalWrite(ControlMotorLeft1, 100);
          analogWrite(ControlMotorRight1, 100);
        }
        break;
    } // End: switch
    irrecv.resume();
  }  // End: if decode

}

void loop() {


  if (currentState == Idle)
    digitalWrite(TheLED, LOW);
  else {
    digitalWrite(TheLED, HIGH);
    IRInputCheck();  // Only allow IR control if not Idle
  }

  // Pushbuttons override Idle, manual and automatic behaviors
  if (!digitalRead(PushButtonOFF))
    currentState = Idle;

  if (!digitalRead(PushButtonAUTO))
    currentState = AM_MovingForward;

  switch (currentState) {
    case Idle:
      Serial.println("Idle");
      ControlMotors(0, 0, 0, 0);
      if (!digitalRead(PushButtonON))
        currentState = rest;
      break;

    case rest:
      Serial.println("Rest");
      ControlMotors(0, 0, 0, 0);
      break;

    case MovingForward:
      Serial.println("Moving Forward");
      ControlMotors(150, 0, 150, 0);
      if (digitalRead(IRS) == HIGH)
        currentState = Backward ;
      break;

    case Backward:
      Serial.println("Backward");
      ControlMotors(0, 255, 0, 255);
      if (digitalRead(IRS) == HIGH)
        currentState = MovingForward ;
      break;

    case Turnleft:
      Serial.println("Turn left");
      ControlMotors(0, 255, 255, 0);
      break;

    case Turnright:
      Serial.println("Rest");
      ControlMotors(255, 0, 0, 255);
      break;

    case AM_MovingForward:
      Serial.println("Auto Mode");
      ControlMotors(255, 0, 255, 0);
      digitalWrite(ControlMotorLeft1, HIGH);
      if (digitalRead(IRS) == HIGH)
        currentState = AM_Backward ;

      //        if (sonar.ping_cm() <= 8)
      //          currentState = AM_Backward ;

      break;

    case AM_Backward:
      Serial.println("Backward");
      ControlMotors(0, 255, 0, 255);
      delay(1000);
      currentState = Turn;
      break;

    case Turn:
      Serial.println("Turn");
      ControlMotors(255, 0, 0, 255);
      delay(1000);
      currentState = AM_MovingForward;
      break;
  }
}
6

OMG.....i can,t say thank enough the code looks clean and it is working fine

7

johnwasser:
Factoring out the common code in your state machine makes the code more readable and easier to modify:

now i tested the code with out powering the motor and it work fine but when i plug the motor when i press the button it change the state but it dose not exit it(the IR stop lighting up) maybe it is a power problem?

BTW i am using l293d to connect the motors

8

update:i did change the motor output in every state to(0,0,0,0) which is OFF and the IR worked fine so the problem appear when one of the motor go high so i guess it is power problem,but i don't know why the motor work connected to the external battery and the sensors connected to the vcc.

any suggestion??

9

Please stop starting new threads on the same topic in different parts of the forum.

Duplicates deleted.