Problems toggling between two functions

Projects General Guidance
1

Hi! This is the code I'm using:

    #include <Potentiometer.h>
    #include <Servo.h>
    Servo servo1;
    int analogPin = 5;
    int pos = 0;
    int togglePin = 6;
    int val = 0;
     
    Potentiometer potentiometer = Potentiometer(0); //a Potentiometer at analog in 0
     
    #define stepPin 4
    #define dirPin 3
     
    void setup()
    {
     
    pinMode(analogPin, OUTPUT);   // sets pin as output (full rotation servo)
    servo1.attach(6);
    pinMode(stepPin, OUTPUT); //stepper pin
    pinMode(dirPin, OUTPUT); //direction pin
     
    digitalWrite(dirPin, HIGH); //sets the direction one way
    digitalWrite(stepPin, LOW); //starts the steppin'
    
    pinMode(togglePin, INPUT);
    }
     
    void loop()
    {
    if (togglePin < 0)
    {
    digitalWrite(stepPin, HIGH);
    delayMicroseconds(10 + potentiometer.getValue());
    digitalWrite(stepPin, LOW);
    delayMicroseconds(10 + potentiometer.getValue());
    }
    else
    {
    for ( int i=1; i<30; i++){ // Rotation clockwise in small steps
    analogWrite(analogPin, 125); //rotate
    delay(300); // rotation duration
    analogWrite(analogPin, 0); // stop rotation
    delay(1500); //vibration stop
    for(pos = 0; pos < 100; pos += 1)  
    {                                  
    servo1.write(pos);            
    delay(5);                       
    }
    delay(3000); //camera shooting time
    servo1.write(0);
 
    delay(500); // delay for camera
    }
    delay(2000);
    analogWrite(analogPin, 200); // rotation back to start
    delay(1200);
    analogWrite(analogPin, 0); // Moving Counter Clockwise
    delay(3000);
    }
    }

And this is the setup I'm using:

I'm trying to use the toggle switch attached to pin 6 to switch between two functions.

The first one is controlling a stepper motor, changing the speed with a potentiometer. When the switch is toggled, it should stop the stepper moving and start moving the servo motors. ( The servo attached to pin 3 is a continuous rotation servo, and the one attached to pin 2 is a micro servo.)

Currently, the led lights up however nothing else happens. Previously, I could control the servos if I only programmed the arduino to do that. I could also control the stepper if I just programmed the arduino to do this. So I can run each function individually. I don't run into any errors verifying and uploading the code.

I'm new to this, and any help/advice would be appreciated :slight_smile:

2 
if (togglePin < 0)

You gave togglePin the value 6.
Unless something goes badly wrong, it doesn't seem likely that six will ever be less than zero.

(Indentation could use some attention)

3

togglePin is an input, so you have to read it before making a decision:

if (digitalRead(togglePin) == LOW)

or

if (digitalRead(togglePin) == HIGH)

pick what suits your needs.

Connect the middle pin of the slide switch to Gnd instead of +5,
and turn on the internal pullup so the D6 is not floating when the switch is open:

pinMode(togglePin, INPUT_PULLUP);

or

pinMode(togglePin, INPUT);
digitalWrite(togglePin, HIGH);

both will enable the internal pullup resistor and prevent errors in shorting +5 to Gnd.

4

You may want to read the state of togglePin first and see if it is HIGH or LOW.

toggleState = digitalRead(togglePin);

if(toggleState == LOW) 
  {
   //Do this
  }
else
  {
  //Do alternative
  }

Crossroads beat me to it. =(