Programming Smart Robot to Make 4 Right Turns and Repeat Infinitely

Projects Programming
1

Hello,

I am working on a project where I am trying to have one of the Elegoo smart robot cars to drive continuously in a square based on distance measures I define. I have been following along to Paul McWhorter's playlist on programming one of these, but have gotten stuck in getting the sketch to repeat itself infinitely. Basically, it makes the two turns in the loop and then stops. I want it to keep repeating, endlessly. I have been staring at this for a long time and am hoping it is a silly oversight.

Here is the function I want to loop, that is within my void loop():

forward(8, v);
turnRight(90,wv);
forward(12, v);

Here is my entire sketch:

int ENA=5;
int ENB=6;
int IN1=7;
int IN2=8;
int IN3=9;
int IN4=11;
float d;
int degRot;
int left;
int right;

float v;
void setup() {
  // put your setup code here, to run once:
Serial.begin(9600);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);
}
 
void loop() {
int wv;
v=1.2;
wv=(v-.35)/.0075;
left=wv;
right=wv;
setSpeed(left,right);
forward(8, v);
turnRight(90,wv);
forward(12, v);
//CalR(wv);
//forward(8,v);
//v=1.5;
//wv=(v-.35)/.0075;
//left=wv;
//right=wv;
setSpeed(left,right);
//backward(8,v);
  while(1==1){
 
  }
}
void setSpeed(int leftVal,int rightVal){
  analogWrite(ENA,leftVal);
  analogWrite(ENB,rightVal);
}
void forward(float d, float v){
float t;
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
t=d/v*1000;
delay(t);
stopCar();
}
void backward(float d, float v){
float t;
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
t=d/v*1000;
delay(t);
stopCar();
}
void turnRight(int deg, int wv){
  float t;
stopCar();
delay(100);
analogWrite(ENA,125);
analogWrite(ENB,125);
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
t=(deg+6)/136.29*1000.;
Serial.println(deg);
delay(t);
stopCar();
analogWrite(ENA,wv);
analogWrite(ENB,wv);
}
void turnLeft(int deg, int wv){
  float t;
analogWrite(ENA,125);
analogWrite(ENB,125);
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
t=(deg+6)/136.29*1000.;
Serial.println(deg);
delay(t);
stopCar();
}
void stopCar(){
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}
 
void calF(){
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
delay(5000);
stopCar();
}
void calB(){
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(5000);
stopCar();
}
void calR(int wv){
stopCar();
analogWrite(ENA,125);
analogWrite(ENB,125);
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(1000);
analogWrite(ENA,wv);
analogWrite(ENB,wv);
stopCar();
}
void calL(int wv){
analogWrite(ENA,125);
analogWrite(ENB,125);
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
delay(5000);
analogWrite(ENA,wv);
analogWrite(ENB,wv);
stopCar();
}
2

When it gets here

  while(1==1){
 
  }

nothing else will happen. Take that out.

3

Easy. Just move the 'do it once' stuff up into setup(). Then everything in loop() will repeat forever.

float v;
int wv;


void setup()
{
  // put your setup code here, to run once:
  Serial.begin(9600);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  digitalWrite(ENA, HIGH);
  digitalWrite(ENB, HIGH);


  v = 1.2;
  wv = (v - .35)  / .0075;
  left = wv;
  right = wv;
}


void loop()
{
  setSpeed(left, right);

  forward(8, v);
  turnRight(90, wv);
  setSpeed(left, right);

  forward(12, v);
}
4

Thanks, that worked perfectly!

CrossRoads:
When it gets here

  while(1==1){

}



nothing else will happen. Take that out.
5

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