Reading and print HAL sensor values with analogRead.

Using Arduino Sensors
1

I have a problem that I cant see in my code.
I am using a HAL sensor to get some values and put them in to an array.

When this is done I pick the largest value and the index of that value in the array. I have a stepper motor that I set the new zero to be the index of the largest value in the array.

So if the largest value is 500 and the index is 53 I move to step 53 and get new values from that position.

Now when I am ready to print the new values from the array it does not match. Is the analogRead still running even its not called?

Here is the code.

// Name: HALsteppingReader_v2
// Date: 2014-08-07
// Files: AccelStepper.h, AFMotor.h, HALsteppingReader_v2.ino
// Programmer: Alexander Mogren
// Description:


#include <AccelStepper.h>
#include <AFMotor.h>

AF_Stepper motor1(200, 1);

int HALsensorPin_1 = A0;
int HALsensorPin_2 = A2;

int HALsensorValue_1 = 0;
int HALsensorValue_2 = 0;

int HALarray[200];
int HALarray_r[200];
int h=0,maxi,i=0,x=0,serpos=0;

void forwardstep() {  
  motor1.onestep(FORWARD, SINGLE);
}
void backwardstep() {  
  motor1.onestep(BACKWARD, SINGLE);
}

AccelStepper stepper(forwardstep, backwardstep); // use functions to step

void HALsensor(int i)
{
   //Analog ports for sensor 1 and 2;
   HALsensorValue_1 = analogRead(HALsensorPin_1);
   HALsensorValue_2 = analogRead(HALsensorPin_2);
   
   HALarray[i]=HALsensorValue_1;
   HALarray_r[i]=HALsensorValue_2;
}

void HALarrayCheck()
{
   maxi=0;
   
   //delay(1000);
   
   for(i=0;i<=200;i++)
     {
       if(maxi < HALarray[i])
       {
          maxi = HALarray[i];
	  serpos = i;
       }
     }
     
    Serial.print("Largest value ");
    Serial.print(maxi);
    Serial.print("\n");
    Serial.print("Moving motor to step ");
    Serial.print(serpos);
    Serial.print("\n");
    
}

void getHALvalue()
{
 int i = 0;
 while (i != 201)
 {
  if(stepper.distanceToGo()==0)
  {
   HALsensor(i);
   stepper.moveTo(i);
   i++;
   }
          stepper.run();
 }
}

void setup()
{  
   Serial.begin(9600);           // set up Serial library at 9600 bps
//   stepper.setSpeed(10);   // 0 is no speed 254 i full speed.	
}

void loop()
{ 

 stepper.setMaxSpeed(200);
 stepper.setAcceleration(200);
 
 Serial.println("Initializing HAL sensor");
 
 getHALvalue();
 
 Serial.println("HAL sensor reading complete.");
 
 Serial.println("Getting HAL sensor largest value.");
 
 HALarrayCheck();
 
 stepper.setCurrentPosition(serpos);
 
 Serial.println("Stepper movment complete"); 
 Serial.println("Run from new position");
 
 getHALvalue();
 
 Serial.println("Printing HAL sensor values");

 for(x=0;x<200;x++)
 {
   Serial.print("#");
   Serial.print(x);
   Serial.print("\t");
   Serial.print(HALarray[x]);
   Serial.print("\t");
   Serial.print(HALarray_r[x]);
   Serial.print("\n");  
 } 
  
}
2

found a bug (== not the answer you asked for)

for(i=0;i<=200;i++)

should be

for(i=0;i<200;i++)

the elements number from 0..199