Repetition of the movement of the head motor when I hold the button

Projects Programming
1

Hi. I control a robot via Bluetooth in app inventor. I have a problem.for example when I hold the forward button the servo rotates from position1 to position2 and then the servo rotation doesn't repeat again. I want the movement of the servo motor to repeat as long as I hold the button until I release the button. How can I do this? This is my code:

#include <SoftwareSerial.h>
#include <Servo.h>
#include "HCPCA9685.h"

SoftwareSerial BT(13,12);  //RX , TX pins

char state=0;
/* I2C slave address for the device/module. For the HCMODU0097 the default I2C address
is 0x40 */ 
#define  I2CAdd_1 0x40
#define  I2CAdd_2 0x41

int pos1 = 200;
int pos2 = 220;
int pos3 = 180;
int pos4 = 0;
int pos5 = 130;
int pos6 = 100;
int pos7=50;
int pos8=260;
int pos9=140;
const float delay1 = 0.5;
int delay2 = 500;

/* Create an instance of the library */
HCPCA9685 HCPCA9685_1(I2CAdd_1);
HCPCA9685 HCPCA9685_2(I2CAdd_2);

void setup() {
  /* Initialise the library and set it to 'servo mode' */

  // Initialise both modules
  HCPCA9685_1.Init(SERVO_MODE);
  HCPCA9685_2.Init(SERVO_MODE);

  // Wake both devices up
  HCPCA9685_1.Sleep(false);
  HCPCA9685_2.Sleep(false);

  unsigned int Pos;
  
Serial.begin(9600);
BT.begin(9600);
/////  
}

/* Move Forward */
void move_forward() {
  for (int Pos = pos5 ; Pos >= pos7 ; Pos--) {
    HCPCA9685_1.Servo(4, Pos);
    HCPCA9685_1.Servo(10, Pos);
    HCPCA9685_2.Servo(0, Pos);
    delay(delay1);
  }
}

/* Move Backward */
void move_backward() {
  for (int PosC = pos3 , PosD = pos2 ; PosC <= pos2 || PosD >= pos3 ; PosC++ , PosD--) {
    HCPCA9685_1.Servo(0, PosC);
    HCPCA9685_1.Servo(3, PosD);
    HCPCA9685_1.Servo(6, PosC);
    HCPCA9685_1.Servo(9, PosC);
    HCPCA9685_1.Servo(12, PosD);
    HCPCA9685_1.Servo(15, PosC);
    delay(delay1);
  }
}

/* Turn Right */
void turn_right() {
  for (int PosC = pos2 , PosD = pos3 ; PosC >= pos3 || PosD <= pos2 ; PosC-- , PosD++) {
    HCPCA9685_1.Servo(0, PosD);
    HCPCA9685_1.Servo(6, PosD);
    HCPCA9685_1.Servo(12, PosD);
    delay(delay1);
  }  
}

/* Turn Left */
void turn_left() {
/////
  for (int Pos = pos7 ; Pos <= pos5 ; Pos++) {
    HCPCA9685_1.Servo(4, Pos);
    HCPCA9685_1.Servo(10, Pos);
    HCPCA9685_2.Servo(0, Pos);
    delay(1);
  }    
}

/* Stop Move */
void move_stop() {

}

void loop() {
  if (BT.available() >0) {
    state = BT.read();
    Serial.print(state);

    if(state == 'F'){
      move_forward();
//      state="";
  }
  
    if(state == 'f'){
      move_stop();
//      state="";
  }
  
    if(state == 'B'){
      move_backward();
//      state="";
  }

    if(state == 'b'){
      move_stop();
//      state="";
  }

  
    if(state == 'R'){
      turn_right();
//      state="";
  }

    if(state == 'r'){
      move_stop();
//      state="";
  }
  
    if(state == 'L'){
      turn_left();
//      state="";
  }

    if(state == 'l'){
      move_stop();
//      state="";
  }
//    else if (state == "S") {
//      move_stop();
//  } 
  }
}

These are the blocks:

blocks(1)
blocks(1)811×1333 72.3 KB

2

Why use predefined positions instead of incrementing a position by x many steps?

Initialize position to start at 0 and increase it by “step” each time you want to move. You can do the same in reverse too by subtracting step from position.

Just make sure you use the modulus operator (%) to not allow the position to exceed 360.

3

How can I do this? Can you suggest an example in code form?

4

maybe the device is not repeatedly sending a button code when the button is held down, it just sends it once for each press

5

So how should I design the blocks to send repeatedly?

6

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