Hi,
I have made a line following robot that works perfectly on its own. I also have my RTC DS3231 and LCD sketches that work perfectly on their own. When I combine them together the Line following part does not work as expected.
I am completely new to this and trying to learn as I go and have been using project examples from GitHub. It is almost as if it adds a massive delay to the line IR sensors. So it will see the line but not react quick enough. I have even tried bringing my delays right down
When I strip it back to just line follow and remove RTC and LCD code it works perfect again.
On another note when powering down board the RTC DS3231does not keep time maybe I need to initiallised battery. I have checked the battery tried another RTC Module and replaced battery. It works plugged in and serial port showing it keeping time but if you power down reverts back to last stored time, so not switching to battery.
Any help is appreciated here is my code.
/*
***Combined code with Line Follow***
***RTC Clock Set***
***LCD Display***
*/
// ********** MAKE SURE YOU SET CURRENT TIME AND DATE WHEN UPLOADING CODE **********
//Line Follow Include
#include <DFMobile.h>
DFMobile Robot(4, 5, 7, 6);
int RightValue; //Right line tractor sensor on Pin 8
int MiddleValue; //Middle line tractor sensor on Pin 9
int LeftValue; //Left line tractor sensor on Pin 10
//RTC Include
#include "DFRobot_DS323X.h"
DFRobot_DS323X rtc;
#include <DS3231.h>
//LCD Include
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x20 for a 16 chars and 2 line display
//Line Follow void setup
void setup() {
Robot.Direction(LOW, HIGH);
Serial.begin(9600);
Robot.Speed(120, 120); //move off start and end line to start line follow
delay(10);
//RTC void setup
Serial.begin(9600);
Wire.begin();
/*Wait for the chip to be initialized completely, and then exit*/
while(rtc.begin() != true){
Serial.println("Failed to init chip, please check if the chip connection is fine. ");
delay(10);
}
/*!
*@brief Set time output format
*@param eHours_t:e24hours, e12hours. default is e24hours
*/
rtc.setHourSystem(rtc.e24hours);
rtc.setTime(/*year,1900-2100*/2023, /*mouth,1-12*/7, /*date,1-31*/25, /*hour,0-23*/15,/*minute,0-59*/23,/*second,0-59*/0);//Set Set initial time .
//LCD void setup
lcd.init(); // initialize the lcd
}
void loop() {
//Line Follow Void Loop
//reading 3 pins values of Line Tracking Sensor
RightValue = digitalRead(8);
MiddleValue = digitalRead(9);
LeftValue = digitalRead(10);
//print out the value you read:
Serial.print(LeftValue);
Serial.print(MiddleValue);
Serial.println(RightValue);
delay(10);
//Line follow if statement stop on the line start and end point
if ((LeftValue == LOW) && (MiddleValue == LOW) && (RightValue==LOW)) {
Robot.Speed(0, 0);
delay(10);
}
//check if the robot is located in the middle of line
// if it is, the robot go straight.
else if (MiddleValue == LOW) { //line in the middle
Robot.Speed(120, 120); //go straight
delay(10);
}
//check if the robot is located in the left of line
// if it is, the robot turn left.
else if ((LeftValue == LOW)) { //line on left
Robot.Speed(-120, 120); //turn left
delay(10);
}
//check if the robot is located in the right of line
// if it is, the robot turn right.
else if ((RightValue == LOW)) { //line on the right
Robot.Speed(120, -120); //turn right
delay(10);
}
//RTC void loop
Serial.print(rtc.getYear(), DEC);//year
Serial.print('/');
Serial.print(rtc.getMonth(), DEC);//month
Serial.print('/');
Serial.print(rtc.getDate(), DEC);//date
Serial.print(" (");
Serial.print(rtc.getDayOfWeek());//day of week
Serial.print(") ");
Serial.print(rtc.getHour(), DEC);//hour
Serial.print(':');
Serial.print(rtc.getMinute(), DEC);//minute
Serial.print(':');
Serial.print(rtc.getSecond(), DEC);//second
Serial.print(' ');
/*if rtc works in 24hours mode,this function doesn't print anything*/
Serial.print(rtc.getAMorPM());
Serial.println();
delay(1000);
// Print a message to the LCD.
lcd.backlight();
lcd.setCursor(4, 0); // Set Cursor, Top Line
lcd.print("ROBO TED"); // Message
lcd.setCursor(1, 1); //set cursor Bottom line
lcd.print(rtc.getDayOfWeek());
lcd.print(" ");
lcd.print(rtc.getDate());
lcd.print(" ");
lcd.print(rtc.getHour());
lcd.print(":");
lcd.print(rtc.getMinute());
}
