Noob Arduino programmer here. I'm using the Bounce2 library to debounce six input signals and using an HC-SR04 as a distance gauge. When I run the sensor it seriously lags the Arduino from registering inputs. Running the sensor itself is clearly the problem as if I comment out that subroutine the lag disappears. Neither the sensor nor the six input debounce have any issues separately so I'm guessing there's a conflict between the two.
Any help here would be really appreciated.
#include <Bounce2.h>
//SETTINGS
const byte StopDistance = 20; //Car stop distance (in cm)
const long SCinterval = 1000; //Time between stop checks
const int MotorSpeedIncr = 50; //Value to increase/decrease speed by
//Calibrate then move to constants (current values are arbitrary)
const int MotorSpeedMax = 250; //Maximum motor speed (above which values don't affect speed, use tach to find)
const int MotorSpeedMin = 70; //Minimum motor speed (where shaft doesn't turn, effectively zero)
//PINS
const int trigPin = 2; //SENSOR - Trig
const int echoPin = 8; //SENSOR - Echo
const int BrakeLED = 12; //LED - Brake Lights
const int HeadLED = 13; //LED - Headlights
const int BT1 = A0; //REMOTE - Button 1
const int BT2 = A1; //REMOTE - Button 2
const int BT3 = A2; //REMOTE - Button 3
const int BT4 = A3; //REMOTE - Button 4
const int BT5 = A4; //REMOTE - Button 5
const int BT6 = A5; //REMOTE - Button 6
const int ledPin = 13; // the number of the LED pin
const int enA = 9; //MOTOR - Enable A
const int in1 = 4; //MOTOR - Input 1
const int in2 = 5; //MOTOR - Input 2
const int enB = 10; //MOTOR - Enable B
const int in3 = 6; //MOTOR - Input 3
const int in4 = 7; //MOTOR - Input 4
//START CONDITIONS
//CONSTANTS
//VARS
long dura; //SENSOR - duration of received pulse
int dist; //SENSOR - distance from sensor in cm
int MotorSpeed; //MOTOR - current motor speed
bool stopped; //High if vehicle is stopped
bool ASOverride; //If high, engages override, disables autostop system
bool ForRev = 1; //Forward/reverse toggle → 1 = for, 0 = rev
bool ButtonSt1 = 0; //REMOTE - Button 1 state
bool ButtonSt2 = 0; //REMOTE - Button 2 state
bool ButtonSt3 = 0; //REMOTE - Button 3 state
bool ButtonSt4 = 0; //REMOTE - Button 4 state
bool ButtonSt5 = 0; //REMOTE - Button 5 state
bool ButtonSt6 = 0; //REMOTE - Button 6 state
//Timer & Cycle Storage
unsigned long SCprevMillis = 0; //will store last time stopcheck occured
//DEBOUNCERS
Bounce debouncer1 = Bounce();
Bounce debouncer2 = Bounce();
Bounce debouncer3 = Bounce();
Bounce debouncer4 = Bounce();
Bounce debouncer5 = Bounce();
Bounce debouncer6 = Bounce();
void setup()
{
//PIN MODES
pinMode(trigPin, OUTPUT); //SENSOR
pinMode(echoPin, INPUT); //SENSOR
pinMode(BrakeLED, OUTPUT); //LED - Brake Lights
pinMode(HeadLED, OUTPUT); //LED - Headlights
pinMode(BT1, INPUT); //REMOTE - Button 1
pinMode(BT2, INPUT); //REMOTE - Button 2
pinMode(BT3, INPUT); //REMOTE - Button 3
pinMode(BT4, INPUT); //REMOTE - Button 4
pinMode(BT5, INPUT); //REMOTE - Button 5
pinMode(BT6, INPUT); //REMOTE - Button 6
pinMode(ledPin, OUTPUT);
//DEBOUNCE
pinMode(BT1, INPUT_PULLUP);
pinMode(BT2, INPUT_PULLUP);
pinMode(BT3, INPUT_PULLUP);
pinMode(BT4, INPUT_PULLUP);
pinMode(BT5, INPUT_PULLUP);
pinMode(BT6, INPUT_PULLUP);
debouncer1.attach(BT1);
debouncer1.interval(25);
debouncer2.attach(BT2);
debouncer2.interval(25);
debouncer3.attach(BT3);
debouncer3.interval(25);
debouncer4.attach(BT4);
debouncer4.interval(25);
debouncer5.attach(BT5);
debouncer5.interval(25);
debouncer6.attach(BT6);
debouncer6.interval(25);
//SERIAL
Serial.begin(9600); // Starts the serial communication
}
void loop()
{
DBup();
BTmap();
RunDistanceSensor();
CheckForStopDist();
CheckIfStopped();
}
void RunDistanceSensor()
{
// Clears the trigPin
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
// Sets the trigPin on HIGH state for 10 micro seconds
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
// Reads the echoPin, returns the sound wave travel time in microseconds
dura = pulseIn(echoPin, HIGH);
// Calculating the distance
dist = dura * 0.034 / 2;
}
void CheckForStopDist()
{
if (dist <= StopDistance) //if distance is equal or less than set distance
{
}
}
void CheckIfStopped()
{
unsigned long SCcurrentMilis = millis(); //var for StopCheck
static int ReadToggle = 0; //toggle capture of distance #1 or #2 (static keeps value but keeps var local)
static int prevdist1; //distance captured alternating interval
static int prevdist2; //distance captured alternating interval
if (SCcurrentMilis - SCprevMillis >= SCinterval) //perform container actions every SCinterval
{
SCprevMillis = SCcurrentMilis; //save last time reading was taken
ReadToggle = !ReadToggle; //toggle read distance #1 or #2
if (ReadToggle == 1)
{
prevdist1 = dist; //take distance reading #1
}
else if (ReadToggle == 0)
{
prevdist2 = dist; //take distance reading #2
}
}
if (dist < 3000 && prevdist1 - prevdist2 == 0) //under 3000 if dist 1 = dist 2 car is stopped
{
stopped = 1;
}
}
void DBup()
{
debouncer1.update(); // Update the Bounce instance
debouncer2.update(); // Update the Bounce instance
debouncer3.update(); // Update the Bounce instance
debouncer4.update(); // Update the Bounce instance
debouncer5.update(); // Update the Bounce instance
debouncer6.update(); // Update the Bounce instance
}
void BTmap()
{
But1();
But2();
But3();
But4();
But5();
But6();
}
void But1()
{
if (debouncer1.rose() )
{
Serial.println("Button 1 Press");
}
}
void But2()
{
if (debouncer2.rose() )
{
Serial.println("Button 2 Press");
}
}
void But3()
{
if (debouncer3.rose() )
{
Serial.println("Button 3 Press");
}
}
void But4()
{
if (debouncer4.rose() )
{
Serial.println("Button 4 Press");
}
}
void But5()
{
if (debouncer5.rose() )
{
Serial.println("Button 5 Press");
}
}
void But6()
{
if (debouncer6.rose() )
{
Serial.println("Button 6 Press");
}
}
