Serial Transmition Stopping?

Projects Programming
7

Same code. Just the millis() thing changed.

Here it is anyway:

const int S1 = 6; //D1 Speed Control
const int S2 = 5; //D2 Speed Control
const int D1 = 8; //D1 Direction Control
const int D2 = 7; //D2 Direction Control

const int rightEncoderPin = A0; // (If you and the rover are pointing the same direction)
const int leftEncoderPin = A1;

const int tonePin = 4;
const int leftLightPin = A3;
const int rightLightPin = A2;
const int leftTempPin = A4;
const int rightTempPin = A5;
const int rightEmfPin = A7;
const int leftEmfPin = A6;

const int trigPin = 3;
const int echoPin = 2;

int direct = 0;

int leftspeed = 255; 
int rightspeed = 255;

int leftLight = 0;
int rightLight = 0;
int leftTemp = 0;
int rightTemp = 0;
int leftEmf = 0;
int rightEmf = 0;
int sonicData = 0;

String string = "";
int lastSample = 0;

void setup() 
{
  pinMode(D1, OUTPUT);
  pinMode(D2, OUTPUT);
  pinMode(S1, OUTPUT);
  pinMode(S2, OUTPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(rightEncoderPin, INPUT);
  pinMode(leftEncoderPin, INPUT);
  pinMode(rightLightPin, INPUT);
  pinMode(leftLightPin, INPUT);
  pinMode(rightTempPin, INPUT);
  pinMode(leftTempPin, INPUT);
  pinMode(rightEmfPin, INPUT);
  pinMode(leftEmfPin, INPUT);
  pinMode(tonePin, INPUT);
 
  Serial.begin(9600);
}

void loop() 
{ 
  while( Serial.available() == 0);
  direct = Serial.read() -'0'; 

  string = String(leftLight) + ", " + String(rightLight) + ", " + String(leftTemp) + ", " + String(rightTemp) + ", " + String(leftEmf) + ", " + String(rightEmf) + ", " + String(sonicData);
  
  if (millis() - lastSample >= 50) // We can't be overloading our computers serial buffer now can we?
  {
    Serial.println(string);
    lastSample = millis();
  }
  
  //Serial.println(direct);
  
  sonic();
  datas();
  movement(); 
}

void datas()
{
  leftLight = analogRead(leftLightPin);
  leftTemp = analogRead(leftTempPin);
  leftEmf = analogRead(leftEmfPin);
  rightLight = analogRead(rightLightPin);
  rightTemp = analogRead(rightTempPin);
  rightEmf = analogRead(rightEmfPin);
}

void sonic()
{
  int duration, distance;
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(1000);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;
  sonicData = distance;
}

void movement()
{
  switch(direct) 
  {
  case 0://Move Forward
    forward (leftspeed,rightspeed);
    break;
  case 1://Move Backwards
    reverse (leftspeed,rightspeed);
    break;
  case 2://Turn Left
    left (leftspeed,rightspeed);
    break;
  case 3://Turn Right
    right (leftspeed,rightspeed);
    break;
  case 4:
    stop();
    noTone(tonePin);
    break;
  case 5:
    tone(tonePin, 500);
    break;
  default:
    stop();
    break;
  } 
}


void stop(void) //Stop
{
  digitalWrite(S1,LOW);
  digitalWrite(S2,LOW);
}
void forward(char a,char b)
{
  analogWrite (S1,a);
  digitalWrite(D1,LOW);
  analogWrite (S2,b);
  digitalWrite(D2,LOW);
}
void reverse (char a,char b)
{
  analogWrite (S1,a);
  digitalWrite(D1,HIGH);
  analogWrite (S2,b);
  digitalWrite(D2,HIGH);
}
void left (char a,char b)
{
  analogWrite (S1,a);
  digitalWrite(D1,HIGH);
  analogWrite (S2,b);
  digitalWrite(D2,LOW);
}
void right (char a,char b)
{
  analogWrite (S1,a);
  digitalWrite(D1,LOW);
  analogWrite (S2,b);
  digitalWrite(D2,HIGH);
}