The following code has two motion detectors with two servo motors and a sound file. The motion is detected and then moves the servos and plays sound.
On the first iteration the servo works as expected but after the sound plays the next and following iterations the servo no longer moves. But on each motion detection the sound works but no servo motion.
This is on an UNO and the servos and sound are connected with external power.
I figure it has something to do with how the loop works but I am not sure what to try next. Any suggestions?
#include <PCM.h>
#include "angryBirdSound.h"
int soundLength = 0;
#include <PWMServo.h>
PWMServo ltservo, rtservo; // create servo object to control a servo
int pos = 0; // variable to store the servo position
long rnum;
int ltWing=9;
int rtWing=10;
int ledPin = 13; // choose the pin for the LED
int backNest = 7; // choose the input pin (for PIR sensor)
int frontNest = 8;
int pirState = LOW; // we start, assuming no motion detected
int backVal = 0; // variable for reading the pin status
int frontVal = 0; // variable for reading the pin status
#include <loopTimer.h>
#include <millisDelay.h>
#include <BufferedOutput.h>
//Example of using BufferedOutput to release bytes when there is space in the Serial Tx buffer, extra buffer size 80
createBufferedOutput(bufferedOut, 80, DROP_UNTIL_EMPTY);
millisDelay soundDelay;
millisDelay servoDelay;
void setup() {
Serial.begin(9600);
for (int i = 10; i > 0; i--) {
Serial.println(i);
delay(500);
}
bufferedOut.connect(Serial); // connect buffered stream to Serial
servoDelay.start(500); // start the ledDelay, toggle every 1000mS
soundDelay.start(1000); // start the printDelay, print every 5000mS
ltservo.attach(ltWing); // attaches the servo on pin 9 to the servo object
ltservo.write(0);
rtservo.attach(rtWing);
rtservo.write(0);
//randomSeed(analogRead(0));
pinMode(ledPin, OUTPUT); // declare LED as output
pinMode(backNest, INPUT); // declare sensor as input
pinMode(frontNest, INPUT); // declare sensor as input
//soundLength = sizeof(angryBirdSound);
soundLength = sizeof(smallSound);
//startPlayback(sample, sizeof(sample));
}
// the task method
void playSound() {
if (soundDelay.justFinished()) { // check if delay has timed out
soundDelay.repeat(); // start delay again without drift
//ledOn = !ledOn; // toggle the led
bufferedOut.print("play sound");
//startPlayback(angryBirdSound, soundLength);
startPlayback(smallSound, soundLength);
//digitalWrite(led, ledOn ? HIGH : LOW); // turn led on/off
} // else nothing to do this call just return, quickly
}
void moveServo() {
if (servoDelay.justFinished()) {
servoDelay.repeat(); // start delay again without drift
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
ltservo.write(pos); // tell servo to go to position in variable 'pos'
rtservo.write(pos);
delay(3); // waits 15ms for the servo to reach the position
}
delay(1000);
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
ltservo.write(pos); // tell servo to go to position in variable 'pos'
rtservo.write(pos);
delay(3); // waits 15ms for the servo to reach the position
}
//delay(1000);
//bufferedOut.println(millis()); // print the current mS
} // else nothing to do this call just return, quickly
}
void loop()
{
bufferedOut.nextByteOut(); // call at least once per loop to release chars
// loopTimer.check(bufferedOut); // send loop timer output to the bufferedOut
backVal = digitalRead(backNest); // read input value
frontVal = digitalRead(frontNest); // read input value
if ((backVal == HIGH) || (frontVal == HIGH)) { // check if the input is HIGH
digitalWrite(ledPin, HIGH); // turn LED ON
if (pirState == LOW) {
// we have just turned on
bufferedOut.print("Motion detected!");
//Serial.println("Motion detected!");
// We only want to print on the output change, not state
pirState = HIGH;
//startPlayback(angryBirdSound, sizeof(angryBirdSound));
//startPlayback(smallSound, sizeof(smallSound));
moveServo();
playSound();
/*
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
ltservo.write(pos); // tell servo to go to position in variable 'pos'
rtservo.write(pos);
delay(3); // waits 15ms for the servo to reach the position
}
delay(1000);
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
ltservo.write(pos); // tell servo to go to position in variable 'pos'
rtservo.write(pos);
delay(3); // waits 15ms for the servo to reach the position
}
//delay(1000);
//startPlayback(angryBirdSound, soundLength);
delay(3000);
*/
}
} else {
digitalWrite(ledPin, LOW); // turn LED OFF
if (pirState == HIGH){
// we have just turned of
bufferedOut.print("Motion ended!");
//Serial.println("Motion ended!");
// We only want to print on the output change, not state
pirState = LOW;
}
}
}
