[SOLVED] Problem Using Serial.print?. Serial.print hang in Serial monitor.

Projects Programming
1

Hi guys, I'm building a 3D LIDAR system. Basically my program will send back a string contains coordination to terminal every 4ms (E.g 180;360;400 cm). After running for a couple of seconds, the Serial.print stop working, it just hang there on Arduino Serial monitor, while everything else is working normally. After doing some research on the forum, I suspect it happened because I have overload the SRAM. Is there any way I can fix it? .Thank you guys for your time.

#include <Servo.h>
#include <Arduino_FreeRTOS.h>
#include <LIDARLite.h>
#include <Wire.h>
#include <nema.h>
#define PIN_SCL A5
#define PIN_SDA A4

NEMA NEMA(3,4,5,2,8,7,6);
LIDARLite myLidarLite;
Servo myservo;
uint8_t interval = 2;
uint32_t timer=0;
int AngleV=180;
uint16_t pulsecount;
uint8_t circle=0;
uint16_t distance = 0;
float AngleH = 0;
bool print = 0;
bool out = 0;

/*
 0x04  quarter speed 1 400
 0x04  quarter speed 2 400
 0x04  half    speed 1 200
 0x04  half    speed 2 200
 */
void setup() {
  Serial.begin(115200);
  while (!Serial) 
  {
  }
  Serial.println("System is online");
  // Stepper Setup
  NEMA.StepperSetup(2);
  NEMA.StepperDIR(false);
  // Servo Setup
  myservo.attach(10,544,2500);
  //SG90 560 1530 2500
  //MG90 550 1375 2200
  myservo.writeMicroseconds(550);
  delay(1000);
  myservo.detach();
  // Lidar Setup
  myLidarLite.begin(0);
  myLidarLite.configure(2);
  myLidarLite.beginContinuous(true,0x04,0xff,0x62);
  pinMode(11, INPUT);
}

void loop() {
ScanningSequences();
//uint8_t  c;    
//while(1)
//{
//if (Serial.available()>0)
//  {
//  {
//            //  read input character ...
//            c = (uint8_t) Serial.read();
//
//            // ... and parse
//            switch (c)
//            {
//                case 'B':
//                case 'b':\
//                ScanningSequences();
//                Serial.println("Scanning Complete"); 
//                    break;
//                case 'R':
//                case 'r':
//                RestartScan();
//                ScanningSequences();
//                Serial.println("Scanning Complete");   
//                    break;
//                    
//                default:
//                    Serial.println("=====================================");
//                    Serial.println("== Type a single character command ==");
//                    Serial.println("=====================================");
//                    Serial.println(" B - Begin Scanning Sequences");
//                    Serial.println(" R - Restart Scan");
//
//                    break;
//            }
//  }
//}
//}
}

void ScanningSequences(void)
{
  for (;AngleV>=75;)
  {
    NEMA.StepperRun(1);
    NEMA.StepperENA();
    if (millis() - timer > interval)
    {
    timer = millis();
    CalculateOutput();
    print = 0;
    if(distance>=4000)
    {
      goto  skiperror;
    }
          print = 1;
          if (print == 1) 
        {
    uint16_t (AngleH) = pulsecount*9;
    Serial.println(AngleV);
    Serial.print(",");
    Serial.print(AngleH);
    Serial.print(",");
    Serial.println(distance);
    print = 0;
        }
  }
  skiperror:;
}
}

void CalculateOutput(void)
{
  myLidarLite.write(0x00,0x04,0x62);
  distance = (myLidarLite.distanceContinuous())-1320;
  pulsecount = pulsecount+1;
 
      if (pulsecount > 400)
      {
        circle=circle+1;
        pulsecount -= 400;
      }

      if (circle>2)
      {
        AngleV--;
        float ds = 2200-(180-AngleV)*55/6;
        myservo.writeMicroseconds(uint16_t(ds));
        circle=0;
     }
       // DEBUG PULSE COUNT///////////////////////////////////////////////////////////////////////////////////
//  if ((distance < 30) && (distance > 5) && (out == 1))
//  {
//    out = 0;
//    Serial.print("so xung cho 1 vong la: ");
//    Serial.println(pulsecount);
//    pulsecount = 0;
//  }
//  else if ((distance > 40) && (out == 0))
//  {
//    out = 1;
//  }
  ///////////////////////////////////////////////////////////////////////////////////////////////////////

  ////////////////I2c hang prevention module/////////////////////////////////////////////////////////////
//  if (digitalRead(PIN_SCL) == HIGH && digitalRead(PIN_SDA) == LOW) //Reset Program if I2C hang
//  {
//    
//    pinMode(A4, OUTPUT);      // is connected to SDA
//    digitalWrite(18, LOW);
//    pinMode(A4, INPUT);       // reset pin
//  }
  ///////////////////////////////////////////////////////////////////////////////////////////////////////
}

void RestartScan()
{
timer=0;
AngleV=180;
pulsecount=0;
circle=0;
distance = 0;
AngleH = 0;
print = 0;
out = 0;
}

LVTN.ino (4.03 KB)

2

Get rid of the stupid goto statement and label. If there is an error, deal with it. If not, there is nothing to do. It is NOT necessary to jump over code you don't want executed.

Get rid of ALL of the commented out "code". It is NOT what it is causing your problem. It DOES make it harder to see what the problem is.

    uint16_t (AngleH) = pulsecount*9;

That's a pretty stupid place for parentheses. Loose them.

3

Don't use goto, that for loop should be a while loop, clean up your logic, and refactor/encapsulate your code until you don't have to alter any global variables in your functions.

For example:

void ScanningSequences(void) {
  while (AngleV >= 75)
  {
    NEMA.StepperRun(1);
    NEMA.StepperENA();
    if (millis() - timer >= interval) {
      timer += interval;
      CalculateOutput();
      if (distance >= 4000) {
        Serial.println("Error: distance >= 4000");
      } else {
        uint16_t AngleH = pulsecount * 9;
        Serial.println(AngleV);
        Serial.print(",");
        Serial.print(AngleH);
        Serial.print(",");
        Serial.println(distance);
      }
    }
  }
}

(Minus the globals, of course.)

The problem is that you never restart the scan, so AngleV stays at 74, and nothing happens.

Pieter

4

Thank you guys for the tips, it works perfectly now. The go to command line must have cause some problem.