State machine controlling dc motor/ buzzer/ lcd / ultrasonic

Projects Programming
6

hey Nicola,

thank you, this is very helpful, however, I tried to implement it and I havnt been able to make it work.. so right now. the motors does not work at all... can you help me to look at my code?
Thank you..

#define HALT_TIME 2000
#define BACK_TIME 2000
#define TURN_TIME 8000
#define trigPin A1
#define echoPin A0
#include <LiquidCrystal.h>
#include <NewTone.h>
#include<AFMotor.h>

long duration;
int distance;
int distanceUltra;
int maximum = 100;
int buzzerPin = A2;
int dur = 100;

LiquidCrystal lcd(8, 9, 4, 7, 12, 13);
AF_DCMotor motor1(1,MOTOR34_1KHZ);
AF_DCMotor motor2(2,MOTOR34_1KHZ);
AF_DCMotor motor3(3,MOTOR34_1KHZ);
AF_DCMotor motor4(4,MOTOR34_1KHZ);

enum ApplicationState {
  Drive,
  Halt,
  Back,
  Turn
};

static enum ApplicationState currentApplicationState = Drive;

static unsigned long t = 0;

static bool sensorTriggered() {
  // TODO return true if too close, return false otherwise.
  
  
  if (distance <= 10){return true;}
  
  else {return false;}


}

static void funnyFace() {
  // TODO funny face and buzzer
    lcd.setCursor(6,0);
    lcd.write("x");
    lcd.setCursor(8,0);
    lcd.write("x");
    lcd.setCursor(7,1);
    lcd.write("o");
    randSound(maximum);
}

static void driveHandler() {
  // TODO do whatever the car is supposed to do normally
    motor1.setSpeed(100);
    motor1.run(BACKWARD);
    motor2.setSpeed(100);
    motor2.run(BACKWARD);
    motor3.setSpeed(100);
    motor3.run(BACKWARD);
    motor4.setSpeed(100);
    motor4.run(BACKWARD);
  if (sensorTriggered()) {
    t = millis();
    currentApplicationState = Halt;
  }
}

static void haltHandler() {

  static bool shouldShowFunnyFace = true;

  // TODO stop the motors
    motor1.setSpeed(0);
    motor1.run(RELEASE);
    motor2.setSpeed(0);
    motor2.run(RELEASE);
    motor3.setSpeed(0);
    motor3.run(RELEASE);
    motor4.setSpeed(0);
    motor4.run(RELEASE);
  
  if (shouldShowFunnyFace) {
    funnyFace();
    shouldShowFunnyFace = false;
  }
  
  if (millis() - t > HALT_TIME) {
    t = millis();
    currentApplicationState = Back;
    shouldShowFunnyFace = true;
  }
}

static void backHandler() {
  // TODO drive backwards
    motor1.setSpeed(100);
    motor1.run(FORWARD);
    motor2.setSpeed(100);
    motor2.run(FORWARD);
    motor3.setSpeed(100);
    motor3.run(FORWARD);
    motor4.setSpeed(100);
    motor4.run(FORWARD);
  if (millis() - t > BACK_TIME) {
    t = millis();
    currentApplicationState = Turn;
  }
}

static void turnHandler() {
  // TODO turn the car
    motor1.setSpeed(100);
    motor1.run(FORWARD);
    motor2.setSpeed(100);
    motor2.run(FORWARD);
    motor3.setSpeed(100);
    motor3.run(BACKWARD);
    motor4.setSpeed(100);
    motor4.run(BACKWARD);
  if (millis() - t > TURN_TIME) {
    currentApplicationState = Drive;
  }
}

void setup() {
  Serial.begin(9600);
  lcd.begin(16,2);
  pinMode (trigPin, OUTPUT);
  pinMode (echoPin, INPUT);
  pinMode(buzzerPin, OUTPUT);
}

void loop() {
  Serial.print("distance:");
  Serial.println(distance);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  Serial.println(sensorTriggered());
  duration = pulseIn(echoPin, HIGH);
  distance = duration*0.034/2;

  
  switch (currentApplicationState) {
    
    case Drive:
    driveHandler();
    break;

    case Halt:
    haltHandler();
    break;

    case Back:
    backHandler();
    break;

    case Turn:
    turnHandler();
    break;
  }
}


void randSound(int maximum){
  NewTone(buzzerPin, random(maximum, 10*maximum),dur);
  delay(maximum);
  noNewTone(buzzerPin);
}