ok i put in an if and else statment but now the funktions in the if and else statement isent looping. any ide?
#include <Servo.h>
//*************************************
int IN1=7;//
int IN2=5;//
int IN3=4;//
int IN4=2;//
//*************************************
int inputPin =13 ; //
int outputPin =12; //
int Fspeedd = 0; //
int Rspeedd = 0; //
int Lspeedd = 0; //
int directionn = 0; //
Servo myservo; //
int delay_time = 250; //
int Fgo = 8; //
int Rgo = 6; //
int Lgo = 4; //
int Bgo = 2; //
//**************************************
int incomingByte = 0;
void setup(){
Serial.begin(9600);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
//***************************
pinMode(inputPin, INPUT); //
pinMode(outputPin, OUTPUT); //
myservo.attach(9); //
//***************************
// turn motors Off by default
M_stop();
delay(500);
}
void loop(){
if(Serial.read())
{
int c = Serial.read();
if (c == 'm')
{
Serial.println("Manual");
// check for serial data
if (Serial.available() > 0) {
// read the incoming byte:
incomingByte = Serial.read();
// if available, blink LED and print serial data received.
// say what you got:
Serial.print("I received: ");
Serial.println(incomingByte);
// delay 10 milliseconds to allow serial update time
delay(10);
if (incomingByte == 105){
M_forward();
delay(25);
}
else if (incomingByte == 106){
M_left();
delay(25);
}
else if (incomingByte == 108){
M_right();
delay(25);
}
else if (incomingByte == 107){
M_reverse();
delay(25);
}
else {
M_stop();
Serial.println("stop");
}
}
else {
M_stop();
Serial.println("stop2");
}
}
else if (c == 'n'){//second loop
Serial.println("Detection");
detection();
}
}
}
void M_forward(){
digitalWrite(IN1,LOW);//
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);//
digitalWrite(IN4,LOW);
}
void M_reverse(){
digitalWrite(IN1,HIGH);//
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);//
digitalWrite(IN4,HIGH);
}
void M_stop(){
digitalWrite(IN1,HIGH);//
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);//
digitalWrite(IN4,HIGH);
}
void M_right() //
{
digitalWrite(IN1,LOW);//
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);//
digitalWrite(IN4,LOW);
}
void M_left() //
{
digitalWrite(IN1,LOW);//
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);//
digitalWrite(IN4,LOW);
}
void detection() //
{
int delay_time = 250; //
ask_pin_F(); //
if(Fspeedd < 10) //
{
M_stop(); //
M_reverse; //
}
if(Fspeedd < 25) //
{
M_stop(); //
ask_pin_L(); //
delay(delay_time); //
ask_pin_R(); //
delay(delay_time); //
if(Lspeedd > Rspeedd) //
{
directionn = Lgo; //
}
if(Lspeedd <= Rspeedd) //
{
directionn = Rgo; //
}
if (Lspeedd < 15 && Rspeedd < 15) //
{
directionn = Bgo; //
}
}
else //
{
directionn = Fgo; //
}
}
//*********************************************************************************
void ask_pin_F() //
{
myservo.write(90);
digitalWrite(outputPin, LOW); //
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); //
delayMicroseconds(10);
digitalWrite(outputPin, LOW); //
float Fdistance = pulseIn(inputPin, HIGH); //
Fdistance= Fdistance/5.8/10; //
Serial.print("F distance:"); //
Serial.println(Fdistance); //
Fspeedd = Fdistance; //
}
//********************************************************************************
void ask_pin_L() //
{
myservo.write(177);
delay(delay_time);
digitalWrite(outputPin, LOW); //
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); //
delayMicroseconds(10);
digitalWrite(outputPin, LOW); //
float Ldistance = pulseIn(inputPin, HIGH); //
Ldistance= Ldistance/5.8/10; //
Serial.print("L distance:"); //
Serial.println(Ldistance); //
Lspeedd = Ldistance; //
}
//******************************************************************************
void ask_pin_R() //
{
myservo.write(5);
delay(delay_time);
digitalWrite(outputPin, LOW); //
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); //
delayMicroseconds(10);
digitalWrite(outputPin, LOW); //
float Rdistance = pulseIn(inputPin, HIGH); //
Rdistance= Rdistance/5.8/10; //
Serial.print("R distance:"); //
Serial.println(Rdistance); //
Rspeedd = Rdistance; //
}