Text section exceeds available space in board -- RC Car Project

Projects Discussion and Showcase Robotics
1

I am trying to build a car which can be 1) controlled manually (through remote as well as bluetooth), 2) put to obstacle avoiding mode,
3) put to line following mode.
All the modes are working fine.

The Problem:

In function fetchSensorData(),

if I put the code for fetching DTH11 sensor data

  float h = dht.readHumidity();
  float t = dht.readTemperature();
  float f = dht.readTemperature(true);

  if (isnan(h) || isnan(t) || isnan(f))
    Serial.println(F("Failed to read from DHT sensor!"));

  double hif = dht.computeHeatIndex(f, h);

  Serial.println("Humidity: " + String(h));
  Serial.println("Temperature: " + String(t) + "°C ");
  Serial.println("Heat index: " + String(hif) + "°F ");

  dht11_value = "Humidity: " + String(h) + "%" + " Temperature: " + String(t) + " C " + " Heat index: " + String(hif) + " F ";

  BTSerial.println(dht11_value);
  Serial.println(dht11_value);

or if I put the code for fetching BMP280 sensor data

sensors_event_t temp_event, pressure_event;
  bmp_temp->getEvent(&temp_event);
  bmp_pressure->getEvent(&pressure_event);

  Serial.print(F("Temperature = "));
  Serial.print(temp_event.temperature);
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(pressure_event.pressure);
  Serial.println(" hPa");

  Serial.print(F("Temperature = "));
  Serial.print(bmp.readTemperature());
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(bmp.readPressure());
  Serial.println(" Pa");

  Serial.print(F("Approx altitude = "));
  Serial.print(bmp.readAltitude(1013.25)); /* Adjusted to local forecast! */
  Serial.println(" m");

If either of the code is present in that function then it works (the total code then occupies almost 89% of the total available space on the board)

If both of the codes are present in that function then it shows (the total code then occupies almost 105% of the total available space on the board).

image
image1266×223 72.5 KB

My tries:
I tried to use the F macro for the strings but then it reduced to 103%.

But still that error. How to reduce the size of my code?
Please help. Thanks a lot.

Schematic (very rough diagram, I have tried my best, I am new to all this):

image
image1330×860 133 KB

Full Code:

#include <IRremote.h>
#include <SoftwareSerial.h>
#include <Servo.h>    //Servo motor library. This is standard library
#include <NewPing.h>  //Ultrasonic sensor function library. You must install this library
#include "DHT.h"
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_BMP280.h>

//==============================================
//     Data  Definitions
//==============================================

#define ttp223 8
#define buzzer 12

unsigned long lastDebounceTime = 0;  // the last time the output pin was toggled
unsigned long debounceDelay = 500;   // the debounce time; increase if the output flickers

#define DHTPIN A0      // Digital pin connected to the DHT sensor
#define DHTTYPE DHT11  // DHT 11
DHT dht(DHTPIN, DHTTYPE);

Adafruit_BMP280 bmp;  // use I2C interface
Adafruit_Sensor *bmp_temp = bmp.getTemperatureSensor();
Adafruit_Sensor *bmp_pressure = bmp.getPressureSensor();
unsigned status;

//==============================================
//     Manual Control Definitions
//==============================================

SoftwareSerial BTSerial(10, 11);  // pin10->TX of BT, pin11->RX of BT
#define irPin 9
IRrecv irrecv(irPin);
decode_results rslts;

//==============================================
//     Line Follower Definitions
//==============================================

#define R_S A6  //ir sensor Right
#define L_S A7  //ir sensor Left

//==============================================
//     Obstacle Avoiding Definitions
//==============================================

#define trig_pin A2  //analog input 1
#define echo_pin A1  //analog input 2

#define maximum_distance 200

NewPing sonar(trig_pin, echo_pin, maximum_distance);  //sensor function
Servo servo_motor;                                    //our servo name

boolean goesForward = false;
int distance = 100;


//==============================================
//     Motor Definitions
//==============================================

// Motor A
#define enA 6
#define in1 7
#define in2 4

// Motor B
#define enB 5
#define in3 3
#define in4 2

//PWM 3, 5, 6, 9, 10, 11

//==============================================
//     General Definitions
//==============================================

//IR
String irNum;

//Loop
bool send = true;
int mode = 3, ttpData;
String data = "";

//Data
String dht11_value = "";

//BTSerial
String btNum = "o";
int d = -1, prev_d = -1;
bool running = false;
char incomingByte;

//Obstacle
int distanceRight, distanceLeft, cm;

void BTControl();
void IRControl();
void ObstacleControl();
void LineControl();

void Forward();
void Back();
void Left();
void Right();
void Stop();
void fetchSensorData();

void (*functionModePointers[4])(){
  BTControl, IRControl, ObstacleControl, LineControl
};

void (*functionMovesPointers[7])(){
  Forward, Back, Left, Right, Stop, fetchSensorData, show
};


void setup() {
  pinMode(buzzer, OUTPUT);

  //==============================================
  //     Motor Setup
  //==============================================

  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  //==============================================
  //     Manual Control Setup
  //==============================================

  Serial.begin(9600);
  BTSerial.begin(9600);

  pinMode(ttp223, INPUT);
  irrecv.enableIRIn();

  //==============================================
  //     Data  Setup
  //==============================================

  dht.begin();
  status = bmp.begin();
  bmp.setSampling(Adafruit_BMP280::MODE_NORMAL,     /* Operating Mode. */
                  Adafruit_BMP280::SAMPLING_X2,     /* Temp. oversampling */
                  Adafruit_BMP280::SAMPLING_X16,    /* Pressure oversampling */
                  Adafruit_BMP280::FILTER_X16,      /* Filtering. */
                  Adafruit_BMP280::STANDBY_MS_500); /* Standby time. */
  bmp_temp->printSensorDetails();

  //==============================================
  //     Line Follower Setup
  //==============================================

  pinMode(R_S, INPUT);
  pinMode(L_S, INPUT);

  //==============================================
  //     Obstacle Avoiding Setup
  //==============================================

  servo_motor.attach(13);  //our servo pin

  servo_motor.write(95);
  delay(2000);
  distance = readPing();
  delay(100);
}


void loop() {

  ttpData = digitalRead(ttp223);
  if (ttpData == HIGH && (millis() - lastDebounceTime) > debounceDelay) {
    lastDebounceTime = millis();
    mode = (mode + 1) % 4;
    Serial.println(mode);
    send = true;
  }

  if (send == true) {
    data = "mode after d is entered= " + String(mode);
    Serial.println(data);
    BTSerial.println(data);
    send = false;
  }

  functionModePointers[mode]();
}

int decode(String data) {

  if (data == "T" || data == "44")
    return 0;
  else if (data == "B" || data == "1d")
    return 1;
  else if (data == "L" || data == "1c")
    return 2;
  else if (data == "R" || data == "48")
    return 3;
  else if (data == "OK" || data == "O" || data == "K" || data == "5c")
    return 4;
  else if (data == "d" || data == "D")
    return 5;
  else if (data == "s" || data == "S") {
    return 6;
  } else
    return -1;
}

void BTControl() {
  while (BTSerial.available()) {
    // Serial.write(BTSerial.read()); //writes full words to serial monitor
    incomingByte = BTSerial.read();
    if (incomingByte >= 97 && incomingByte <= 122) {
      btNum = incomingByte;
      BTSerial.println(btNum);
      Serial.println(btNum);
      running = false;
    }
  }

  d = decode(btNum);

  if (d > 0 && running == false) {
    functionMovesPointers[d]();
    running = true;
  }
}

void show() {
  BTSerial.println("Hello");
}

void IRControl() {
  if (irrecv.decode()) {
    Serial.println(rslts.value);
    String irNum = String(irrecv.decodedIRData.command, HEX);
    Serial.println(irrecv.decodedIRData.command, HEX);
    Serial.println(irNum);
    irrecv.resume();
  }
  // Add a small delay to avoid overwhelming the serial buffer
  // delay(50);
  functionMovesPointers[decode(irNum)]();
}

void ObstacleControl() {
  distanceRight = 0;
  distanceLeft = 0;
  delay(50);

  if (distance <= 20) {
    moveStop();
    delay(300);
    moveBackward();
    delay(400);
    moveStop();
    delay(300);
    distanceLeft = lookLeft();
    delay(300);
    distanceRight = lookRight();
    delay(300);

    if (distance >= distanceLeft) {
      turnRight();
      moveStop();
    } else {
      turnLeft();
      moveStop();
    }
  } else {
    moveForward();
  }
  distance = readPing();
}

void LineControl() {
  if ((analogRead(R_S) <= 500) && (analogRead(L_S) <= 500)) {
    Serial.println(F("Forward"));
    Forward();
  }  //if Right Sensor and Left Sensor are at White color then it will call forword function
  if ((analogRead(R_S) >= 500) && (analogRead(L_S) <= 500)) {
    // Right();
    Serial.println(F("Right"));

  }  //if Right Sensor is Black and Left Sensor is White then it will call turn Right function
  if ((analogRead(R_S) <= 500) && (analogRead(L_S) >= 500)) {
    Left();
    Serial.println(F("Left"));
  }  //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
  if ((analogRead(R_S) >= 500) && (analogRead(L_S) >= 500)) {
    Stop();
    Serial.println(F("Stop"));
  }  //if Right Sensor and Left Sensor are at Black color then it will call Stop function
}

void fetchSensorData() {
  delay(2000);
  float h = dht.readHumidity();
  float t = dht.readTemperature();
  float f = dht.readTemperature(true);

  if (isnan(h) || isnan(t) || isnan(f))
    Serial.println(F("Failed to read from DHT sensor!"));

  double hif = dht.computeHeatIndex(f, h);

  Serial.println("Humidity: " + String(h));
  Serial.println("Temperature: " + String(t) + "°C ");
  Serial.println("Heat index: " + String(hif) + "°F ");

  dht11_value = "Humidity: " + String(h) + "%" + " Temperature: " + String(t) + " C " + " Heat index: " + String(hif) + " F ";

  BTSerial.println(dht11_value);
  Serial.println(dht11_value);

  sensors_event_t temp_event, pressure_event;
  bmp_temp->getEvent(&temp_event);
  bmp_pressure->getEvent(&pressure_event);

  Serial.print(F("Temperature = "));
  Serial.print(temp_event.temperature);
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(pressure_event.pressure);
  Serial.println(" hPa");

  Serial.print(F("Temperature = "));
  Serial.print(bmp.readTemperature());
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(bmp.readPressure());
  Serial.println(" Pa");

  Serial.print(F("Approx altitude = "));
  Serial.print(bmp.readAltitude(1013.25)); /* Adjusted to local forecast! */
  Serial.println(" m");

  // Serial.println();
  // delay(2000);
}

//==============================================
//     Manual Control Functions
//==============================================

void Forward() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Back() {
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void Right() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Left() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Stop() {
  analogWrite(enA, 0);
  analogWrite(enB, 0);
}

//==============================================
//     Obstacle Avoiding Functions
//==============================================

int lookRight() {
  servo_motor.write(20);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(95);
  return distance;
  delay(100);
}

int lookLeft() {
  servo_motor.write(170);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(95);
  return distance;
  delay(100);
}

int readPing() {
  delay(70);
  cm = sonar.ping_cm();
  if (cm == 0) {
    cm = 250;
  }
  return cm;
}

void moveStop() {
  digitalWrite(in3, LOW);
  digitalWrite(in1, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(in2, LOW);
}

void moveForward() {
  if (!goesForward) {
    goesForward = true;

    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    analogWrite(enA, 150);

    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    analogWrite(enB, 150);
  }
}

void moveBackward() {
  goesForward = false;

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void turnRight() {

  //turning right little
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);

  delay(500);

  //moving backward little
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void turnLeft() {

  //turning left little
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);

  delay(500);

  //moving backward little
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}
2

none of these three goals imply collecting all possible states of air,
but what kind of robot is it without an LCD and RGB LED matrix illumination?

3

Your "full code" does not even compile.

It uses the F() macro on a variable with type int.

It tries to declare a variable of type IRrecv without including a library that defines it.

1 Like
4

Sorry. The previous code had some mistakes.

When I ran the program for IR control separately, it worked fine. Now also, there seems no compilation error other than the space exceeded.

Updated code:

#include <IRremote.h>
#include <SoftwareSerial.h>
#include <Servo.h>    //Servo motor library. This is standard library
#include <NewPing.h>  //Ultrasonic sensor function library. You must install this library
#include "DHT.h"
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_BMP280.h>

//==============================================
//     Data  Definitions
//==============================================

#define ttp223 8
#define buzzer 12

unsigned long lastDebounceTime = 0;  // the last time the output pin was toggled
unsigned long debounceDelay = 500;   // the debounce time; increase if the output flickers

#define DHTPIN A0      // Digital pin connected to the DHT sensor
#define DHTTYPE DHT11  // DHT 11
DHT dht(DHTPIN, DHTTYPE);

Adafruit_BMP280 bmp;  // use I2C interface
Adafruit_Sensor *bmp_temp = bmp.getTemperatureSensor();
Adafruit_Sensor *bmp_pressure = bmp.getPressureSensor();
unsigned status;

//==============================================
//     Manual Control Definitions
//==============================================

SoftwareSerial BTSerial(10, 11);  // pin10->TX of BT, pin11->RX of BT
#define irPin 9
IRrecv irrecv(irPin);
decode_results rslts;

//==============================================
//     Line Follower Definitions
//==============================================

#define R_S A6  //ir sensor Right
#define L_S A7  //ir sensor Left

//==============================================
//     Obstacle Avoiding Definitions
//==============================================

#define trig_pin A2  //analog input 1
#define echo_pin A1  //analog input 2

#define maximum_distance 200

NewPing sonar(trig_pin, echo_pin, maximum_distance);  //sensor function
Servo servo_motor;                                    //our servo name

boolean goesForward = false;
int distance = 100;


//==============================================
//     Motor Definitions
//==============================================

// Motor A
#define enA 6
#define in1 7
#define in2 4

// Motor B
#define enB 5
#define in3 3
#define in4 2

//PWM 3, 5, 6, 9, 10, 11

//==============================================
//     General Definitions
//==============================================

//IR
String irNum;

//Loop
bool send = true;
int mode = 3, ttpData;
String data = "";

//Data
String dht11_value = "";

//BTSerial
String btNum = "o";
int d = -1, prev_d = -1;
bool running = false;
char incomingByte;

//Obstacle
int distanceRight, distanceLeft, cm;

void BTControl();
void IRControl();
void ObstacleControl();
void LineControl();

void Forward();
void Back();
void Left();
void Right();
void Stop();
void fetchSensorData();

void (*functionModePointers[4])(){
  BTControl, IRControl, ObstacleControl, LineControl
};

void (*functionMovesPointers[7])(){
  Forward, Back, Left, Right, Stop, fetchSensorData, show
};


void setup() {
  pinMode(buzzer, OUTPUT);

  //==============================================
  //     Motor Setup
  //==============================================

  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  //==============================================
  //     Manual Control Setup
  //==============================================

  Serial.begin(9600);
  BTSerial.begin(9600);

  pinMode(ttp223, INPUT);
  irrecv.enableIRIn();

  //==============================================
  //     Data  Setup
  //==============================================

  dht.begin();
  status = bmp.begin();
  bmp.setSampling(Adafruit_BMP280::MODE_NORMAL,     /* Operating Mode. */
                  Adafruit_BMP280::SAMPLING_X2,     /* Temp. oversampling */
                  Adafruit_BMP280::SAMPLING_X16,    /* Pressure oversampling */
                  Adafruit_BMP280::FILTER_X16,      /* Filtering. */
                  Adafruit_BMP280::STANDBY_MS_500); /* Standby time. */
  bmp_temp->printSensorDetails();

  //==============================================
  //     Line Follower Setup
  //==============================================

  pinMode(R_S, INPUT);
  pinMode(L_S, INPUT);

  //==============================================
  //     Obstacle Avoiding Setup
  //==============================================

  servo_motor.attach(13);  //our servo pin

  servo_motor.write(95);
  delay(2000);
  distance = readPing();
  delay(100);
}


void loop() {

  ttpData = digitalRead(ttp223);
  if (ttpData == HIGH && (millis() - lastDebounceTime) > debounceDelay) {
    lastDebounceTime = millis();
    mode = (mode + 1) % 4;
    Serial.println(mode);
    send = true;
  }

  if (send == true) {
    data = "mode after d is entered= " + String(mode);
    Serial.println(data);
    BTSerial.println(data);
    send = false;
  }

  functionModePointers[mode]();
}

int decode(String data) {

  if (data == "T" || data == "44")
    return 0;
  else if (data == "B" || data == "1d")
    return 1;
  else if (data == "L" || data == "1c")
    return 2;
  else if (data == "R" || data == "48")
    return 3;
  else if (data == "OK" || data == "O" || data == "K" || data == "5c")
    return 4;
  else if (data == "d" || data == "D")
    return 5;
  else if (data == "s" || data == "S") {
    return 6;
  } else
    return -1;
}

void BTControl() {
  while (BTSerial.available()) {
    // Serial.write(BTSerial.read()); //writes full words to serial monitor
    incomingByte = BTSerial.read();
    if (incomingByte >= 97 && incomingByte <= 122) {
      btNum = incomingByte;
      BTSerial.println(btNum);
      Serial.println(btNum);
      running = false;
    }
  }

  d = decode(btNum);

  if (d > 0 && running == false) {
    functionMovesPointers[d]();
    running = true;
  }
}

void show() {
  BTSerial.println("Hello");
}

void IRControl() {
  if (irrecv.decode()) {
    Serial.println(rslts.value);
    String irNum = String(irrecv.decodedIRData.command, HEX);
    Serial.println(irrecv.decodedIRData.command, HEX);
    Serial.println(irNum);
    irrecv.resume();
  }
  // Add a small delay to avoid overwhelming the serial buffer
  // delay(50);
  functionMovesPointers[decode(irNum)]();
}

void ObstacleControl() {
  distanceRight = 0;
  distanceLeft = 0;
  delay(50);

  if (distance <= 20) {
    moveStop();
    delay(300);
    moveBackward();
    delay(400);
    moveStop();
    delay(300);
    distanceLeft = lookLeft();
    delay(300);
    distanceRight = lookRight();
    delay(300);

    if (distance >= distanceLeft) {
      turnRight();
      moveStop();
    } else {
      turnLeft();
      moveStop();
    }
  } else {
    moveForward();
  }
  distance = readPing();
}

void LineControl() {
  if ((analogRead(R_S) <= 500) && (analogRead(L_S) <= 500)) {
    Serial.println(F("Forward"));
    Forward();
  }  //if Right Sensor and Left Sensor are at White color then it will call forword function
  if ((analogRead(R_S) >= 500) && (analogRead(L_S) <= 500)) {
    // Right();
    Serial.println(F("Right"));

  }  //if Right Sensor is Black and Left Sensor is White then it will call turn Right function
  if ((analogRead(R_S) <= 500) && (analogRead(L_S) >= 500)) {
    Left();
    Serial.println(F("Left"));
  }  //if Right Sensor is White and Left Sensor is Black then it will call turn Left function
  if ((analogRead(R_S) >= 500) && (analogRead(L_S) >= 500)) {
    Stop();
    Serial.println(F("Stop"));
  }  //if Right Sensor and Left Sensor are at Black color then it will call Stop function
}

void fetchSensorData() {
  delay(2000);
  float h = dht.readHumidity();
  float t = dht.readTemperature();
  float f = dht.readTemperature(true);

  if (isnan(h) || isnan(t) || isnan(f))
    Serial.println(F("Failed to read from DHT sensor!"));

  double hif = dht.computeHeatIndex(f, h);

  Serial.println("Humidity: " + String(h));
  Serial.println("Temperature: " + String(t) + "°C ");
  Serial.println("Heat index: " + String(hif) + "°F ");

  dht11_value = "Humidity: " + String(h) + "%" + " Temperature: " + String(t) + " C " + " Heat index: " + String(hif) + " F ";

  BTSerial.println(dht11_value);
  Serial.println(dht11_value);

  sensors_event_t temp_event, pressure_event;
  bmp_temp->getEvent(&temp_event);
  bmp_pressure->getEvent(&pressure_event);

  Serial.print(F("Temperature = "));
  Serial.print(temp_event.temperature);
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(pressure_event.pressure);
  Serial.println(" hPa");

  Serial.print(F("Temperature = "));
  Serial.print(bmp.readTemperature());
  Serial.println(" *C");

  Serial.print(F("Pressure = "));
  Serial.print(bmp.readPressure());
  Serial.println(" Pa");

  Serial.print(F("Approx altitude = "));
  Serial.print(bmp.readAltitude(1013.25)); /* Adjusted to local forecast! */
  Serial.println(" m");

  // Serial.println();
  // delay(2000);
}

//==============================================
//     Manual Control Functions
//==============================================

void Forward() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Back() {
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void Right() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Left() {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);
}

void Stop() {
  analogWrite(enA, 0);
  analogWrite(enB, 0);
}

//==============================================
//     Obstacle Avoiding Functions
//==============================================

int lookRight() {
  servo_motor.write(20);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(95);
  return distance;
  delay(100);
}

int lookLeft() {
  servo_motor.write(170);
  delay(500);
  int distance = readPing();
  delay(100);
  servo_motor.write(95);
  return distance;
  delay(100);
}

int readPing() {
  delay(70);
  cm = sonar.ping_cm();
  if (cm == 0) {
    cm = 250;
  }
  return cm;
}

void moveStop() {
  digitalWrite(in3, LOW);
  digitalWrite(in1, LOW);
  digitalWrite(in4, LOW);
  digitalWrite(in2, LOW);
}

void moveForward() {
  if (!goesForward) {
    goesForward = true;

    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    analogWrite(enA, 150);

    digitalWrite(in3, HIGH);
    digitalWrite(in4, LOW);
    analogWrite(enB, 150);
  }
}

void moveBackward() {
  goesForward = false;

  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void turnRight() {

  //turning right little
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);

  delay(500);

  //moving backward little
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}

void turnLeft() {

  //turning left little
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enB, 150);

  delay(500);

  //moving backward little
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 150);

  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 150);
}
5

Sorry guys for any confusion.

Currently, in bluetooth mode,
(i) I can send data from phone to arduino (any single character).
(ii) And arduino, through HC05, is able to send any character / string to phone.

Actually I wanted to send back the humidity, temperature and heat index data (collected from the DTH11 sensor) along with pressure and altitude data (collected from the BMP280 sensor) to phone when I send "D or d" character from my phone to arduino through HC05.

But in the present situation only either of the sensors can be read and I have to comment the code of the other sensor as there is limited space.

Now, how can I fix the space limitation?

6

really?

7

Perhaps you should consider a processor with more program memory space.

8

can u explain ..what u mean?

9

As it is a school project, the Nano is given by them. So I have to use that to make the RC car.

Can u suggest any ways to reduce the size of the program...? like the F macros, etc.

10

If you're stuck with the board, one possible avenue is to ditch generic libraries and write your own that only have the functionality needed for your project. And cross your fingers that you gain enough space to shoehorn everything in. All I can say is, good luck. You're going to need it.

11

It looks like Adafruit's BMP280 library is very heavy. Compiling bmp280test for a Nano results in 44% (13604 bytes) flash use. And after removing the altitude from the example it's still 40% (12530 bytes).

There are other libraries for the BMP280. I installed one by dvarrel and compiled the example; 28% (8808 bytes) flash use.

So you can save around 5k.

Note:

  1. Your mileage might vary, I did not look at your code, only compiled it.
  2. The dvarrel library is available through the library manager; it's just an example showing that other libraries do exists.
12

It reduced my code size to about 87% from 105% and still all the functionality works. Great suggestion.