Hello
I have a robot with 2 motors and 5 ultrasonic sensors and 2 enchoder and more components
Every 1 weel turn enchoder gives 30750 pulses and due to this reason it need to be on interupt
The issue is when the motors start working the ulterasonics gives wrong values , looks like the intrupt is adding too much delay , what should i do ?
Im using arduino mega
#define encoderr 2
#define encoderl 3
#define echo1 64
#define echo2 66
#define echo3 68
#define trig1 65
#define trig2 67
#define trig3 69
#define echo4 41
#define echo5 31
#define trig4 43
#define trig5 33
#define motorr_p 7 // motor - and + conectors
#define motorr_m 5
#define motorl_p 8
#define motorl_m 4
long int dispulser = 0; // enchoder pulses till now
long int dispulsel = 0;
long duration, distance ;
int rightsensor, midsensor, leftsensor ,right2sensor, mid2sensor, left2sensor;
void ultra_sonics(int trigPin, int echoPin)
{
digitalWrite(trigPin, 0);
delayMicroseconds(2);
digitalWrite(trigPin, 1);
delayMicroseconds(10);
digitalWrite(trigPin, 0);
duration = pulseIn(echoPin, 1 , 26000);
distance = distance;
distance = duration * 0.034/2;
}
void enr()
{
dispulser ++;
}
void enl()
{
dispulsel ++ ;
}
void check_ul_sen()
{
ultra_sonics(trig1, echo1);
leftsensor = distance;
ultra_sonics(trig2, echo2);
rightsensor = distance;
ultra_sonics(trig3, echo3);
midsensor = distance;
ultra_sonics(trig4, echo4);
right2sensor = distance;
ultra_sonics(trig5, echo5);
left2sensor = distance;
}
void setup() {
// put your setup code here, to run once:
pinMode(motorl_p , OUTPUT);
pinMode(motorl_m , OUTPUT);
pinMode(motorr_p , OUTPUT);
pinMode(motorr_m , OUTPUT);
pinMode(trig1, OUTPUT);
pinMode(trig2, OUTPUT);
pinMode(trig3, OUTPUT);
pinMode(trig4, OUTPUT);
pinMode(trig5, OUTPUT);
pinMode(echo1, INPUT);
pinMode(echo2, INPUT);
pinMode(echo3, INPUT);
pinMode(echo4, INPUT);
pinMode(echo5, INPUT);
Serial.begin(115200);
attachInterrupt(digitalPinToInterrupt(encoderr), enr, RISING);
attachInterrupt(digitalPinToInterrupt(encoderl), enl, RISING);
}
void loop() {
// put your main code here, to run repeatedly:
check_ul_sen();
//analogWrite(motorl_p , 255);
//analogWrite(motorl_m , 0);
//analogWrite(motorr_p , 255);
// analogWrite(motorr_m , 0);
Serial.print('L');
Serial.print(leftsensor);
Serial.print(" R ");
Serial.print(rightsensor);
Serial.print(" M ");
Serial.print(midsensor);
Serial.print(" L2 ");
Serial.print(left2sensor);
Serial.print(" R2 ");
Serial.println(right2sensor);
Serial.print(" enl ");
Serial.print(dispulsel);
Serial.print(" enr ");
Serial.println(dispulser);
delay(300);
}
motors on
Motors off
Please help thanks
