Ask your Expert: Nico teWinkel - Software Engineer who specialises in firmware, C and Java.

Hi Roi,

Try adding some Serial.println statements to the robot sketch to display debug information on the Serial monitor to show that the robot is actually receiving the commands.

And/or instead of moving servos, turn on an LED for a second or so when a command is received. You could have one LED per servo or per command, for example.

I still haven't checked out that robot you pointed out... I really should try that out

Cheers,

-Nico

ps, great to hear you got the BT connected to your Arduino too!

And I just had a look at the robot on Instructables - pretty cool!

But it takes 19 braces, which the author seems to have 3D printed. Where did you get your I-braces? Did you 3D print them or did you manage to figure out a different ingenious solution for that?

Cheers,

-Nico

Hey Nico!

Finally i am on the horse!

Altough, still at the beginning of the physical building of the robot shape itself and thus, have not yet delt with the issue of 3D priniting these parts - but at last, i am able to press an arrow on the BlueControl screen on my smartphone and in return, the sevo makes a nice movement.

In 'retrospective', what i did were the follwoing things:

1.The first problem i had, was that i did not understand how to connect to the bluetooth module - and that had nothing to do with the IDE code, it is just that for some reason that i don't understand, you have to pair with the blue tooth modue throrugh settings, but you connect to the module from within the BlueControl app menu.

2.Getting to the code as it is now, was kind'a messy and i don't remember all i did - So, maybe the MegaPed code could have also worked for me, but since i had problems at the beginng, to tell if pressing the arrows on BlueControl, generates constructed small servo movements or if these movements are just random (servos act weird sometimes) - i just made a search for other similar projects and found a project, where i was able to deffinatly recognize that these small movements originate in pressing the app arrows.

3.I don't know why i always got only these very small movements from the servo, but when i was able to determie that it was for sure me, that causes these small movements, i started meshing pieces of code that i found here and there in other projects, into the areas of that code, which i thought were good candidates for the purpose of expanding the small movements into longer ones.

So - that's where i am right now: I found a project that is not MegaPed which uses it's own andriod app - this code uses a method that i don't understand much, which works by using the command DigitalWrite(motor_name,HIGH/LOW) - which only makes the servo move a little bit. Into the code areas, that use this command, within a Serial.read() loop and respond to the ASCII commands (sent from BlueControl - i changed the letters of original app, because BlueControl has more options than this app - e.g. the letters on the side panels), i inserted in these areas a command called Servo servo_name.write(servo_position), that gave me longer movements for the servo.

Here is the other project page, which i used as a framework:

http://letsmakerobots.com/node/27249

And here is the code, as it looks right now, and will go through more changes and learning process, on my side:

#include <Servo.h>

char val; // variable to receive data from the serial port

Servo roi;

int motor_left[] = {3, 5};

int motor_right[] = {6, 9};

int ledPin =  13;    // LED connected to digital pin 13

void setup() {

  Serial.begin(9600);       // start serial communication at 9600bps

int i;

for(i = 0; i < 2; i++){

pinMode(motor_left[i], OUTPUT);

pinMode(motor_right[i], OUTPUT);

pinMode(ledPin, OUTPUT);

}

}

void loop() {

  if( Serial.available() )       // if data is available to read

  {

    val = Serial.read();         // read it and store it in 'val'

  }

  if( val == 'U' )              

  {

    drive_forward(); 

  }

   else if( val == 'D' )              

  {

    drive_backward();

  }

   else if( val == 'L' )              

  {

    turn_right(); 

  }

   else if( val == 'R' )             

  {

    turn_left(); 

  }

  else if( val == 'C' )             

  {

    motor_stop(); 

  }

}

void motor_stop(){

   roi.attach(6);

digitalWrite(motor_left[0], LOW);

digitalWrite(motor_left[1], LOW);

digitalWrite(motor_right[0], LOW);

digitalWrite(motor_right[1], LOW);

// roi.attach(6);

// roi.write(90);

// delay(1000);

// roi.write(0);

// delay(1000);

// roi.write(180);

//delay(1000);

}

void drive_forward(){

digitalWrite(motor_left[0], HIGH);

digitalWrite(motor_left[1], LOW);

digitalWrite(motor_right[0], HIGH);

digitalWrite(motor_right[1], LOW);

roi.attach(6);

roi.write(90);

delay(1000);

roi.write(0);

delay(1000);

roi.write(180);

//delay(1000);

}

void drive_backward(){

digitalWrite(motor_left[0], LOW);

digitalWrite(motor_left[1], HIGH);

digitalWrite(motor_right[0], LOW);

digitalWrite(motor_right[1], HIGH);

roi.attach(6);

roi.write(90);

delay(1000);

roi.write(0);

delay(1000);

roi.write(180);

//delay(1000);

}

void turn_left(){

digitalWrite(motor_left[0], LOW);

digitalWrite(motor_left[1], HIGH);

digitalWrite(motor_right[0], HIGH);

digitalWrite(motor_right[1], LOW);

roi.attach(6);

roi.write(90);

delay(1000);

roi.write(0);

delay(1000);

roi.write(180);

//delay(1000);

}

void turn_right(){

digitalWrite(motor_left[0], HIGH);

digitalWrite(motor_left[1], LOW);

digitalWrite(motor_right[0], LOW);

digitalWrite(motor_right[1], HIGH);

roi.attach(6);

roi.write(90);

delay(1000);

roi.write(0);

delay(1000);

roi.write(180);

//delay(1000);

}

Let me know what you think!

All the best!

Roi.

Hello Nico!

I seem to have a problem of both servo and sound libraries trying to use the same pin timers (i am not sure what is the exact term), what happens is that when the tank is close enough to a wall so the sound sample is playing at different rates, according to distance, in the Loop function, the servos won't react to BlueControl app commands, but only have these funny jerking movements every time the sample is played.

According to some explanations i rerad, about problems arising from of both servo and sound libraries using pin 11timer  together, i have tried to switch from Servo.h library to ServoTimer2.h library, but still it did not help.

Here is the code, can you please take a look and tell me how can i solve this problem? :

#include <ServoTimer2.h>

#include <PCM.h> // This is the sound library

const unsigned char sample[] PROGMEM = {

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126, 128, 126, 126, 127, 127, 128, 127, 129, 127, 127, 129, 128, 128, 129, 130, 130, 130, 130, 131, 129, 127, 128, 128, 128, 131, 131, 130, 131, 131, 129, 126, 127, 127, 126, 126, 126, 126, 125, 126, 127, 126, 126, 125, 125, 124, 124, 125, 123, 124, 126, 126, 127, 130, 131, 131, 130, 129, 129, 126, 126, 127, 126, 128, 131, 130, 130, 131, 130, 127, 126, 127, 126, 126, 128, 128, 128, 128, 129, 128, 127, 127, 126, 126, 125, 126, 126, 125, 126, 125, 124, 124, 126, 126, 126, 125, 125, 125, 123, 125, 125, 125, 126, 127, 125, 125, 126, 125, 123, 123, 125, 124, 126, 126, 126, 126, 126, 128, 126, 126, 125, 126, 126, 126, 128, 126, 125, 127, 127, 127, 129, 130, 129, 128, 128, 129, 128, 126, 128, 128, 129, 132, 132, 130, 130, 131, 130, 129, 129, 128, 127, 128, 129, 130, 130, 130, 130, 128, 128, 128, 130, 128, 128, 128, 125, 126, 127, 126, 126, 127, 127, 126, 124, 124, 125, 123, 123, 124, 123, 125, 127, 127, 127, 127, 127, 125, 124, 125, 125, 125, 127, 128, 128, 128, 129, 129, 129, 129, 128, 129, 127, 128, 128, 126, 128, 129, 128, 129, 130, 130, 129, 128, 128, 128, 127, 128, 128, 128, 130, 131, 130, 129, 129, 128, 126, 125, 126, 126, 126, 126, 126, 125, 126, 128, 126, 126, 126, 127, 127, 125, 126, 125, 125, 127, 127, 127, 128, 129, 129, 128, 127, 128, 126, 124, 126, 127, 128, 130, 130, 129, 130, 130, 129, 126, 127, 127, 126, 128, 129, 129, 128, 128, 128, 128, 129, 128, 128, 127, 127, 129, 127, 128, 129, 129, 129, 131, 132, 132, 130, 130, 130, 128, 128, 128, 127, 128, 130, 130, 128, 127, 127, 126, 126, 127, 126, 125, 126, 127, 127, 126, 127, 125, 124, 124, 124, 125, 124, 125, 125, 125, 127, 128, 127, 127, 129, 130, 130, 130, 131, 130, 129, 130, 130, 130, 131, 132, 131, 131, 131, 131, 129, 129, 129, 127, 127, 128, 129, 129, 129, 129, 127, 128, 127, 128, 126, 125, 126, 124, 124, 126, 127, 126, 128, 128, 128, 128, 127, 127, 126, 126, 128, 127, 128, 129, 129, 128, 128, 128, 126, 124, 125, 126, 126, 126, 126, 127, 128, 129, 128, 127, 127, 127, 127, 125, 126, 127, 126, 127, 128, 128, 128, 130, 129, 128, 128, 128, 128, 127, 128, 130, 130, 132, 132, 132, 131, 131, 130, 128, 127, 128, 127, 126, 127, 127, 127, 127, 128, 127, 127, 127, 127, 126, 125, 126, 124, 123, 124, 125, 124, 125, 127, 127, 127, 127, 126, 126, 125, 127, 126, 126, 128, 129, 129, 129, 130, 129, 126, 126, 127, 126, 127, 128, 128, 128, 129, 130, 129, 130, 130, 130, 128, 128, 130, 129, 129, 130, 130, 130, 131, 131, 130, 130, 130, 129, 127, 126, 128, 128, 129, 129, 129, 128, 129, 128, 125, 123, 125, 125, 124, 125, 126, 127, 127, 127, 126, 125, 126, 125, 125, 124, 126, 126, 124, 124, 125, 126, 126, 127, 127, 126, 127, 126, 126, 124, 125, 125, 125, 127, 128, 127, 127, 128, 127, 125, 125, 126, 125, 125, 127, 128, 128, 128, 129, 128, 128, 128, 129, 128, 127, 128, 127, 126, 127, 128, 127, 129, 130, 129, 129, 129, 129, 128, 126, 127, 127, 127, 129, 129, 128, 128, 128, 126, 124, 124, 125, 124, 125, 125, 125, 125, 126, 127, 126, 126, 127, 127, 128, 129, 130, 129, 128, 129, 129, 129, 131, 132, 130, 130, 129, 130, 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127, 128, 129, 128, 127, 127, 127, 126, 126, 127, 127, 127, 127, 127, 127, 126, 127, 126, 127, 128, 129, 128, 128, 127, 126, 125, 125, 128, 127, 128, 129, 128, 128, 128, 128, 126, 124, 124, 125, 125, 126, 126, 125, 125, 125, 126, 125, 125, 125, 125, 125, 125, 126, 125, 125, 126, 126, 126, 127, 128, 128, 128, 128, 128, 126, 127, 129, 129, 131, 132, 132, 131, 131, 132, 129, 128, 129, 128, 128, 129, 129, 128, 128, 128, 128, 128, 129, 128, 128, 127, 127, 126, 126, 127, 126, 126, 126, 127, 127, 126, 126, 125, 124, 122, 125, 126, 126, 129, 129, 128, 127, 128, 127, 124, 124, 125, 125, 125, 127, 127, 126, 127, 128, 127, 127, 127, 127, 128, 128, 129, 128, 127, 128, 128, 129, 130, 131, 130, 131, 131, 130, 128, 127, 128, 128, 129, 132, 132, 131, 131, 133, 131, 129, 129, 129, 127, 128, 129, 128, 127, 128, 128, 127, 127, 128, 128, 129, 129, 129, 127, 128, 128, 128, 128, 130, 130, 129, 129, 129, 128, 126, 126, 127, 126, 128, 129, 129, 128, 128, 129, 126, 125, 126, 126, 125, 127, 128, 128, 128, 129, 129, 127, 128, 127, 128, 128, 129, 129, 128, 129, 128, 128, 129, 130, 129, 127, 127, 127, 127, 126, 128, 127, 126, 128, 129, 128, 127, 128, 127, 124, 125, 125, 123, 123, 125, 125, 124, 124, 125, 124, 124, 124, 124, 124, 124, 125, 125, 125, 126, 126, 126, 127, 128, 128, 129, 129, 129, 127, 127, 128, 128, 128, 130, 130, 130, 131, 132, 130, 128, 129, 130, 128, 129, 129, 129, 129, 131, 132, 131, 131, 132, 132, 131, 130, 130, 129, 129, 130, 129, 129, 131, 131, 131, 130, 130, 128, 126, 127, 127, 126, 128, 130, 129, 128, 129, 129, 126, 126, 128, 126, 125, 127, 127, 127, 126, 127, 127, 125, 126, 126, 126, 125, 126, 126, 125, 127, 127, 126, 127, 127, 127, 126, 126, 127, 127, 125, 126, 126, 126, 128, 129, 128, 128, 129, 129, 127, 128, 130, 128, 127, 128, 127, 127, 127, 129, 128, 127, 128, 128, 127, 127, 128, 126, 126, 127, 126, 127, 128, 128, 128, 127, 126, 126, 125, 125, 126, 126, 126, 128, 128, 128, 128, 128, 125, 123, 125, 126, 124, 126, 127, 128, 127, 128, 129, 127, 127, 128, 129, 128, 128, 128, 126, 127, 128, 128, 129, 130, 130, 129, 128, 128, 128, 126, 126, 127, 126, 128, 130, 129, 129, 129, 128, 125, 124, 126, 126, 126, 128, 128, 127, 126, 127, 126, 125, 125, 125, 125, 124, 125, 125, 123, 125, 125, 125, 126, 128, 128, 127, 126, 126, 125, 124, 125, 124, 124, 126, 128, 128, 129, 130, 128, 125, 125, 126, 124, 125, 128, 129, 129, 129, 131, 130, 130, 130, 130, 128, 127, 129, 129, 129, 131, 131, 131, 131, 132, 131, 130, 130, 130, 129, 128, 129, 129, 130, 132, 132, 131, 131, 131, 129, 126, 127, 128, 126, 127, 128, 128, 128, 129, 130, 128, 128, 128, 129, 128, 128, 128, 126, 127, 128, 128, 128, 129, 130, 130, 130, 128, 127, 126, 127, 128, 128, 129, 130, 130, 130, 130, 130, 128, 127, 129, 128, 127, 128, 129, 130, 129, 130, 129, 128, 128, 129, 129, 127, 128, 128, 126, 127, 127, 127, 128, 129, 128, 127, 126, 126, 126, 125, 126, 125, 125, 128, 128, 128, 128, 129, 128, 125, 124, 125, 123, 123, 125, 126, 126, 127, 129, 128, 127, 127, 128, 127, 127, 128, 127, 126, 127, 128, 128, 129, 130, 130, 129, 128, 127, 126, 126, 128, 127,

}; //This is the sound sample

#define trigPin 13

#define echoPin 12

char val; // variable to receive data from the serial port

ServoTimer2 wheel1;

ServoTimer2 wheel2;

ServoTimer2 camera_servo1;

ServoTimer2 camera_servo2;

char mem=' '; //remember the last menu choice on the BlueControl app

int camera_servo1_mem_servo1=1500;  // remember the camera servo1 last angle so they will not exceed their limits

int camera_servo2_mem_servo2=1500;  // remember the camera servo1 last angle so they will not exceed their limits

int led =  10;    // LED connected to digital pin 13

int led_count = 225; // LED minimum dim value brfore it starts lighting

int light_saver_timer=0; // Count 3.5 minutes with no action to shut light and save battery

void setup() {

  Serial.begin(9600);       // start serial communication at 9600bps

  pinMode(trigPin, OUTPUT); //initiate ultrasound sensor trig pin

  pinMode(echoPin, INPUT);  //initiate ultrasound sensor echi pin

  pinMode(led, OUTPUT); //initiate led pin

  pinMode(11,OUTPUT);  //initiate speaker pin

  digitalWrite(11,LOW); //initiate speaker pin

}

void loop() {

  long duration, distance; // Next lines deal with finding and calculating ultrasound distance sensor

  digitalWrite(trigPin, LOW);  // Added this line

  delayMicroseconds(2); // Added this line

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10); // Added this line

  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  distance = (duration/2) / 29.1;

  if (millis()-light_saver_timer > 210000){ // Count 3.5 minutes with no action to shut light and save battery

    led_count=225;

    light_saver_timer=millis();

    analogWrite(led,led_count);

  }

  if( Serial.available() ){       // if data is available to read

     val = Serial.read();         // read it and store it in 'val'

  }

  //Next lines save the last value that was chosen in the BlueControl app menu

  if( val == 'a') 

         {

            mem='a';

            val=' ';

         }

   else if( val == 'c')

          {

            mem='c';

            val=' ';

          }

  else if( val == 'd')

          {

            mem='d';

            val=' ';

          }

          else if( val == 'e')

          {

            mem='e';

            val=' ';

          }

else if( val == 'U' && mem == 'a' )

      {

      light_saver(); 

      drive_forward_long(); 

      val=' ';

     }

   else if(val == 'U' && mem == 'c' )

     {

      light_saver();

      drive_forward_short(); 

      val=' ';

     }

   else if( val == 'D' && mem == 'a' )              

  {

    light_saver();

    drive_backward_long();

    val=' ';

  }

   else if( val == 'D' && mem == 'c' )              

  {

    light_saver();

    drive_backward_short();

    val=' ';

  }

   else if( val == 'R' )              

  {

    light_saver();

    turn_right(); 

     val=' ';

  }

   else if( val == 'L' )             

  {

    light_saver();

    turn_left();

     val=' ';

  }

  else if( val == 'C' )             

  {

    light_saver();

    motor_stop();

     val=' ';

  }

else if( val == 'U' && mem == 'd' )

      {

      light_saver(); 

      camera_servo_up(); 

      val=' ';

     }

else if( val == 'D' && mem == 'd' )

      {

      light_saver(); 

      camera_servo_down(); 

      val=' ';

     }

   else if(val == 'U' && mem == 'e' )

     {

       light_saver();

        if ( led_count < 255)

   {

    led_count=led_count+2;

    analogWrite(led, led_count);

   }

      val=' ';

     }  

      else if(val == 'D' && mem == 'e' )

     {

        light_saver();

        if ( led_count > 225)

   {

    led_count=led_count-2;

    analogWrite(led, led_count);

   }

     val=' ';

     }

    else if (distance <= 41){  //Next lines play the sound sample in different frequencies, according to disdtance measured by ultra-sound sensor

       startPlayback(sample, sizeof(sample));

  if (distance <=41 && distance >=27) delay(8500);

     else if (distance <=27 && distance >=20) delay(5250);

      else if (distance <=20 && distance >=17) delay(2440);

       else if (distance <=17 && distance >=12) delay(1500);

        else if (distance <=12 && distance >=8) delay(1080);

         else if (distance <=8 && distance >=5) delay(740);

          else if (distance <=5 && distance >=3) delay(530);

           else if (distance <=4 && distance >=2) delay(340);

            else if (distance <=2 && distance >=0) delay(180);

  }

}

void motor_stop(){

   wheel1.attach(6);

   wheel2.attach(5);

   wheel1.attach(6);

   wheel2.attach(5);

   wheel1.write(1458);  // set servo to mid-point

   wheel2.write(1418);

}

void drive_forward_long(){

  wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(1000);

delay(4000);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_forward_short(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(1000);

delay(800);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_backward_long(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(2000);

delay(4000);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_backward_short(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(2000);

delay(800);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void turn_left(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(1000);

delay(150);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void turn_right(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(2000);

delay(150);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void camera_servo_up(){

camera_servo1.attach(8);

camera_servo2.attach(9);

if (camera_servo1_mem_servo1>800 && camera_servo2_mem_servo2<2200)

{

   camera_servo1_mem_servo1=camera_servo1_mem_servo1+30;

   camera_servo2_mem_servo2=camera_servo2_mem_servo2-30;

   camera_servo1.write(camera_servo1_mem_servo1);

   camera_servo2.write(camera_servo2_mem_servo2);

}

}

void camera_servo_down(){

   camera_servo1.attach(8);

   camera_servo2.attach(9);

if (camera_servo1_mem_servo1>800 && camera_servo2_mem_servo2<2200)

{

   camera_servo1_mem_servo1=camera_servo1_mem_servo1-30;

   camera_servo2_mem_servo2=camera_servo2_mem_servo2+30;

   camera_servo1.write(camera_servo1_mem_servo1);

   camera_servo2.write(camera_servo2_mem_servo2);

}

}

void light_saver() {

   light_saver_timer=millis();

}

Hello Nico!

There seems to be a problem in my code, that arise from both the servo and the sound libraries trying to use together pin 11 timer.

I have tried to replace the Servo.h library with ServoTimer2.h library, but it did not help.

Can you please take a look and tell me if you know of any solution to this problem?

What happens with the robot itself, is that when the tank is close enough to a wall and the distance function kicks in the sound sample, the servos stop working and just make these funny uncontroled movement each time the sound sample is played.

Here is the code:

#include <ServoTimer2.h>

#include <PCM.h> // This is the sound library

const unsigned char sample[] PROGMEM = {

  126, 127, 128, 128, 128, 128, 128, 127 //  .......Here comes a very long array of numbers, that describe the sound sample and i took them off, for the sake of readablilty.

}; //This is the sound sample

  #define trigPin 13

#define echoPin 12

char val; // variable to receive data from the serial port

ServoTimer2 wheel1;

ServoTimer2 wheel2;

ServoTimer2 camera_servo1;

ServoTimer2 camera_servo2;

char mem=' '; //remember the last menu choice on the BlueControl app

int camera_servo1_mem_servo1=1500;  // remember the camera servo1 last angle so they will not exceed their limits

int camera_servo2_mem_servo2=1500;  // remember the camera servo1 last angle so they will not exceed their limits

int led =  10;    // LED connected to digital pin 13

int led_count = 225; // LED minimum dim value brfore it starts lighting

int light_saver_timer=0; // Count 3.5 minutes with no action to shut light and save battery

void setup() {

  Serial.begin(9600);       // start serial communication at 9600bps

  pinMode(trigPin, OUTPUT); //initiate ultrasound sensor trig pin

  pinMode(echoPin, INPUT);  //initiate ultrasound sensor echi pin

  pinMode(led, OUTPUT); //initiate led pin

  pinMode(11,OUTPUT);  //initiate speaker pin

  digitalWrite(11,LOW); //initiate speaker pin

}

void loop() {

  long duration, distance; // Next lines deal with finding and calculating ultrasound distance sensor

  digitalWrite(trigPin, LOW);  // Added this line

  delayMicroseconds(2); // Added this line

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(10); // Added this line

  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  distance = (duration/2) / 29.1;

  if (millis()-light_saver_timer > 210000){ // Count 3.5 minutes with no action to shut light and save battery

    led_count=225;

    light_saver_timer=millis();

    analogWrite(led,led_count);

  }

  if( Serial.available() ){       // if data is available to read

     val = Serial.read();         // read it and store it in 'val'

  }

  //Next lines save the last value that was chosen in the BlueControl app menu

  if( val == 'a') 

         {

            mem='a';

            val=' ';

         }

   else if( val == 'c')

          {

            mem='c';

            val=' ';

          }

  else if( val == 'd')

          {

            mem='d';

            val=' ';

          }

          else if( val == 'e')

          {

            mem='e';

            val=' ';

          }

else if( val == 'U' && mem == 'a' )

      {

      light_saver(); 

      drive_forward_long(); 

      val=' ';

     }

   else if(val == 'U' && mem == 'c' )

     {

      light_saver();

      drive_forward_short(); 

      val=' ';

     }

   else if( val == 'D' && mem == 'a' )              

  {

    light_saver();

    drive_backward_long();

    val=' ';

  }

   else if( val == 'D' && mem == 'c' )              

  {

    light_saver();

    drive_backward_short();

    val=' ';

  }

   else if( val == 'R' )              

  {

    light_saver();

    turn_right(); 

     val=' ';

  }

   else if( val == 'L' )             

  {

    light_saver();

    turn_left();

     val=' ';

  }

  else if( val == 'C' )             

  {

    light_saver();

    motor_stop();

     val=' ';

  }

else if( val == 'U' && mem == 'd' )

      {

      light_saver(); 

      camera_servo_up(); 

      val=' ';

     }

else if( val == 'D' && mem == 'd' )

      {

      light_saver(); 

      camera_servo_down(); 

      val=' ';

     }

   else if(val == 'U' && mem == 'e' )

     {

       light_saver();

        if ( led_count < 255)

   {

    led_count=led_count+2;

    analogWrite(led, led_count);

   }

      val=' ';

     }  

      else if(val == 'D' && mem == 'e' )

     {

        light_saver();

        if ( led_count > 225)

   {

    led_count=led_count-2;

    analogWrite(led, led_count);

   }

     val=' ';

     }

    else if (distance <= 41){  //Next lines play the sound sample in different frequencies, according to disdtance measured by ultra-sound sensor

       startPlayback(sample, sizeof(sample));

  if (distance <=41 && distance >=27) delay(8500);

     else if (distance <=27 && distance >=20) delay(5250);

      else if (distance <=20 && distance >=17) delay(2440);

       else if (distance <=17 && distance >=12) delay(1500);

        else if (distance <=12 && distance >=8) delay(1080);

         else if (distance <=8 && distance >=5) delay(740);

          else if (distance <=5 && distance >=3) delay(530);

           else if (distance <=4 && distance >=2) delay(340);

            else if (distance <=2 && distance >=0) delay(180);

  }

}

void motor_stop(){

   wheel1.attach(6);

   wheel2.attach(5);

   wheel1.attach(6);

   wheel2.attach(5);

   wheel1.write(1458);  // set servo to mid-point

   wheel2.write(1418);

}

void drive_forward_long(){

  wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(1000);

delay(4000);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_forward_short(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(1000);

delay(800);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_backward_long(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(2000);

delay(4000);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void drive_backward_short(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(2000);

delay(800);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void turn_left(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(1000); 

wheel2.write(1000);

delay(150);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void turn_right(){

wheel1.attach(6);

wheel2.attach(5);

wheel1.write(2000); 

wheel2.write(2000);

delay(150);

wheel1.write(1458);  // set servo to mid-point

wheel2.write(1418);

}

void camera_servo_up(){

camera_servo1.attach(8);

camera_servo2.attach(9);

if (camera_servo1_mem_servo1>800 && camera_servo2_mem_servo2<2200)

{

   camera_servo1_mem_servo1=camera_servo1_mem_servo1+30;

   camera_servo2_mem_servo2=camera_servo2_mem_servo2-30;

   camera_servo1.write(camera_servo1_mem_servo1);

   camera_servo2.write(camera_servo2_mem_servo2);

}

}

void camera_servo_down(){

   camera_servo1.attach(8);

   camera_servo2.attach(9);

if (camera_servo1_mem_servo1>800 && camera_servo2_mem_servo2<2200)

{

   camera_servo1_mem_servo1=camera_servo1_mem_servo1-30;

   camera_servo2_mem_servo2=camera_servo2_mem_servo2+30;

   camera_servo1.write(camera_servo1_mem_servo1);

   camera_servo2.write(camera_servo2_mem_servo2);

}

}

void light_saver() {

   light_saver_timer=millis();

}

Hi Roi,

I think the issue is with your delays:

  if (distance <=41 && distance >=27) delay(8500);

delay makes the program stop and just sit there, and while it's doing that none of your other code runs (except interrupts, which may be what keeps the sound going).

I'm not sure what the purpose of the delays are, but maybe you can do that in some other way that still allows the robot to respond to other things?

Cheers,

-Nico

Hello Nico!

The purpose of this section in the code, is that when the robot gets closer to the wall, the frequency of playback of the audio sample, will become higher. So the robot will say "Left" "Left" "Left"...etc or "Right" "Right" "Right"...etc at a higher or a lower frequency, according to the distance and direction of an obstacles on its sideways.

What would be the best way to implement this functionality in the code, without casuing this delay problem?

BTW, i had a problem when i was trying to implement the sections of the code, that deal with the ultra-sound sensor, when trying to implement it for 2 sensros and i was able to make only 1 sensor react to objects at various distances.

Do you have any clue what am i doing wrong about it?

Here is the original code, that i found here:

http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/step3/Upload-the-sketch/

And which on it, i tried to double many elements, so 2 sensors would be functional, but to no avail:

Here is the code, after trying to adapt it to work with 2 sensors:

/*

HC-SR04 Ping distance sensor]

VCC to arduino 5v GND to arduino GND

Echo to Arduino pin 13 Trig to Arduino pin 12

Red POS to Arduino pin 11

Green POS to Arduino pin 10

560 ohm resistor to both LED NEG and GRD power rail

More info at: http://goo.gl/kJ8Gl

Original code improvements to the Ping sketch sourced from Trollmaker.com

Some code and wiring inspired by http://en.wikiversity.org/wiki/User:Dstaub/robotcar

*/

#define trigPin 13

#define echoPin 12

#define trigPin1 7

#define echoPin1 4

//#define led 11

//#define led2 10

void setup() {

  Serial.begin (9600);

  pinMode(trigPin, OUTPUT);

  pinMode(echoPin, INPUT);

  pinMode(trigPin1, OUTPUT);

  pinMode(echoPin1, INPUT);

  //pinMode(led, OUTPUT);

  //pinMode(led2, OUTPUT);

}

void loop() {

  long duration, distance, duration1, distance1;

  digitalWrite(trigPin, LOW);  // Added this line

  delayMicroseconds(4); // Added this line

  digitalWrite(trigPin1, LOW);  // Added this line

  delayMicroseconds(4); // Added this line

  digitalWrite(trigPin, HIGH);

  //  delayMicroseconds(1000); - Removed this line

  delayMicroseconds(20); // Added this line

  digitalWrite(trigPin1, HIGH);

  //  delayMicroseconds(1000); - Removed this line

  delayMicroseconds(20); // Added this line

  digitalWrite(trigPin, LOW);

  digitalWrite(trigPin1, LOW);

  duration = pulseIn(echoPin, HIGH);

  duration1 = pulseIn(echoPin1, HIGH);

  distance = (duration/2) / 29.1;

  distance1 = (duration1/2) / 29.1;

  //if (distance < 4) {  // This is where the LED On/Off happens

   // digitalWrite(led,HIGH); // When the Red condition is met, the Green LED should turn off

// digitalWrite(led2,LOW);

//}

  //else {

   // digitalWrite(led,LOW);

   // digitalWrite(led2,HIGH);

// }

  if (distance >= 200 || distance <= 0){

    Serial.println("Out of range LEFT");

  }

  else {

    Serial.println("LEFT");

    Serial.print(distance);

    Serial.println(" cm");

  }

   delay(1000);

  if (distance1 >= 200 || distance1 <= 0){

    Serial.println("Out of range RIGHT");

  }

  else {

    Serial.println("RIGHT");

    Serial.print(distance1);

    Serial.println(" cm");

  }

  delay(1000);

}

Thanks a lot,

Roi.

Hi Roi,

I don't have time to dig into your code, sorry (lots of deadlines this week). Maybe try posting this as a new discussion (marked as a question) in the Arduino forum, where more people can look into it for you. (www.element14.com/.../arduino, click "Start a Discussion" on the bar beside the orange "Join this group" button).

For an alternative to using delay, you could try something like millis() to keep track of time, as is done in this tutorial:

http://www.arduino.cc/en/Tutorial/BlinkWithoutDelay

Or maybe the TimeAlarms library will help:

http://www.pjrc.com/teensy/td_libs_TimeAlarms.html

I'm wondering if you could set it to run the sound at desired intervals just using alarmRepeat.

Cheers,

-Nico

hi Niko teWinkel,

I want to know how to write firmware for chinese multimedia players(mp4/mp5 players) and make their binary files and how they are burn into the ROM from the manufacturer.

How these files are able to boot these players including soc chips from chinese manufacturers like sunplus...ARM926ej  is generally used in these portable players...

I want to customize these binary image files and want to play with these....kindly provide me players firmware knowledge and which is the development platform for these files?is it some kind of OS..?

thanks in advance

Hi Akshay,

That sounds like a cool project, but I honestly have no idea how to do that, sorry.

In general it would depend on the chip the manufacturer uses, but also without the source code I don't know if it's even possible to reverse engineer the firmware from a chip.

And I don't even know where to refer you to get that kind of help, except maybe to try good ole Google.

Cheers,

-Nico