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Error: Program for an Arduino Bot

MattTuck (21)
I'm currently working on an Arduino bot that avoids obstacles, unfortunately the code is giving me some headaches; and have come to a point where I think a second pair of eyes may be just what I need to get her up and running!

The bot is suppose to stay forward until it comes within 6inches of an object, at which point it is suppose to backup and turn left.

Currently it will only go forward, despite the distance(measured via an ultrasonic sensor, which also prints out distance so I know that part is working).

The code is as follow:
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int pinI1=8;//define I1 interface
int pinI2=11;//define I2 interface 
int speedpinA=9;//enable motor A
int pinI3=12;//define I3 interface 
int pinI4=13;//define I4 interface 
int speedpinB=10;//enable motor B
int speed =1000;//define the spead of motor
const int pingPin=7;//defines pin number of sensor's output. let it be noted that const means constant

void setup()
{
  Serial.begin(9600); //initializes serial communication
  pinMode(pinI1,OUTPUT);
  pinMode(pinI2,OUTPUT);
  pinMode(speedpinA,OUTPUT);
  pinMode(pinI3,OUTPUT);
  pinMode(pinI4,OUTPUT);
  pinMode(speedpinB,OUTPUT);
}

void forward()
{
  analogWrite(speedpinA,speed);//input a simulation value to set the speed
  analogWrite(speedpinB,speed);
  digitalWrite(pinI4,HIGH);//turn DC Motor B move clockwise
  digitalWrite(pinI3,LOW);
  digitalWrite(pinI2,HIGH);//anticlockwise
  digitalWrite(pinI1,LOW);
}

void backward()//
{
  analogWrite(speedpinA,speed);//input a simulation value to set the speed
  analogWrite(speedpinB,speed);
  digitalWrite(pinI4,LOW);//turn DC Motor B move anticlockwise
  digitalWrite(pinI3,HIGH);
  digitalWrite(pinI2,LOW);//turn DC Motor A move clockwise
  digitalWrite(pinI1,HIGH);
}

void left()//
{
  analogWrite(speedpinA,speed);//input a simulation value to set the speed
  analogWrite(speedpinB,speed/2);
  digitalWrite(pinI4,HIGH);//turn DC Motor B move clockwise
  digitalWrite(pinI3,LOW);
  digitalWrite(pinI2,HIGH);//turn DC Motor A move clockwise
  digitalWrite(pinI1,LOW);
}


void stop()//
{
  digitalWrite(speedpinA,LOW);// Unenble the pin, to stop the motor. this should be done to avid damaging the motor. 
  digitalWrite(speedpinB,LOW);
  delay(1000);
}

void Sensor_loop()//this funtion is going to need to be played with
{
  long microseconds, inches;//establishes variables: duration(microseconds) and distance(inches)

  //the next little bit is to initiate Pulse(HIGH) for 2 or more microseconds. Sends LOW pulse beforehand to ensure a clean HIGH pulse
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);
  pinMode(pingPin, INPUT);
  microseconds=pulseIn(pingPin, HIGH);

  //code to convert time to distance
  inches= long (microseconds/74/2);
  //code to print distance values
  Serial.print(inches);
  Serial.print("in, ");

  delay(100);
}



void loop()//Main program
{
  Sensor_loop();
  {
    long (inches);
    if (inches>6)
      {
        forward();
        delay(2000);
      }

    else if (inches<=6)
    {
      stop();
      backward();
      delay(2000);
      stop();
      left();
      delay(2000);
      stop();
    }
  }
}


Any help would be much appreciated as I want this to run before I leave for Basic Sunday.
Last edited on
coder777 (8444)
What is line 88 supposed to do?

You won't get the value inches from Sensor_loop() since it's a local variable there. So either you return the value from Sensor_loop() (preferred) or you make inches global
MattTuck (21)
How would I have the value returned?
coder777 (8444)
Like so:
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long Sensor_loop()//this funtion is going to need to be played with
{
  long microseconds, inches;//establishes variables: duration(microseconds) and distance(inches)

...

  return inches;
}



void loop()//Main program
{
  long inches = Sensor_loop();
  {
    long (inches);
...
  }
}
MattTuck (21)
YES!!! THANK YOU!!! It works!
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