Calibrate QTR 8A while driving back and forth

Support Sensors
1

Hi,

I am working on a game with the QTR 8A but in order to calibrate the sensor correctly, the robot needs to move about 7 to 9 times back and forth. I made it in an while loop but the while loop doesn’t run.

here is my current code

#include <QTRSensors.h>
//wheels
int reverseRight = 9;
int forwardRight = 10;
int reverseLeft = 6;
int forwardLeft = 11;
//pulsesensor
int speedSensorA = 2; 
int speedSensorB = 3; 
int counterA = 0;
int counterB = 0;
//line tracker
QTRSensors qtr;
const int SensorCount = 6;
int sensorValues[SensorCount];

void setup(){
  Serial.begin(9600);
  pinMode(forwardLeft, OUTPUT); 
  pinMode(forwardRight, OUTPUT);
  pinMode(reverseLeft, OUTPUT);
  pinMode(reverseRight, OUTPUT);
  pinMode(speedSensorA, INPUT_PULLUP);
  pinMode(speedSensorB, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(speedSensorA), countA, CHANGE);
  attachInterrupt(digitalPinToInterrupt(speedSensorB), countB, CHANGE);
  qtr.setTypeAnalog();
 qtr.setSensorPins((const byte[]){A0, A1, A2, A3, A4, A5}, SensorCount);
 
while(calibratie(360)){ //this while loop doesn't run
  moveForward(25);
 delayMicroseconds(80);
 moveBackward(25);
delayMicroseconds(80);
 moveForward(25);
 }

//this runs normally 
//  moveForward(25);
// delayMicroseconds(80);
// moveBackward(25);
//delayMicroseconds(80);
// moveForward(25);
}

void loop(){
   
}

bool calibratie(int timesLoop){
  for (int i = 0; i < timesLoop; i++)
  {
    qtr.calibrate();
  }
  digitalWrite(LED_BUILTIN, LOW); // turn off Arduino's LED to indicate we are through with calibration

  // print the calibration minimum values measured when emitters were on
  for (int i = 0; i < SensorCount; i++)
  {
    Serial.print(qtr.calibrationOn.minimum[i]);
    Serial.print(' ');
  }
  Serial.println();

  // print the calibration maximum values measured when emitters were on
  for (int i = 0; i < SensorCount; i++)
  {
    Serial.print(qtr.calibrationOn.maximum[i]);
    Serial.print(' ');
  }
  Serial.println();
  Serial.println();

}

void stopVehicle(){
  analogWrite(forwardLeft, LOW);
  analogWrite(forwardRight, LOW);
  analogWrite(reverseLeft, LOW);
  analogWrite(reverseRight, LOW);
  counterA = 0;
  counterB = 0;
}

void moveForward(int pulsecount) {
  while(counterA <= pulsecount){
  analogWrite(forwardLeft, 200);
  analogWrite(forwardRight, 210);
  analogWrite(reverseLeft, LOW);
  analogWrite(reverseRight, LOW);
  }
  stopVehicle();
  counterA = 0;
  counterB = 0;
}

void moveBackward(int pulsecount) {
  while(counterA <= pulsecount){
    analogWrite(forwardLeft, LOW);
    analogWrite(forwardRight, LOW);
    analogWrite(reverseLeft, 200);
    analogWrite(reverseRight, 210);
  } 
  stopVehicle();
  counterA = 0;
  counterB = 0;
}

void countA(){
  counterA++;
}

void countB(){
  counterB++;
}
2

Hello.

From how you have that while loop structured, I suspect you are expecting it to work differently than it does. However, instead of using a while loop like that, I suggest doing a simple for loop; you can use the calibration portion of our 3pi+ 32U4 Robot’s LineFollowerSimple example program as reference. That portion of code makes the robot turn back and forth while taking calibration readings.

Brandon

3

That makes sense,
Thank you for your response!

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