After checking main If condition unable to reach if and while
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Hardware reading from scope Thread stored in beforeRightValue. Before that is coming inside void Motion::_Grid() car will stop 2 seconds. Sometimes values will not match so that time I want to calculate error value then I want to make repositioning.
float degree_check; // calculating error value will store here.I have created 4 conditions. All condition will check first stored value from hardware (firstdataValue) and current value(beforeRightValue). If any difference happened that will calculate the error value (degree_check), then the car need to move same first degree depends upon the error degree.
That is working fine. That is coming inside if condition. For example condition 1 if, condition 4 if printing. If that is coming inside of main if condition, this condition also true only, but that is not coming inside of this if condition, not inside of the while. I was unable to understand the mistake.
void Motion::_Grid() { float beforeRightValue = ScopeThread::data; if((int)beforeRightValue != (int)firstdataValue) { float degree_check; // calculating error value will store here. if(firstdataValue > 0 && beforeRightValue > 0) { degree_check = (firstdataValue)-(beforeRightValue); if(degree_check > 0) { cout<<"condition 1 if : "<<degree_check<<endl; if(!beforeRightValue == firstYawValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,5); softPwmWrite(Motr2,0); while(true) { cout<<"2nd while : "<<firstdataValue<<endl; if(int(ScopeThread::data) == firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } else if(degree_check < 0) { cout<<"condition 1 else : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,0); softPwmWrite(Motr2,5); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"2nd while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } } else if(firstdataValue < 0 && beforeRightValue < 0) { degree_check = (firstdataValue) - (beforeRightValue); if(degree_check < 0) { cout<<"condition 2 if : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,5); softPwmWrite(Motr2,0); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"3rd while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } else if(degree_check > 0) { cout<<"condition 2 else : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,0); softPwmWrite(Motr2,5); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"4th while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } } else if(firstdataValue > 0 && beforeRightValue < 0) { degree_check = (firstdataValue) - (beforeRightValue); if(beforeRightValue < -90) { cout<<"condition 3 if : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,5); softPwmWrite(Motr2,0); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"5th while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } else if(beforeRightValue > -90 && beforeRightValue <= 0) { cout<<"condition 3 else : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,0); softPwmWrite(Motr2,5); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"6th while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } } else if(firstdataValue < 0 && beforeRightValue > 0) { degree_check = (firstdataValue) - (beforeRightValue); if(beforeRightValue > 90) { cout<<"condition 4 if : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,0); softPwmWrite(Motr2,5); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"7th while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } else if(beforeRightValue < 90 && beforeRightValue >= 0) { cout<<"condition 3 if : "<<degree_check<<endl; if(int(ScopeThread::data) != (int)firstdataValue) { softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(200); softPwmWrite(Motr1,5); softPwmWrite(Motr2,0); while(true) { if(int(ScopeThread::data) == firstdataValue) { cout<<"8th while : "<<firstdataValue<<endl; softPwmWrite(Motr2, 0); softPwmWrite(Motr1, 0); delay(2000); break; } break; } } } } } }
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Hi,
I'd recommend splitting your function in smaller pieces. That will make it easier to understand. Your use of
ScopeThread::dataalso isn't really clear.Since you are controlling hardware, did you consider using the state machine framework ? That would allow to more cleanly model your car behaviour.
