Avoidance mode arduino

#1

hi every body
I am proagramming my mbot ranger and I would like start obstacle-avoidance mode when the robot receive the command “oto” until he receive the command “stop”

I did that

void loop()
//Read 3 character command.
char cmd[4] = “—”;
Serial.readBytes( cmd, 3 );
Serial.print(cmd);
//Execute chosen command.
if( strcmp( cmd, “upt” )==0 ) move(1, 255);
else if( strcmp( cmd, “bck” )==0 ) move(2, 255);
else if( strcmp( cmd, “lef” )==0 ) move(3, 255);
else if( strcmp( cmd, “rgt” )==0 ) move(4, 255);
else if( strcmp( cmd, “stp” )==0 ) move(1, 0);
else if( strcmp( cmd, “oto” )==0 ) ultrasonic();
else Serial.print( “Bordel!!” );
}

void ultrasonic()

{
do{
if((ultrasonic_10.distanceCm()) < (15))
{
move(1,0);
}
else
{
move(1,150);
}
}while( “stp”);
}
but my robot just move(1,150)
where is my mistake pls?

#2

please I need a hand.

#3

Does the sensor work correctly (e.g. test it with a Scratch program)

#4

yes with scratch no trouble and on arduino the ultrasonnic test work too. That why I know I made the mistake

#5