Starter robot kit UltraSonic sensor delay

[sadeq]

I’ve wrote this code for my starter robot kit but I have a problem with the ultrasonic sensor
I’ve made the robot stop and turn back if it ever gets near an object like a wall,but the problem is that for the ultrasonic sensor to function properly, there should be a measure interval of at least (100 ms)
but when I write that down in “void loop” the delay affects the functions of the robot like:
when I press a button to move forward or release the button, there is a 100ms lag.
so how do I make the ultrasonic sensor function properly without any lag ?
the problem is in this part

distance=ultrasensor.distanceCm(); 
  delay(100); //the problem is in this line !
  if (distance<13 && distance>2) 
  {
    motor1.run(-speed1);
    motor2.run(-speed2);
    delay(1000);
    motor1.stop();
    motor2.stop();
   }

and this is the complete code:

#include “MeOrion.h”
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>

MeInfraredReceiver IRreceiver(PORT_6);
MeDCMotor motor1(9);
MeDCMotor motor2(10);
MeUltrasonicSensor ultrasensor(PORT_3);

int speed1;
int speed2;
int distance;

void setup() {
IRreceiver.begin();
Serial.begin(9600);
speed1=100;
speed2=-100;

}

void loop() {

if(IRreceiver.available() || IRreceiver.buttonState())
{
switch(IRreceiver.read())
{
case IR_BUTTON_UP:
motor1.run(speed1);
motor2.run(speed2);
break;
case IR_BUTTON_DOWN:
motor1.run(-speed1);
motor2.run(-speed2);
break;
case IR_BUTTON_LEFT:
motor1.run(speed1);
motor2.run(-speed2);
break;
case IR_BUTTON_RIGHT:
motor1.run(-speed1);
motor2.run(speed2);
break;
case IR_BUTTON_0:
speed1=50;
speed2=-50;
break;
case IR_BUTTON_1:
speed1=75;
speed2=-75;
break;
case IR_BUTTON_2:
speed1=100;
speed2=-100;
break;
case IR_BUTTON_3:
speed1=125;
speed2=-125;
break;
case IR_BUTTON_4:
speed1=150;
speed2=-150;
break;
case IR_BUTTON_5:
speed1=175;
speed2=-175;
break;
case IR_BUTTON_6:
speed1=200;
speed2=-200;
break;
case IR_BUTTON_7:
speed1=225;
speed2=-225;
break;
case IR_BUTTON_8:
speed1=250;
speed2=-250;
break;
case IR_BUTTON_9:
speed1=255;
speed2=-255;
break;

  case IR_BUTTON_A:
                   speed1=245;
                   speed2=-245;
                   break;
  case IR_BUTTON_B:
                   speed1=250;
                   speed2=-250;
                   break;
  case IR_BUTTON_E: {
                   speed1=100;
                   speed2=-100;
                   motor1.run(speed1);
                   motor2.run(speed2);
                   delay(16000);
                   motor1.run(-speed1);
                   motor2.run(speed2);
                   delay(1000);
                   motor1.run(speed1);
                   motor2.run(speed2);
                   delay(12000);
                   motor1.stop();
                   motor2.stop();
  }              
                   break;                                                                                                                                                                                          

}
}
else {
motor1.stop();
motor2.stop();
}

  distance=ultrasensor.distanceCm(); 
  delay(100); //the problem is in this line !
  if (distance<13 && distance>2) 
  {
    motor1.run(-speed1);
    motor2.run(-speed2);
    delay(1000);
    motor1.stop();
    motor2.stop();
   }

}

[Andreas]

Is there a function to get the time in with a resolution of milliseconds? If yes then just run the loop as quickly as possible, but update the ultrasonic sensor only when the last readout is >100ms in the past.

[sadeq]

thanks for the help,based on your idea, I included “Timer.h” library which has a function that calls another function every amount of time(milliseconds) every(100,UpdateDistance);
this is the new code for anyone who is interested

#include “MeOrion.h”
#include <Arduino.h>
#include <SoftwareSerial.h>
#include <Wire.h>
#include “Timer.h” //new code

MeInfraredReceiver IRreceiver(PORT_6);
MeDCMotor motor1(9);
MeDCMotor motor2(10);
MeUltrasonicSensor ultrasensor(PORT_3);

int speed1;
int speed2;
int distance=0;

Timer t; //new code
void setup() {
IRreceiver.begin();
Serial.begin(9600);
speed1=100;
speed2=-100;

}
void UpdateDistance() //new code
{ //new code
distance=ultrasensor.distanceCm(); //new code

} //new code

void loop() {

if(IRreceiver.available() || IRreceiver.buttonState())
{
switch(IRreceiver.read())
{
case IR_BUTTON_UP:
motor1.run(speed1);
motor2.run(speed2);
break;
case IR_BUTTON_DOWN:
motor1.run(-speed1);
motor2.run(-speed2);
break;
case IR_BUTTON_LEFT:
motor1.run(speed1);
motor2.run(-speed2);
break;
case IR_BUTTON_RIGHT:
motor1.run(-speed1);
motor2.run(speed2);
break;
case IR_BUTTON_0:
speed1=50;
speed2=-50;
break;
case IR_BUTTON_1:
speed1=75;
speed2=-75;
break;
case IR_BUTTON_2:
speed1=100;
speed2=-100;
break;
case IR_BUTTON_3:
speed1=125;
speed2=-125;
break;
case IR_BUTTON_4:
speed1=150;
speed2=-150;
break;
case IR_BUTTON_5:
speed1=175;
speed2=-175;
break;
case IR_BUTTON_6:
speed1=200;
speed2=-200;
break;
case IR_BUTTON_7:
speed1=225;
speed2=-225;
break;
case IR_BUTTON_8:
speed1=250;
speed2=-250;
break;
case IR_BUTTON_9:
speed1=255;
speed2=-255;
break;

  case IR_BUTTON_A:
                   speed1=245;
                   speed2=-245;
                   break;
  case IR_BUTTON_B:
                   speed1=250;
                   speed2=-250;
                   break;
  case IR_BUTTON_E: {
                   speed1=100;
                   speed2=-100;
                   motor1.run(speed1);
                   motor2.run(speed2);
                   delay(16000);
                   motor1.run(-speed1);
                   motor2.run(speed2);
                   delay(1000);
                   motor1.run(speed1);
                   motor2.run(speed2);
                   delay(12000);
                   motor1.stop();
                   motor2.stop();
  }              
                   break;                                                                                                                                                                                          

}
}
else {
motor1.stop();
motor2.stop();
}
t.every(100,UpdateDistance); //new code,calls UpdateDistance every 100 milliseconds
t.update(); //new code

  if (distance<13 && distance>2) 
  {
    motor1.run(-speed1);
    motor2.run(-speed2);
    delay(1000);
    motor1.stop();
    motor2.stop();
   }

//Serial.print(distance);

}

[system]