Sharp programing on picaxe

Your code is working properly.

• It starts, reads the sensor and goes forward 1 second
• it checks the sensor again, sees we are too close and backs up for one sec
• it check the sensor, sees we are far away now and goes forward
• etc etc etc

In terms of the readadc in the sub routine --You can do something like this:

behind:

backward A 

forward B

readadc 1, b1

if b1 < 170 then goto behind

else

return

No problem, you are actually closer than you think.

At this point, you gotta "think" like the program. What I do a lot is to grab a pencil or sylus or whatever and actually point at the screen, line-by-line and "step" through my program manually. As you get to your goto's and gosubs, you can actually see your pencil-pointer loop its way through the program. This seems silly, I know, but it will help plenty. Take for example, your code above.

• Start
• read the sensor
• if < go here
• if > go there
• GOTO here or there
• You are now here or there (forward or reverse) and we set the motors to go forward or reverse
• Now it says Goto main
• We now go back to the TOP of the main routine. We did NOT return to where we left from, we went directly to "go" --there for, we never touched that "wait" command. --We will never get to it--

Try some gosubs and returns instead and also stick your pause into the sub-routine. Another thought is to stick another ADC check into your subroutine. You can keep checking your sensor within the subroutine and if it is still < or still> you can stay in the subroutine. If the sensor says you have moved enough, then you can return to the main loop.

I sorta wondered about that too...

I just went ahead and assumed that this was quickly-written psudeo-code. It's probably good that you made mention of the fact that it might not be. In the event that this is the actual code used, a little direction might save a lot of frustration.

--Oh, and bird... Picaxe is NOT case sensitive nor does it care about tabbing. Weird...

Questions:

Is this the actual code you are using?

Is forward and backward actual commands? --As I remember, picaxe has some "classroom" commands built in. I.e. wait (seconds) instead of pause (milliseconds) etc. I think "forward" and "reverse" might actually be real commands, designed to work with 4 pre-determined pins. Is this the case?