Interrupt causes program to freeze?

Community General Discussions
1

Ive just added some bump sensors to my bot, simple switches. I have added them to interrupt pins so that the bot CANT drive into stuff. (i cant forget to include monitoring the bumps to every section of code)

Now i realise that one should always include ALL the code when posting to a forum asking for help, but there is an awful lot of it at the moment, so first i shall include the interrupt bit i have added this evening.

So i have added the connections for each bumper before the Setup.

const int RBump = 3; 

const int LBump = 2;  

Then in the VoidSetup, 

  pinMode (LBump,INPUT_PULLUP);    (I want to use the internal Pullups, perhaps this is an issue?):

  pinMode (RBump,INPUT_PULLUP);  

  attachInterrupt(0, BumpL, LOW);

  attachInterrupt(1, BumpR, LOW);

The interupt works, in as much asthey interupt the sketch, but as i see it, upon interuption, the sketch should go to "void BumpL();" and run whatever that contains?
which looks like this:
Have i missed something?
If needs be i will of course paste in all my code, but there is a lot to trawl through!
void BumpL(){
  
  motorL.run(BACKWARD);  
  motorR.run(BACKWARD);  
  digitalWrite(LLED, LOW);
  digitalWrite(RLED, LOW);
  Hori.write(60);
  Vert.write(90);
  delay(500);
  motorL.run(RELEASE);  
  motorR.run(RELEASE);  

  Ping();

  int LeftDist = distance;

  int LeftLight = analogRead(PR);

  Hori.write(120);

  Vert.write(90);

  delay(500);

  Ping();

  int RightDist = distance;

  int RightLight = analogRead(PR);

  Hori.write(90);

  delay(1000);

  

  if (LeftDist < RightDist) {

    motorL.run(RELEASE);

    motorR.run(BACKWARD);

    digitalWrite(LLED, LOW);

    digitalWrite(RLED, HIGH);

    delay (500);

    motorL.run(RELEASE);

    motorR.run(RELEASE);

    digitalWrite(LLED, LOW);

    digitalWrite(RLED, LOW);

  }    


    else {

      Obstacle();

    }

}


2

Aha! It doesnt say that on

Aha! It doesnt say that on the website. I have non delay timing in the sketch elsehere, i was just being lazy. I’ll give that a go. Thanks

 

[EDIT] (yes it does, sorry, i didnt read properly)

3

Eugh. I still havent got it

Eugh. I still havent got it working. Its ended up as such a tenous effort, ive just gone back to monitoring for a button press using a pair of Ifs in a while loop i was already using:

I can just paste the section into any section i want to use it.

 

 while (distance > 10 && millis() - previous < 5000){

 

    Serial.println(“Run”);

    if (digitalRead (LBumper) == LOW) {

      Serial.println(“Left Bump interrupt”);

      BumpedLaction();

    }

    if (digitalRead (RBumper) == LOW) {

      Serial.println(“Right Bump interrupt”);

      BumpedRaction();

    }

    else

    Hori.write(90);

    motorL.run(FORWARD);  

    motorR.run(FORWARD);  

    digitalWrite(LLED, HIGH);

    digitalWrite(RLED, HIGH);

    Ping();

  }