can i make it so my raspberry pi differential drive mobile robot doesn't stop moving when sending digital signals to its motors in a for loop ?

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Welid Benchouche
Welid Benchouche 2022-7-8
I have a differential drive mobile robot that is based on a raspberry pi, i control the right speed and left speed, i have converted those to linear and angular speed for better model for my control objective, i designed a controller for it and it generates a vector containing the optimal linear velocities and angular velocities.
after that, i designed a function called "move" to drive the robot, here it is;
function move(speed,turn,ti)
%UNTITLED Summary of this function goes here
% Detailed explanation goes here
EnaA = 12; In1A = 23; In2A = 24; EnaB = 18; In1B = 25; In2B = 8;
IR1 = 20; IR2 = 26;
rpi = evalin('base','rpi');%rpi = raspi;
configurePin(rpi,20,'DigitalInput');
configurePin(rpi,26,'DigitalInput');
% if readDigitalPin(rpi,20)
% writePWMDutyCycle(rpi,EnaA,0);
% writePWMDutyCycle(rpi,EnaB,0);
% return
% end
% while (readDigitalPin(rpi,20) || readDigitalPin(rpi,20)) == true
% leftSpeed = (1/0.066)*(speed - 0.0500*turn)
% rightSpeed = (1/0.066)*(speed + 0.0500*turn)
leftSpeed = speed - turn
rightSpeed = speed + turn
% leftSpeed = ((leftSpeed+ 15.1515)/(2*15.1515))*(2)- 1
% rightSpeed = ((rightSpeed+ 15.1515)/(2*15.1515))*(2)- 1
% turn = (2*(turn)/(2*0.05))-1
% leftSpeed = 2*(leftSpeed +15.1515)/(2*15.1515) - 1
% rightSpeed = 2*(rightSpeed +15.1515)/(2*15.1515) - 1
% rightSpeed = normalize(rightSpeed,'center','mean')
if leftSpeed > 1
leftSpeed = 1;
elseif leftSpeed < -1
leftSpeed = -1;
end
if rightSpeed > 1
rightSpeed = 1;
elseif rightSpeed < -1
rightSpeed = -1;
end
if leftSpeed > 0 && leftSpeed < 0.5
leftSpeed = 0.5;
elseif leftSpeed < 0 && leftSpeed > -0.5
leftSpeed = -0.5;
end
if rightSpeed > 0 && rightSpeed < 0.5
rightSpeed = 0.5;
elseif rightSpeed < 0 && rightSpeed > -0.5
rightSpeed = -0.5;
end
Stop(rpi ,In1A, In2A, In1B ,In2B)
writePWMDutyCycle(rpi,EnaA,abs(leftSpeed));
writePWMDutyCycle(rpi,EnaB,abs(rightSpeed));
if leftSpeed > 0
writeDigitalPin(rpi,In1A,1);
writeDigitalPin(rpi,In2A,0);
else
writeDigitalPin(rpi,In1A,0);
writeDigitalPin(rpi,In2A,1);
end
if rightSpeed > 0
writeDigitalPin(rpi,In1B,1);
writeDigitalPin(rpi,In2B,0);
else
writeDigitalPin(rpi,In1B,0);
writeDigitalPin(rpi,In2B,1);
end
% if nargin == 2
% continue
% else
pause(ti)
% N = 10*ti;
% if (readDigitalPin(rpi,20) || readDigitalPin(rpi,20)) == true
% pause(ti)
% else
% writePWMDutyCycle(rpi,EnaA,0);
% writePWMDutyCycle(rpi,EnaB,0);
% end
writePWMDutyCycle(rpi,EnaA,0);
writePWMDutyCycle(rpi,EnaB,0);
% end
the signal generated by the controller is discrete and containted between 1 and - 1, but when i use it like this
for i = 1: length(v_opt)
move(v_opt,w_opt,0.01) % v_opt and w_opt are the generated signals from the controller
end
i suspect that the problem is in pause function, but after many many attempts i still dont have a solution to this, please help.

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