I am trying to make a program for my Arduino that will run 4 motors with random actions (forward,backward,left,right) and execution is determined by a random number generator. When I compile there is no errors, and The COM port is connected correctly to my Arduino Mega, but when it uploads the log says this:
Sketch uses 668 bytes (0%) of program storage space. Maximum is 253,952 bytes.
Global variables use 9 bytes (0%) of dynamic memory, leaving 8,183 bytes for local variables. Maximum is 8,192 bytes.
That means only 677 B is being used, but the Arduino file is 6 KB. I know that the program gets somewhat smaller when it is compiled, but not ten times smaller.
What's happening here?
EDIT
// Arduino pins for the shift register
#define MOTORLATCH 12
#define MOTORCLK 4
#define MOTORENABLE 7
#define MOTORDATA 8
// 8 bit bus
#define MOTOR1_A 2
#define MOTOR1_B 3
#define MOTOR2_A 1
#define MOTOR2_B 4
#define MOTOR3_A 5
#define MOTOR3_B 7
#define MOTOR4_A 0
#define MOTOR4_B 6
// Motor pins:
#define MOTOR1_PWM 11
#define MOTOR2_PWM 3
#define MOTOR3_PWM 6
#define MOTOR4_PWM 5
// LED Pins
#define led_r 22
#define led_l 23
// Actions
#define RIGHT 0
#define LEFT 1
#define FORWARD 2
#define STOP 3
// Codes for the motor function.
#define GO 1
#define REVERSE 2
#define BRAKE 3
#define RELEASE 4
// Probability
#define rProb 5
#define lProb 5
#define fProb 88
#define stopProb 2
// other globals
#define defSpd 255
void setup() {}
void execute(int action) {
if (action == FORWARD) {
motor(1,FORWARD,defSpd);
motor(2,FORWARD,defSpd);
motor(3,FORWARD,defSpd);
motor(4,FORWARD,defSpd);
digitalWrite(led_r, LOW);
digitalWrite(led_l, LOW);
} else if (action == RIGHT) {
motor(1,REVERSE,defSpd);
motor(2,REVERSE,defSpd);
motor(3,FORWARD,defSpd);
motor(4,FORWARD,defSpd);
digitalWrite(led_l, LOW);
digitalWrite(led_r, HIGH);
delay(150);
} else if (action == LEFT) {
motor(1,FORWARD,defSpd);
motor(2,FORWARD,defSpd);
motor(3,REVERSE,defSpd);
motor(4,REVERSE,defSpd);
digitalWrite(led_l, HIGH);
digitalWrite(led_r, LOW);
delay(150);
} else if (action == STOP) {
motor(1,BRAKE,defSpd);
motor(2,BRAKE,defSpd);
motor(3,BRAKE,defSpd);
motor(4,BRAKE,defSpd);
digitalWrite(led_r, HIGH);
digitalWrite(led_l, HIGH);
delay(1000);
}
}
void loop() {
// put your main code here, to run repeatedly:
// Random action
int i = (1, 101);
if (i > 0 && i <= rProb) {
execute(RIGHT);
} else if (i > rProb && i <= rProb + lProb) {
execute(LEFT);
} else if (i > rProb + lProb && i <= rProb + lProb + fProb) {
execute(FORWARD);
} else if (i > rProb + lProb + fProb && i <= rProb + lProb + fProb + stopProb) {
execute(STOP);
}
}
void motor(int nMotor, int command, int speed)
{
int motorA, motorB;
if (nMotor >= 1 && nMotor <= 4)
{
switch (nMotor)
{
case 1:
motorA = MOTOR1_A;
motorB = MOTOR1_B;
break;
case 2:
motorA = MOTOR2_A;
motorB = MOTOR2_B;
break;
case 3:
motorA = MOTOR3_A;
motorB = MOTOR3_B;
break;
case 4:
motorA = MOTOR4_A;
motorB = MOTOR4_B;
break;
default:
break;
}
switch (command)
{
case GO:
motor_output (motorA, HIGH, speed);
motor_output (motorB, LOW, -1); // -1: no PWM set
break;
case REVERSE:
motor_output (motorA, LOW, speed);
motor_output (motorB, HIGH, -1); // -1: no PWM set
break;
case BRAKE:
// The AdaFruit library didn't implement a brake.
// The L293D motor driver ic doesn't have a good
// brake anyway.
// It uses transistors inside, and not mosfets.
// Some use a software break, by using a short
// reverse voltage.
// This brake will try to brake, by enabling
// the output and by pulling both outputs to ground.
// But it isn't a good break.
motor_output (motorA, LOW, 255); // 255: fully on.
motor_output (motorB, LOW, -1); // -1: no PWM set
break;
case RELEASE:
motor_output (motorA, LOW, 0); // 0: output floating.
motor_output (motorB, LOW, -1); // -1: no PWM set
break;
default:
break;
}
}
}
void motor_output (int output, int high_low, int speed)
{
int motorPWM;
switch (output)
{
case MOTOR1_A:
case MOTOR1_B:
motorPWM = MOTOR1_PWM;
break;
case MOTOR2_A:
case MOTOR2_B:
motorPWM = MOTOR2_PWM;
break;
case MOTOR3_A:
case MOTOR3_B:
motorPWM = MOTOR3_PWM;
break;
case MOTOR4_A:
case MOTOR4_B:
motorPWM = MOTOR4_PWM;
break;
default:
// Use speed as error flag, -3333 = invalid output.
speed = -3333;
break;
}
if (speed != -3333)
{
// Set the direction with the shift register
// on the MotorShield, even if the speed = -1.
// In that case the direction will be set, but
// not the PWM.
shiftWrite(output, high_low);
// set PWM only if it is valid
if (speed >= 0 && speed <= 255)
{
analogWrite(motorPWM, speed);
}
}
}
void shiftWrite(int output, int high_low)
{
static int latch_copy;
static int shift_register_initialized = false;
// Do the initialization on the fly,
// at the first time it is used.
if (!shift_register_initialized)
{
// Set pins for shift register to output
pinMode(MOTORLATCH, OUTPUT);
pinMode(MOTORENABLE, OUTPUT);
pinMode(MOTORDATA, OUTPUT);
pinMode(MOTORCLK, OUTPUT);
// Set pins for shift register to default value (low);
digitalWrite(MOTORDATA, LOW);
digitalWrite(MOTORLATCH, LOW);
digitalWrite(MOTORCLK, LOW);
// Enable the shift register, set Enable pin Low.
digitalWrite(MOTORENABLE, LOW);
// start with all outputs (of the shift register) low
latch_copy = 0;
shift_register_initialized = true;
}
// The defines HIGH and LOW are 1 and 0.
// So this is valid.
bitWrite(latch_copy, output, high_low);
// Use the default Arduino 'shiftOut()' function to
// shift the bits with the MOTORCLK as clock pulse.
// The 74HC595 shiftregister wants the MSB first.
// After that, generate a latch pulse with MOTORLATCH.
shiftOut(MOTORDATA, MOTORCLK, MSBFIRST, latch_copy);
delayMicroseconds(5); // For safety, not really needed.
digitalWrite(MOTORLATCH, HIGH);
delayMicroseconds(5); // For safety, not really needed.
digitalWrite(MOTORLATCH, LOW);
}
