Dear Stanley,

I am not going to answer your query on SP. Its a very basic query and there is a general consensus not to answer such to avoid beginers from putting in effort to learn.


"But all the robot's movement are in the INT procedure.(i.e. no further interrupt allowed). "

Who says so ? And I am surprised that all robot's movement is in the interrupt procedure - must be some ISR.

OK I think what you are trying to tell is this : The sensor_1 has flagged and your robot is moving maybe left and during this time you want other sensors also active.

One possible way to solve this would be to :

When an interrupt is triggered, do what you are doing now.

But also try to do the following : set a time out for each type of movement and during this time disable the interrupt. Once the time out is over enable the interrupt again.

Dont be anxious that you will miss certain interrupts when it is disabled :Because your robot does have a mass and inertia and it cannot change direction in milliseconds.

Raghu