Let's Make Robots!

What is the problem?

So my robot does work when it is connected to us or usb and 9V, but when it is connected only to the 9V
Everything works with little pulses and long delays!
Is this a good code even?

 

#include <Servo.h>

 

Servo servo; //Create a servo object

 

//Standard PWM DC control

int E1 = 5;     //M1 Speed Control

int E2 = 6;     //M2 Speed Control

int M1 = 4;    //M1 Direction Control

int M2 = 7;    //M2 Direction Control

 

int a = 100; //Standard speed values

int b = 100; 

int Left = 0;

int Right = 0;

int Seek = 0;

 

int IRPin = A1; //IR Sensor

 

void brake()                    //Stop

{

  digitalWrite(E1,LOW);   

  digitalWrite(E2,LOW);      

}   

void forward()         //Move forward

{

  analogWrite (E1,a);      //PWM Speed Control

  digitalWrite(M1,HIGH);    

  analogWrite (E2,b);    

  digitalWrite(M2,HIGH);

}  

void turn_L()            //Turn Left

{

  analogWrite (E1,a);

  digitalWrite(M1,LOW);    

  analogWrite (E2,b);    

  digitalWrite(M2,HIGH);

}

void turn_R()            //Turn Right

{

  analogWrite (E1,a);

  digitalWrite(M1,HIGH);    

  analogWrite (E2,b);    

  digitalWrite(M2,LOW);

}

void detect()

{

  brake();

  servo.write(0);

  delay(1000);

  Left = analogRead(IRPin);

  servo.write(160);

  delay(1000);

  Right = analogRead(IRPin);

  compare();

}

void compare()

{

  if (Left > Right)

  {

    turn_R();

    delay(1000);

  }

  else

  {

    turn_L();

    delay(1000);

  }

  brake();

}

void setup() 

  servo.attach(9); //Servo to pin 9

  int i;

  for(i=4;i<=7;i++) //This one shortens the code, a LOT! It sets up output pins

    pinMode(i, OUTPUT);  

void loop() 

{

  servo.write(90);

  Seek = analogRead(IRPin);

  if (Seek > 399)

  {

    detect();

  }

  else

  {

    forward();

  }

}

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BotFin, yes you are right. The low current of the 9V batterie will not move the servo, at least not much.

9V 200mA = not enough
USB 500mA = enough

Have to use: 4AA