Master Code Used for Single-Slave Test

#include <Wire.h>

int potPin1 = 0; // select the input pin for the potentiometer
int potPin2 = 1;
int potVal1; // variable to store the value coming from the sensor
int potVal2;
int times=0;
int state=0;
int lastState=0;
boolean pot=false;

void setup()
{
  pinMode(13, OUTPUT);
  pinMode(3, INPUT);
  Serial.begin(9600);
  Wire.begin();

}

void loop(){
state=digitalRead(3);
if(state != lastState){
  if(state==HIGH){
    times++;
    Serial.println(times);
  }

else{
  Serial.println(“off”);

  }
}

lastState=state;

if(times%2 ==1)
  {
    turnPotOn();
  }

else
  {
    turnPotOff();
  }

if(pot==true)
  {
    potVal1 = analogRead(potPin1); // read the value from the sensor
    potVal2 = analogRead(potPin2);

    if((potVal1>640) && (336<potVal2) && (potVal2<683))
    {
      arduino1_motor1();
    }

    else if ((potVal1<330) && (336<potVal2) && (potVal2<683))
    {
      arduino1_motor2();
    }

    else
    {
      arduino1_still();
    }
  }
else
  {
    arduino1_still();
    Serial.println(“OFF”);
  }
}

void turnPotOff()
{
digitalWrite(13, LOW);
pot=false;
}

void turnPotOn()
{
digitalWrite(13, HIGH);
pot=true;
}

void arduino1_motor1()
{
Wire.beginTransmission(5);
Wire.write(‘A’);
Wire.endTransmission();
Serial.println(“A1 in M1 d”);
}

void arduino1_motor2()
{
Wire.beginTransmission(5);
Wire.write(‘B’);
Wire.endTransmission();
Serial.println(“A1 in m2 d”);
}

void arduino1_still()
{
still();
Serial.println(“A1 stl”);
}

void still()
{
Wire.beginTransmission(5);
Wire.write(‘S’);
Wire.endTransmission();

}

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