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я пытаюсь создать светофор, где состояние света(красный) дает приказ (зеленый) двигаться дальше и переходить с зеленого на красный. В этом проекте я использую 2 arduinoboards, такие как связь между хозяином и подчиненным. Проблема в том, что светофор должен подождать, прежде чем загорится зеленый свет, когда другой горит красным.

 #include lt;Arduino.hgt; #include lt;TimerOne.hgt; #include "traffic_light.h" #include "traffic_slave_serial.h"  const int greenLightPin = 6; const int redLightPin = 7;  int Prev_State; unsigned long previousMillis = 0; long OnTime = 250; // milliseconds of on-time long OffTime = 750; // milliseconds of off-time long interval = 1000; // interval at which to blink (milliseconds)  #define MESSAGE_START ('#') #define MESSAGE_STOP (';') #define TIME_Traffic_light_state (3000)  bool (*sendRequestAndCheckReply)(char*mes);  typedef enum {  MASTER_SLAVE_CONNECTING,  MASTER_DRIVING_ALLOWED,  SLAVE_DRIVING_ALLOWED,  NOT_DRIVING_ALLOWED, } Traffic_light_state;  int currentState = MASTER_SLAVE_CONNECTING;  int Master_Slave_Connecting_Begin() {  char buf [20] = "BEAT";  bool voltooid = sendRequestAndCheckReply(buf);  Serial.print(buf);  Serial.print("........");  Serial.println(voltooid ? "ack": "nack");  if (voltooid)  {  currentState = MASTER_DRIVING_ALLOWED;  return currentState;  }  else  {  return currentState;  } }  int Master_Slave_RED(int state) {  {  char doneRed [20] = "RED";  bool voltooid = sendRequestAndCheckReply(doneRed);  Serial.print(doneRed);  Serial.print("........");  Serial.println(voltooid ? "ack": "nack");  traffic_light_set_color(RED);  }  if (state == MASTER_DRIVING_ALLOWED)  {  currentState = SLAVE_DRIVING_ALLOWED;  }  if (state == SLAVE_DRIVING_ALLOWED)  {  currentState = MASTER_DRIVING_ALLOWED;  }  return currentState; }  int Slave_Green_Light_Begin() {  {  char doneGreen[20] = "GREEN";  bool voltooid = sendRequestAndCheckReply(doneGreen);  Serial.print(doneGreen);  Serial.print("........");  Serial.println(voltooid ? "ack": "nack");  if (voltooid)  {  traffic_light_set_color(RED);  startmillis=millis();  }  else  {  currentState = MASTER_SLAVE_CONNECTING;  return currentState;  }  currentState = NOT_DRIVING_ALLOWED;  Prev_State = SLAVE_DRIVING_ALLOWED;  return currentState ;  } }  int Master_Green_Light_Begin() {  {  char donered[20] = "RED";  bool voltooid = sendRequestAndCheckReply(donered);  Serial.print(donered);  Serial.print("........");  Serial.println(voltooid ? "ack": "nack");  if (voltooid)  {  traffic_light_set_color(GREEN);   }  else  {  currentState = MASTER_SLAVE_CONNECTING;  return currentState;  }  currentState = NOT_DRIVING_ALLOWED;  Prev_State = MASTER_DRIVING_ALLOWED;  return currentState ;  } }  void startmilis()  unsigned long currentMillis = millis(); {  if(currentMillis - previousMillis gt; interval) {  // save the last time you blinked the LED  previousMillis = currentMillis;   } }  /*----------------------------------------------------------------*/ /* SETUP */ /*----------------------------------------------------------------*/ void setup() {  Serial.begin(9600);  Serial.println("master gestard");  traffic_slave_serial_begin(MESSAGE_START,MESSAGE_STOP);  sendRequestAndCheckReply = traffic_slave_serial_sendRequestAndCheckReply;  traffic_light_begin(greenLightPin, redLightPin);  Timer1.initialize(500000000); }  /*----------------------------------------------------------------*/ /* LOOP */ /*----------------------------------------------------------------*/ void loop() {  switch (currentState)  {  case MASTER_SLAVE_CONNECTING: // case 1  Master_Slave_Connecting_Begin();  break;  case MASTER_DRIVING_ALLOWED: // case 2  Master_Green_Light_Begin();  break;  case SLAVE_DRIVING_ALLOWED: // case 3  Slave_Green_Light_Begin();  break;  case NOT_DRIVING_ALLOWED: // case 4  Master_Slave_RED(Prev_State);  break;  } }