tmp ir noticing (sillyness)

motor_ir_alpha.ino

#define LED_LEFT_PIN    4
#define LED_RIGHT_PIN   3

#define PIR_LEFT_PIN    12
#define PIR_RIGHT_PIN   11

#define MOTOR_LEFT_PIN  6
#define MOTOR_RIGHT_PIN 5


#define F_PIR_LEFT    1  // 1 = alarm on 0 = alarm off
#define F_PIR_RIGHT   2 // 1 = alarm on 0 = alarm off
#define F_MOTOR_LEFT  3
#define F_MOTOR_RIGHT 4

long previousMillis = 0;
long interval = 500; // interval 

long prevPirLowLeft = 0;
long prevPirLowRight = 0;
long pirDebounce = 3000; // Ignore high for this long after other pir low


byte toggle = 0;
volatile byte flags = 0;

void setup() {
  pinMode(MOTOR_LEFT_PIN, OUTPUT);
  pinMode(MOTOR_RIGHT_PIN, OUTPUT);
  
  pinMode(LED_LEFT_PIN, OUTPUT);
  pinMode(LED_RIGHT_PIN, OUTPUT);
  
  pinMode(PIR_LEFT_PIN, INPUT);     // declare sensor as input
  pinMode(PIR_RIGHT_PIN, INPUT);
  
  bitClear(flags, F_PIR_LEFT);
  bitClear(flags, F_PIR_RIGHT);
  
  bitClear(flags, F_MOTOR_LEFT);
  bitClear(flags, F_MOTOR_RIGHT);
  
  //Serial.begin(9600);
  // the pirs are both attached to pin 2 aswell as ther own pin
  // so they can both cause an interupt
  //attachInterrupt(0, pirChange, CHANGE);
 
}

void loop() {
  /*
  if (digitalRead(PIR_PIN) == LOW) { // falling
    Serial.println("no");
    digitalWrite(LED_PIN, LOW);
  } else {
    Serial.println("Motion detected!");
    digitalWrite(LED_PIN, HIGH);
  }
  delay(1);
  */
  
  
  unsigned long currentMillis = millis();
  
  pir();
  
  if (currentMillis - previousMillis > interval) {
    previousMillis = currentMillis;
       
    
    motorLeft();
    motorRight();
  }
  
  
}

void pir() {
  
  unsigned long nowMillis = millis();
  
  
  // Ignore the left pir if the right is on.
  if (bitRead(flags, F_PIR_RIGHT) == 0) {
    
    if (digitalRead(PIR_LEFT_PIN) == LOW) {
      if (bitRead(flags, F_PIR_LEFT) == 1) {
        digitalWrite(LED_LEFT_PIN, LOW);
        bitClear(flags, F_PIR_LEFT);
        prevPirLowRight = nowMillis;
      }
    } else {
      // high
      if (nowMillis - prevPirLowLeft > pirDebounce) {
        digitalWrite(LED_LEFT_PIN, HIGH);
        bitSet(flags, F_PIR_LEFT);
      //Serial.println("Motion detected!");
      }
      
    }
    
  }
  
  // Ignore the right pir if the left just fired.
  if (bitRead(flags, F_PIR_LEFT) == 0) {
    
    if (digitalRead(PIR_RIGHT_PIN) == LOW) {
      if (bitRead(flags, F_PIR_RIGHT) == 1) {
        digitalWrite(LED_RIGHT_PIN, LOW);
        bitClear(flags, F_PIR_RIGHT);
        prevPirLowLeft = nowMillis;
      }
    } else {
      // high
      if (nowMillis - prevPirLowRight > pirDebounce) {
        digitalWrite(LED_RIGHT_PIN, HIGH);
        bitSet(flags, F_PIR_RIGHT);
        //Serial.println("Motion detected!");
      }
    }
    
  }
    
}

void motorLeft() {
  
    if (bitRead(flags, F_PIR_LEFT) == 1) {
      if (bitRead(flags, F_MOTOR_LEFT) == 0) {
        analogWrite(MOTOR_LEFT_PIN, 200);
        bitSet(flags, F_MOTOR_LEFT);
      } else {
        //bitClear(flags, F_MOTOR_LEFT);
        analogWrite(MOTOR_LEFT_PIN, 0);
      }
    } else {
      // no motor movement
      bitClear(flags, F_MOTOR_LEFT);
      analogWrite(MOTOR_LEFT_PIN, 0);
    }
}

void motorRight() {
  // a slower motor
    if (bitRead(flags, F_PIR_RIGHT) == 1) {
      if (bitRead(flags, F_MOTOR_RIGHT) == 0) {
        analogWrite(MOTOR_RIGHT_PIN, 220);
        bitSet(flags, F_MOTOR_RIGHT);
      } else {
        analogWrite(MOTOR_RIGHT_PIN, 0);
      }
    } else {
      // no motor movement
      bitClear(flags, F_MOTOR_RIGHT);
      analogWrite(MOTOR_RIGHT_PIN, 0);
    }
}