hello every body
i m trying to program a small robot which will detect objects and avoid them and will also avoid edges.
i managed to write two separate codes, one for the edges detection and avoidance and the second one for obstacle avoidance.
then i tried to combine the two codes together, it works fine but there is a very large delay on going from obstacle detection to edge detection.
I think that it will work fine if i could use an interrupt to interrupt the obstacle detection when an edge is detected and come back to obstacle detection when it is safe (no edge is detected)

i m very not familiar with interrupt, can you help me on that matter please?

how to activate interrupt?...how to go back to the main program?....?????