Author Topic: Help With Basic Directional Coding  (Read 1100 times)

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Offline MastermimeTopic starter

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Help With Basic Directional Coding
« on: November 09, 2012, 04:58:53 PM »
Hello everyone,

First I want to premise that I am a complete newbie at coding and this is the first time I've coded a project not in the Arduino IDE. 

I am trying to write some simple directional code that I can test my tread configuration, but of course this will be the code I am going to use for my robot.  Here is my flow "data of transfer".  PS2 controller > Arduino > Xbee Pro > Xbee Pro > Axon > Electronics

I've used Webbotlib and a source file from Admin and then done a bit of editing myself.  With the code I have, how can I modify it/ add to it in order to get this to function properly.  I can write the program on the Arduino side.  Its the Axon I have trouble with.  If someone would be willing to help, I'd be more than grateful. 

Thanks

Code: [Select]
//C file using Axon, Xbee, and Sabertooth

#define Xbee_controlled


//WebbotLib includes
#include "sys/axon2.h" //defines your MCU (change to axon.h if you use the original Axon)
//#include "servos.h" //use for software servo PWM
//#include "a2d.h" //use for ADC
#include "rprintf.h" //use for UART

//user includes
#include "hardware.h"
#include "led.h"
#include actuators.h

// In my initialising code - pass the list of servos to control
void appInitHardware(void)
{
//initialize UART ports (see hardware.h to change baud/names)
uartInit(Xbee,9600); //UART0
uartInit(USB_UART, USB_BAUD); //USB
pin_make_output(L6,true);

// declare USB for output
#ifdef USB_controlled
rprintfInit(USB_ACTIVATE);
#endif
#ifdef Xbee_controlled
rprintfInit(WIRELESS_ACTIVATE);
#endif

//Initialise motor controller
sabertoothInit(&sabertooth);

led_off();//clear display
}

TICK_COUNT appInitSoftware(TICK_COUNT loopStart){
rprintf("\nAxon Initiated.\n\n");
return 0;
}

int tempbyte;

//vehicle speed
DRIVE_SPEED speed=30;
DRIVE_SPEED turn=80;

//define directions
void go_left(void)
{
act_setSpeed(&left,-turn);
act_setSpeed(&right,turn);
}

void go_right(void)
{
act_setSpeed(&left,turn);
act_setSpeed(&right,-turn);
}

void go_straight(void)
{
act_setSpeed(&left,speed);
act_setSpeed(&right,speed);
}

void go_reverse(void)
{
act_setSpeed(&left,-speed);
act_setSpeed(&right,-speed);
}

void stop_dumb_robot(void)
{
act_setSpeed(&left,0);
act_setSpeed(&right,0);
}


// This is the main loop
TICK_COUNT appControl(LOOP_COUNT loopCount, TICK_COUNT loopStart)
{
#ifdef USB_controlled
tempbyte=USB_GET;//get a single character
#endif
#ifdef Xbee_controlled
tempbyte=WIRELESS_GET;
#endif

//control direction
if (tempbyte=='a')
go_left();
else if (tempbyte=='d')
go_right();
else if (tempbyte=='w')
go_straight();
else if (tempbyte=='x')
go_reverse();
else if (tempbyte=='s')
stop_stupid_robot();

//control speed by < and >
if (tempbyte==',')
{
speed-=10;
if (speed < 0)
speed=0;
rprintf("\nspeed=%d ",speed);
}
if (tempbyte=='.')
{
speed+=10;
if (speed > 100)
speed=100;
rprintf("\nspeed=%d ",speed);
}

return 2000; // wait for 2ms
}

Offline Admin

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Re: Help With Basic Directional Coding
« Reply #1 on: November 11, 2012, 08:17:32 AM »
It looks fine to me on a quick glance. Did you try it?

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #2 on: November 11, 2012, 10:37:20 PM »
When I try and compile in AVR Studio, I receive 30 errors saying that a term is undeclared (first use in this function').  I dont understand why this happening because I included the Webbotlib library in my AVR folder.
« Last Edit: November 11, 2012, 10:55:24 PM by Mastermime »

Offline Admin

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Re: Help With Basic Directional Coding
« Reply #3 on: November 12, 2012, 09:15:56 AM »
Carefully go over the Getting Started instructions once more. 99% of those who have this problem missed a step.

And if still no luck, post the error messages you are getting.


btw, in your code, what is the difference between 'stop_stupid_robot();' and 'stop_dumb_robot();' ? ;)

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #4 on: November 12, 2012, 09:39:09 AM »
Quote
stop_stupid_robot();' and 'stop_dumb_robot();

lol you caught me.  ;D

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #5 on: November 12, 2012, 11:41:04 AM »
I just looked at the 'Getting Started' tutorial again and I noticed I clicked 'Build' instead of 'Rebuild all'.  Could that have been my issue?  Or did I name my files incorrectly?

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Re: Help With Basic Directional Coding
« Reply #6 on: November 12, 2012, 12:53:19 PM »
I just looked at the 'Getting Started' tutorial again and I noticed I clicked 'Build' instead of 'Rebuild all'.  Could that have been my issue?
nope

Quote
Or did I name my files incorrectly?
possibly :P

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #7 on: November 12, 2012, 05:11:26 PM »
Ok I don't know what's going on.  I tried tinkering with it, but got nowhere.  I know it has something to do with the solutions explorer, but I just don't know what.  This is starting to get frustrating  >:(

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Re: Help With Basic Directional Coding
« Reply #8 on: November 12, 2012, 10:08:37 PM »
Looking at your screenshot, it's dead obvious you didn't follow the Getting Started instructions. :P

Let's start at the top . . . you have a folder named ERA, which has a folder named ERA inside of it, then it appears you put WebbotLib in that, and then your main file is called actuators.h - but it should be a .c file named ERA.c.

Next, variables such as 'left' and 'right' aren't defined, telling me that you didn't use Project Designer.

Start over, and follow the instructions *exactly* as written. Then compile the code without making any modifications to verify you did it right. :P

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #9 on: November 13, 2012, 06:51:36 PM »
Sorry about that Admin.  I thought that I could just use your files and edit them a bit to my specs.  I guess not.

Anyways, I went through the getting started process again and received this error
Quote
make: *** No rule to make target `../lib/libWebbot-ATmega640.a', needed by `ERA3.elf'.  Stop.
I've searched the error and found a couple of foggy solutions, but none that are clear.. I checked the names of all my files and everything appears to be correct, so obviously it has to with the makefile, which is attached so you guys can read it.
« Last Edit: November 18, 2012, 01:12:40 PM by Mastermime »

Offline MastermimeTopic starter

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Re: Help With Basic Directional Coding
« Reply #10 on: November 18, 2012, 01:44:40 PM »
I solved my issue.  The problem was that initially I dragged the files instead of extracting them out the zip file

 


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