I've been trying for weeks, now, to get my robot running the stampy code using a sharp IR, on my Axon2
I've already tried all the "pre-compiled" .hex files I can find with no success.
So I am trying to compile the individual files without using the included makefiles.
I get these errors and warnings
Build started 20.9.2010 at 17:48:23
avr-gcc -I"C:\Robotics\AXON2\My_New_Code\..\WebBtLib" -I"C:\Robotics\AXON2\My_New_Code\."
-mmcu=atmega640 -Wall -gdwarf-2 -std=gnu99 -DF_CPU=16000000UL -Os -funsigned-char -
funsigned-bitfields -fpack-struct -fshort-enums -MD -MP -MT Axon.o -MF dep/Axon.o.
d -c ../Axon.c
In file included from ../SoR_Utils.h:25,
from ../Axon.c:16:
../global.h:37:1: warning: "F_CPU" redefined
<command-line>: warning: this is the location of the previous definition
avr-gcc -I"C:\Robotics\AXON2\My_New_Code\..\WebBtLib" -I"C:\Robotics\AXON2\My_New_Code\."
-mmcu=atmega640 -Wall -gdwarf-2 -std=gnu99 -DF_CPU=16000000UL -Os -funsigned-char -
funsigned-bitfields -fpack-struct -fshort-enums -MD -MP -MT control.o -MF dep/cont
rol.o.d -c ../control.c
../control.c: In function 'autocalibrate':
../control.c:49: warning: implicit declaration of function 'a2dConvert8bit'
../control.c: In function 'scan':
../control.c:80: warning: implicit declaration of function 'servo_scan'
../control.c: In function 'control':
../control.c:110: warning: implicit declaration of function 'rprintf'
../control.c:113: error: called object 'wheel_left' is not a function
../control.c:114: error: called object 'wheel_right' is not a function
../control.c:115: warning: implicit declaration of function 'delay_ms'
make: *** [control.o] Error 1
Build failed with 2 errors and 6 warnings...
And this is my control.c file
/****************************************************************************
*
* Copyright (c) 2008 [url=http://www.societyofrobots.com]www.societyofrobots.com[/url]
* (please link back if you use this code!)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* Alternatively, this software may be distributed under the terms of BSD
* license.
*
****************************************************************************/
//Add your code here
//global variables
int sharp_ir=0;//Here, we declare the variable sharp_ir and setting it's inital value to be 0.
int scan_thresh=50;//threshold value of scanning sensor
int scan_angle=1000;//position of scanner, in units of servo command
int max_scan_angle=1000;//maximum position scanner can rotate to (57)
long int wheel_left=600;//Here, we declare the variable wheel_left and setting it's inital value to be 600.
long int wheel_right=600;//Here, we declare the variable wheel_right and setting it's inital value to be 600.
void robot_right(void)//This function takes no parameters and returns no value hence the 2 voids.
{
wheel_left=500;
wheel_right=500;
}
void robot_left(void)//This function takes no parameters and returns no value hence the 2 voids.
{
wheel_left=800;
wheel_right=800;
}
void robot_straight(void)//This function takes no parameters and returns no value hence the 2 voids.
{
wheel_left=500;
wheel_right=800;
}
void robot_reverse(void)//This function takes no parameters and returns no value hence the 2 voids.
{
wheel_left=800;
wheel_right=500;
}
void autocalibrate(void)//rather than using a predefined scan threshold, you can use this so that the first reading the sharp_ir takes is set as the threshold.This function takes no parameters and returns no value hence the 2 voids.
{
scan_thresh=a2dConvert8bit(3);//sensor reading
}
void scan(void)//this function makes the sensor center on the left edge of an object.This function takes no parameters and returns no value hence the 2 voids.
{
//lower (-) goes left
//higher (+) goes right
//1000 far right, 700 straight, 300 far left (until it jams)
/*psuedocode
object is detected
scan right object detected
object not detected
scan left until object detected*/
sharp_ir=a2dConvert8bit(3);//read the analogue port 3 and it will be referred to as sharp_ir
if (sharp_ir > scan_thresh)//object detected
{
if (scan_angle>300) //overflow protection
scan_angle-=20;//scan left
}
else //object not detected
{
if (scan_angle<=max_scan_angle) //maximum servo angle
scan_angle+=20; //scan right
else
scan_angle=830;
}
//servo scan code
servo_scan(scan_angle);//this is where I am telling the code that when I say scan_angle, I really mean the servo that I defined in hardware.c
}
void control(void)//this is where I am defining my control function to be called by stampy_v2.c.This function takes no parameters and returns no value hence the 2 voids.
{
autocalibrate();
while(1)//This is what's called a while loop. If there is a 1 in between the parentheses it means that what is in the while loop will repeat forever.
{
scan();
//object on left and not too close
if(scan_angle < 600 && sharp_ir < 150)
{
robot_left();
}
//object on right and not too close
else if(scan_angle > 700 && sharp_ir < 150)
{
robot_right();
}
//object is centered and not too close
else if(sharp_ir < 150 && sharp_ir < 150)
{
robot_straight();
}
//object too close
else
{
robot_reverse();
}
//print data through usb to be read from hyperterminal
rprintf("Sharp_IR=%d, IR_Servo=%d%d, L_wheel=%d%d, R_wheel=%d%d\r\n",sharp_ir, scan_angle, wheel_left, wheel_right);
//these 2 things tell the code that wheel_left and wheel_right are the two servos that I defined in hardware.c
wheel_left(wheel_left);
wheel_right(wheel_right);
delay_ms(20);
}
}
Can someone please help?
I will add that I am very much an apprentice newbie.
