ich habe es in einem verzeichnis ausgepackt, AVR studio startet brav, ich bin mir aber nicht sicher welches "example_*.c" file ich durch die eigene *.c datei ersetzen soll?
habe nun als DAU folgendes gemacht:
projektdatei umbenannt in "linie_hermann_sw_1.aps"
verzeichnis umbenannt in "linie_hermann_sw_1"
ursprüngliche datei "linie_hermann_sw.c" reinkopiert und in "linie_hermann_sw_1.c" umbenannt
//
// Program used by "myIrAsuro" in qualifying for competition
// "Parallel Slalom" of RobotChallenge 2007 in Vienna (24th march):
// http://www.robotchallenge.at
//
// Time 10.1s for 354cm, that is speed 35.05cm/s (best was 60.00 cm/s).
//
// myIrAsuro has reduction of 1:12.5 (Asuro standard is 1:25), see:
// https://www.roboternetz.de/phpBB2/zeigebeitrag.php?t=28876
//
// The entries 0xFF for both SPEED values below will work on
// a standard Asuro with speed < 0.5m/s.
//
// The value for THRESHOLD must be changed if no IR-FrontLED
// with white shield is used, see:
// https://www.roboternetz.de/phpBB2/zeigebeitrag.php?t=29109
//
//
// Robot will have to be placed on the line for starting!
//
// After starting the StatusLED of Asuro will blink [ready].
// After (any) switch is pressed both BackLED's turn on [steady].
// Releasing the switch will start the Robot [go].
//
#include <asuro.h>
#define OFF_LEFT -1
#define ON_LINE 0
#define OFF_RIGHT +1
#define SPEED 0xbF // 0xFF //0xdF
#define SPEED1 0xaF // 0xFF //0xbF
#define SPEED2 0x00
#define THRESHOLD 1600
void RaceStart(void); // blink until any switch is pressed,
// then wait until switch is released
int main(void)
{
unsigned int sum,data[2];
int position = ON_LINE;
Init();
RaceStart();
FrontLED(ON);
MotorDir(FWD,FWD);
MotorSpeed(SPEED,SPEED);
while (1) // state machine: position on/off the line
{
LineData(data);
sum = data[LEFT] + data[RIGHT];
if (sum>=THRESHOLD) // not on the line
{
if (position==ON_LINE) // switch state if previously on the line
{
position = (data[LEFT]<data[RIGHT]) ? OFF_RIGHT : OFF_LEFT;
BackLED( (position==OFF_LEFT)?ON:OFF, (position==OFF_RIGHT)?ON:OFF );
}
}
else if (sum<THRESHOLD) // on the line
{
if (position!=ON_LINE) // switch state if previously not on the line
{
position = ON_LINE;
BackLED(OFF,OFF);
}
}
if (position==ON_LINE) { MotorSpeed(SPEED,SPEED); } // full FWD
else if (position==OFF_RIGHT) { MotorSpeed(SPEED2,SPEED1); } // turn left
else if (position==OFF_LEFT) { MotorSpeed(SPEED1,SPEED2); } // turn right
}
while (1); // code unreachable
return 0;
}
void RaceStart(void) // blink until any switch is pressed,
{ // then wait until switch is released
uint8_t t1, t2;
unsigned int col=OFF;
while (1) // blinking StatusLED until any switch is pressed
{
t1 = PollSwitch();
t2 = PollSwitch();
if (t1==t2)
{
if (t1)
{
break;
}
else
{
col ^= GREEN;
StatusLED(col);
}
}
Msleep(50);
}
StatusLED(OFF); // turn off StatusLED and ...
BackLED(ON,ON); // ... turn on both BackLED's
while (1) // wait until switch is released
{
t1 = PollSwitch();
t2 = PollSwitch();
if (t1==t2)
{
if (!t1)
{
break;
}
}
Msleep(50);
}
BackLED(OFF,OFF); // turn off BackLED's indication start of race
}
projekteinstellungen ergänzt
- frequenz 8000000, -Os
abgespeichert.
Beim kompilieren werden erstmal alle quelldateien von "asuro.c" bis zu "linie_hermann_sw_1.c" mit grünem punkt abgehakt.
dann komt folgendes:
../linie_herman_sw_1.c:47: warning: implicit declaration of function `Init'
../linie_herman_sw_1.c:51: warning: implicit declaration of function `FrontLED'
../linie_herman_sw_1.c:51: error: `ON' undeclared (first use in this function)
../linie_herman_sw_1.c:51: error: (Each undeclared identifier is reported only once
../linie_herman_sw_1.c:51: error: for each function it appears in.)
../linie_herman_sw_1.c:52: warning: implicit declaration of function `MotorDir'
../linie_herman_sw_1.c:52: error: `FWD' undeclared (first use in this function)
../linie_herman_sw_1.c:53: warning: implicit declaration of function `MotorSpeed'
../linie_herman_sw_1.c:57: warning: implicit declaration of function `LineData'
../linie_herman_sw_1.c:58: error: `LEFT' undeclared (first use in this function)
../linie_herman_sw_1.c:58: error: `RIGHT' undeclared (first use in this function)
../linie_herman_sw_1.c:67: warning: implicit declaration of function `BackLED'
../linie_herman_sw_1.c:67: error: `OFF' undeclared (first use in this function)
../linie_herman_sw_1.c: In function `RaceStart':
../linie_herman_sw_1.c:95: error: `uint8_t' undeclared (first use in this function)
../linie_herman_sw_1.c:95: error: syntax error before "t1"
../linie_herman_sw_1.c:96: error: `OFF' undeclared (first use in this function)
../linie_herman_sw_1.c:100: error: `t1' undeclared (first use in this function)
../linie_herman_sw_1.c:100: warning: implicit declaration of function `PollSwitch'
../linie_herman_sw_1.c:101: error: `t2' undeclared (first use in this function)
../linie_herman_sw_1.c:110: error: `GREEN' undeclared (first use in this function)
../linie_herman_sw_1.c:111: warning: implicit declaration of function `StatusLED'
../linie_herman_sw_1.c:114: warning: implicit declaration of function `Msleep'
../linie_herman_sw_1.c:118: error: `ON' undeclared (first use in this function)
make: *** [linie_herman_sw_1.o] Error 1
Build failed with 14 errors and 9 warnings...
ich dachte es war so gedacht, dass ich mit der RC3 und diesem filepack alle alten *.c dateien neu kompilieren kann? Habe ich da was falsch verstanden? Oder anderen fehler gemacht?