Programierhilfe für linienverfolgung

**Chris90** · 18.04.2007, 14:44

Hey
ich habe folgendes Problem, nämlich das wenn ich das linienfolgeprogramm:

Code:

// 
// 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/ze...ag.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/ze...ag.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  0xdF // 0xFF 
#define SPEED1 0xbF // 0xFF 
#define SPEED2 0x00 

#define THRESHOLD  1100 

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                     // 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 
}

compilieren will kommt folgender error:

> "C:\Asuro_src\Progs\Drei\Test-all.bat"

C:\Asuro_src\Progs\Drei>make all
set -e; avr-gcc -MM -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=asuro.lst asuro.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > asuro.d; \
[ -s asuro.d ] || rm -f asuro.d
set -e; avr-gcc -MM -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=Linie.lst Linie.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > Linie.d; \
[ -s Linie.d ] || rm -f Linie.d
-------- begin --------
avr-gcc --version
avr-gcc (GCC) 4.1.1 (WinAVR 20070122)
Copyright (C) 2006 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

avr-gcc -c -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=Linie.lst Linie.c -o Linie.o
In file included from ./asuro.h:34,
from Linie.c:25:
c:/winavr/bin/../avr/include/avr/signal.h:36:2: warning: #warning "This header file is obsolete. Use <avr/interrupt.h>."
Linie.c: In function 'main':
Linie.c:58: error: 'LEFT' undeclared (first use in this function)
Linie.c:58: error: (Each undeclared identifier is reported only once
Linie.c:58: error: for each function it appears in.)
Linie.c:58: error: 'RIGHT' undeclared (first use in this function)
Linie.c: In function 'RaceStart':
Linie.c:114: warning: implicit declaration of function 'Msleep'
make: *** [Linie.o] Error 1

> Process Exit Code: 2

was mach ich falsch.
Ach jaich hab mir die lib 2.7 installiert(*.exe) kann es vieleicht daran liegen das ich deswegen noch was einstellen muss?

**m.a.r.v.i.n** · 18.04.2007, 16:12

Hi,

hast du die Lib in das vorgeschlage Verzeichnis installiert (c:\ASURO_SRC\AsuroLib) oder woanders?
Das Lib Verzeichnis und das Examples Verzeichnis müssen in der gleichen Verzeichnisebene stehen wie dein Progs Verzeichnis, sonst klappt es mit den Makefiles nicht.

Scheinbar steht in dem Verzeichnis Progs\Drei noch eine alte asuro.h evtl. auch noch eine asuro.c. Die müssen beide weg.
Auch solltest du statt in eckigen Klammern

Code:

#include "asuro.h"

schreiben.

Im Makefile für dein Projekt muß dann lediglich noch der Targetname auf linie umbenannt werden. Kopiere dazu z.B. das Makefile aus dem Examples\FirstTry in den Progs\Drei Ordner.

Code: