fehlfunktion bei code

[Roboman93]

ich habe in den beispielcode move_05 ein paar variablen eingebaut, die zählen sollen, wie viele kollisionen es geb und eine funktion, die die deren wert an den bootlader sendet! jetzt bekomme ich die fehlermeldung:
invalid lvalue in increment! in der zeile betreffenden zeile steht aber nur: "e++;". und in der zweiten meldung steht: "error: expected declaration specifiers before 'while'". in der betreffenden zeile steht:

uint16_t zahler(void)
while (true)

kann mir da bitte jemand helfen? danke schon mal voraus

roboman

[rp6flash]

ich denke es wär sinnvoll den ganzen text zu posten. vll ist es irgentwie im zusammenhang.

auf jedenfall gint es in diesen 2 (3) zeilen keine fehler!

Tipp: vll ist es die Variable (uint16_t) versuch mal einfach ne andere.
vll bringts ja was

gruß

[radbruch]

Hallo,

sind etwas "dürftig" deine Codeschnippsel.

uint16_t zahler(void) definiert so eine Funktion und müsste wenigstens noch ein {[Körper]} besitzen, uint16_t zahler; würde ein Variable deklarieren.

Datentyp von e?

Gruß

mic

[Roboman93]

was meinste mit körper? e ist eine dec-zahl

[radbruch]

Hallo

Da aus deinen Schnippseln nicht erkennbar ist was "zahler" sein soll, gehe ich mal von zwei Möglichkeiten aus:

Eine Funktion mit 16-Bit Rückgabewert:

uint16_t zahler(void)
{
// Körper der Funktion
return(0);
}

oder ein vorzeichenloser 16-Bit-Wert:

uint16_t zahler;

Autoincrement/-decrement geht nicht mit speziellen Datentypen. Da es wohl ein Geheimniss ist, wie der Datentyp "dec" aussieht, kann ich da nicht helfen. Ansonsten wäre die Deklaration von e hilfreich.

Gruß

mic

[Roboman93]

ich sende einfach mal den ganzen text und die fehlermeldung:




Uncommented Version of RP6Base_Move_05.c!
// written by Dominik S. Herwald
// ------------------------------------------------------------------------------------------


#include "RP6RobotBaseLib.h"


#define IDLE 0

typedef struct {
uint8_t speed_left;
uint8_t speed_right;
unsigned dir:2;
unsigned move:1;
unsigned rotate:1;
uint16_t move_value;
uint8_t state;
} behaviour_command_t;

behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};


#define CRUISE_SPEED_FWD 100

#define MOVE_FORWARDS 1
behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,
false, false, 0, MOVE_FORWARDS};


uint32_t behaviour_cruise(void)
{
return 0;
}



#define ESCAPE_SPEED_BWD 100
#define ESCAPE_SPEED_ROTATE 60

#define ESCAPE_FRONT 1
#define ESCAPE_FRONT_WAIT 2
#define ESCAPE_LEFT 3
#define ESCAPE_LEFT_WAIT 4
#define ESCAPE_RIGHT 5
#define ESCAPE_RIGHT_WAIT 6
#define ESCAPE_WAIT_END 7
behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};

#define a 0
#define b 0
#define c 0


uint32_t behaviour_escape(void)
{
static uint8_t bump_count = 0;

switch(escape.state)
{
case IDLE:
break;
case ESCAPE_FRONT:
c++; escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 220;
else
escape.move_value = 160;
escape.state = ESCAPE_FRONT_WAIT;
bump_count+=2;
break;
case ESCAPE_FRONT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
if(bump_count > 3)
{
escape.move_value = 100;
escape.dir = RIGHT;
bump_count = 0;
}
else
{
escape.dir = LEFT;
escape.move_value = 70;
}
escape.rotate = true;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_LEFT:
b++;
escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 190;
else
escape.move_value = 150;
escape.state = ESCAPE_LEFT_WAIT;
bump_count++;
break;
case ESCAPE_LEFT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = LEFT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 110;
bump_count = 0;
}
else
escape.move_value = 80;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_RIGHT:
a++;
escape.speed_left = ESCAPE_SPEED_BWD ;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 190;
else
escape.move_value = 150;
escape.state = ESCAPE_RIGHT_WAIT;
bump_count++;
break;
case ESCAPE_RIGHT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = RIGHT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 110;
bump_count = 0;
}
else
escape.move_value = 80;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_WAIT_END:
if(!(escape.move || escape.rotate))
escape.state = IDLE;
break;
}
return 0;
}


void bumpersStateChanged(void)
{
if(bumper_left && bumper_right)
{
escape.state = ESCAPE_FRONT;

}
else if(bumper_left)

{

if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_LEFT;

}
else if(bumper_right)

{

if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_RIGHT;
}
}


#define AVOID_SPEED_L_ARC_LEFT 30
#define AVOID_SPEED_L_ARC_RIGHT 90
#define AVOID_SPEED_R_ARC_LEFT 90
#define AVOID_SPEED_R_ARC_RIGHT 30

#define AVOID_SPEED_ROTATE 60

#define AVOID_OBSTACLE_RIGHT 1
#define AVOID_OBSTACLE_LEFT 2
#define AVOID_OBSTACLE_MIDDLE 3
#define AVOID_OBSTACLE_MIDDLE_WAIT 4
#define AVOID_END 5

behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};

#define d 0
#define e 0
#define f 0

uint32_t behaviour_avoid(void)
{
static uint8_t last_obstacle = LEFT;
static uint8_t obstacle_counter = 0;
switch(avoid.state)
{
case IDLE:
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;

else if(obstacle_left)
avoid.state = AVOID_OBSTACLE_LEFT;

else if(obstacle_right)
avoid.state = AVOID_OBSTACLE_RIGHT;

break;
case AVOID_OBSTACLE_MIDDLE:
f++;
avoid.dir = last_obstacle;
avoid.speed_left = AVOID_SPEED_ROTATE;
avoid.speed_right = AVOID_SPEED_ROTATE;
if(!(obstacle_left || obstacle_right))
{
if(obstacle_counter > 3)
{
obstacle_counter = 0;
setStopwatch4(0);
}
else
setStopwatch4(400);
startStopwatch4();
avoid.state = AVOID_END;
}
break;
case AVOID_OBSTACLE_RIGHT:
d++;
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_right)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = RIGHT;
obstacle_counter++;
break;
case AVOID_OBSTACLE_LEFT:
e++;
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_left)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = LEFT;
obstacle_counter++;
break;
case AVOID_END:
if(getStopwatch4() > 1000)
{
stopStopwatch4();
setStopwatch4(0);
avoid.state = IDLE;
}
break;
}
}

void acsStateChanged(void)
{
if(obstacle_left && obstacle_right)
statusLEDs.byte = 0b100100;
else
statusLEDs.byte = 0b000000;
statusLEDs.LED5 = obstacle_left;
statusLEDs.LED4 = (!obstacle_left);
statusLEDs.LED2 = obstacle_right;
statusLEDs.LED1 = (!obstacle_right);
updateStatusLEDs();
}

void moveCommand(behaviour_command_t * cmd)
{
if(cmd->move_value > 0)
{
if(cmd->rotate)
rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
else if(cmd->move)
move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
cmd->move_value = 0;
}
else if(!(cmd->move || cmd->rotate))
{
changeDirection(cmd->dir);
moveAtSpeed(cmd->speed_left,cmd->speed_right);
}
else if(isMovementComplete())
{
cmd->rotate = false;
cmd->move = false;
}
}

void behaviourController(void)
{

behaviour_cruise();
behaviour_avoid();
behaviour_escape();

if(escape.state != IDLE)
moveCommand(&escape);
else if(avoid.state != IDLE)
moveCommand(&avoid);
else if(cruise.state != IDLE)
moveCommand(&cruise);
else
moveCommand(&STOP);
}

uint16_t zahler(void)
while (true){
writeString("Hindernis Rechts:");
writeInteger(d, DEC);
writeString("\n");
writeString("Hindernis Links:");
writeInteger(e, DEC);
writeString("\n");
writeString("Hindernis Mitte:");
writeInteger(f, DEC);
writeString("\n");
writeString("Kollision Rechts:");
writeInteger(a, DEC);
writeString("\n");
writeString("Kollision Links:");
writeInteger(b, DEC);
writeString("\n");
writeString("Kollision Mitte:");
writeInteger(c, DEC);
writeString("\n");
mSleep(10000);





int main(void)
{
initRobotBase();
setLEDs(0b111111);
mSleep(2500);
setLEDs(0b100100);

BUMPERS_setStateChangedHandler(bumpersStateChanged );

ACS_setStateChangedHandler(acsStateChanged);

powerON();
setACSPwrLow();

while(true)
{
behaviourController();
task_RP6System();
zahler();
}
return 0;
}


alles rote wurde mit der fehlermeldung kommentiert:error: invalid lvalue in increment



ich hoffe, ihr findet einen fehler!

vielen dank im voraus!

roboman

[rp6flash]

was er damit sagen will ist das du das "()" weglassen musst wenn du eine einfache variable haben willst

es reicht mit uint16_t zaehler;

ohne die klammern

[rp6flash]

also erstmal: dreckig geloffen! jetz muss ich nochmal nen post machen
naja dummer zufall eben

zu grün: du hast die "Variablen" mit define erstellt da kann man meiner meinung nach nicht inkrementieren.

zu rot: siehe oben bzw. lass dass "(void)" weg

[Roboman93]

und was muss ich machen, um sie inkrementieren zu können?

[rp6flash]

mach die "Variablen" einfach als echte variablen: int16_t zum beispiel

wenn dir des zuviel platz braucht kannst du in der documentation vom rp6 noch weitere typen rausgreifen. inkrementieren kannst du einfach mit a++,b++ ..... wie gehabt:

Uncommented Version of RP6Base_Move_05.c!
// written by Dominik S. Herwald
// ------------------------------------------------------------------------------------------


#include "RP6RobotBaseLib.h"


#define IDLE 0

typedef struct {
uint8_t speed_left;
uint8_t speed_right;
unsigned dir:2;
unsigned move:1;
unsigned rotate:1;
uint16_t move_value;
uint8_t state;
} behaviour_command_t;

behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};


#define CRUISE_SPEED_FWD 100

#define MOVE_FORWARDS 1
behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,
false, false, 0, MOVE_FORWARDS};


uint32_t behaviour_cruise(void)
{
return 0;
}



#define ESCAPE_SPEED_BWD 100
#define ESCAPE_SPEED_ROTATE 60

#define ESCAPE_FRONT 1
#define ESCAPE_FRONT_WAIT 2
#define ESCAPE_LEFT 3
#define ESCAPE_LEFT_WAIT 4
#define ESCAPE_RIGHT 5
#define ESCAPE_RIGHT_WAIT 6
#define ESCAPE_WAIT_END 7
behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};

int16_t a = 0;
int16_t b = 0;
int16_t c = 0;


uint32_t behaviour_escape(void)
{
static uint8_t bump_count = 0;

switch(escape.state)
{
case IDLE:
break;
case ESCAPE_FRONT:
c++; escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 220;
else
escape.move_value = 160;
escape.state = ESCAPE_FRONT_WAIT;
bump_count+=2;
break;
case ESCAPE_FRONT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
if(bump_count > 3)
{
escape.move_value = 100;
escape.dir = RIGHT;
bump_count = 0;
}
else
{
escape.dir = LEFT;
escape.move_value = 70;
}
escape.rotate = true;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_LEFT:
b++;
escape.speed_left = ESCAPE_SPEED_BWD;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 190;
else
escape.move_value = 150;
escape.state = ESCAPE_LEFT_WAIT;
bump_count++;
break;
case ESCAPE_LEFT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = LEFT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 110;
bump_count = 0;
}
else
escape.move_value = 80;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_RIGHT:
a++;
escape.speed_left = ESCAPE_SPEED_BWD ;
escape.dir = BWD;
escape.move = true;
if(bump_count > 3)
escape.move_value = 190;
else
escape.move_value = 150;
escape.state = ESCAPE_RIGHT_WAIT;
bump_count++;
break;
case ESCAPE_RIGHT_WAIT:
if(!escape.move)
{
escape.speed_left = ESCAPE_SPEED_ROTATE;
escape.dir = RIGHT;
escape.rotate = true;
if(bump_count > 3)
{
escape.move_value = 110;
bump_count = 0;
}
else
escape.move_value = 80;
escape.state = ESCAPE_WAIT_END;
}
break;
case ESCAPE_WAIT_END:
if(!(escape.move || escape.rotate))
escape.state = IDLE;
break;
}
return 0;
}


void bumpersStateChanged(void)
{
if(bumper_left && bumper_right)
{
escape.state = ESCAPE_FRONT;

}
else if(bumper_left)

{

if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_LEFT;

}
else if(bumper_right)

{

if(escape.state != ESCAPE_FRONT_WAIT)
escape.state = ESCAPE_RIGHT;
}
}


#define AVOID_SPEED_L_ARC_LEFT 30
#define AVOID_SPEED_L_ARC_RIGHT 90
#define AVOID_SPEED_R_ARC_LEFT 90
#define AVOID_SPEED_R_ARC_RIGHT 30

#define AVOID_SPEED_ROTATE 60

#define AVOID_OBSTACLE_RIGHT 1
#define AVOID_OBSTACLE_LEFT 2
#define AVOID_OBSTACLE_MIDDLE 3
#define AVOID_OBSTACLE_MIDDLE_WAIT 4
#define AVOID_END 5

behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};

#define d 0
#define e 0
#define f 0

uint32_t behaviour_avoid(void)
{
static uint8_t last_obstacle = LEFT;
static uint8_t obstacle_counter = 0;
switch(avoid.state)
{
case IDLE:
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;

else if(obstacle_left)
avoid.state = AVOID_OBSTACLE_LEFT;

else if(obstacle_right)
avoid.state = AVOID_OBSTACLE_RIGHT;

break;
case AVOID_OBSTACLE_MIDDLE:
f++;
avoid.dir = last_obstacle;
avoid.speed_left = AVOID_SPEED_ROTATE;
avoid.speed_right = AVOID_SPEED_ROTATE;
if(!(obstacle_left || obstacle_right))
{
if(obstacle_counter > 3)
{
obstacle_counter = 0;
setStopwatch4(0);
}
else
setStopwatch4(400);
startStopwatch4();
avoid.state = AVOID_END;
}
break;
case AVOID_OBSTACLE_RIGHT:
d++;
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_right)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = RIGHT;
obstacle_counter++;
break;
case AVOID_OBSTACLE_LEFT:
e++;
avoid.dir = FWD;
avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;
avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;
if(obstacle_right && obstacle_left)
avoid.state = AVOID_OBSTACLE_MIDDLE;
if(!obstacle_left)
{
setStopwatch4(500);
startStopwatch4();
avoid.state = AVOID_END;
}
last_obstacle = LEFT;
obstacle_counter++;
break;
case AVOID_END:
if(getStopwatch4() > 1000)
{
stopStopwatch4();
setStopwatch4(0);
avoid.state = IDLE;
}
break;
}
}

void acsStateChanged(void)
{
if(obstacle_left && obstacle_right)
statusLEDs.byte = 0b100100;
else
statusLEDs.byte = 0b000000;
statusLEDs.LED5 = obstacle_left;
statusLEDs.LED4 = (!obstacle_left);
statusLEDs.LED2 = obstacle_right;
statusLEDs.LED1 = (!obstacle_right);
updateStatusLEDs();
}

void moveCommand(behaviour_command_t * cmd)
{
if(cmd->move_value > 0)
{
if(cmd->rotate)
rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
else if(cmd->move)
move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
cmd->move_value = 0;
}
else if(!(cmd->move || cmd->rotate))
{
changeDirection(cmd->dir);
moveAtSpeed(cmd->speed_left,cmd->speed_right);
}
else if(isMovementComplete())
{
cmd->rotate = false;
cmd->move = false;
}
}

void behaviourController(void)
{

behaviour_cruise();
behaviour_avoid();
behaviour_escape();

if(escape.state != IDLE)
moveCommand(&escape);
else if(avoid.state != IDLE)
moveCommand(&avoid);
else if(cruise.state != IDLE)
moveCommand(&cruise);
else
moveCommand(&STOP);
}

uint16_t zahler
while (true){
writeString("Hindernis Rechts:");
writeInteger(d, DEC);
writeString("\n");
writeString("Hindernis Links:");
writeInteger(e, DEC);
writeString("\n");
writeString("Hindernis Mitte:");
writeInteger(f, DEC);
writeString("\n");
writeString("Kollision Rechts:");
writeInteger(a, DEC);
writeString("\n");
writeString("Kollision Links:");
writeInteger(b, DEC);
writeString("\n");
writeString("Kollision Mitte:");
writeInteger(c, DEC);
writeString("\n");
mSleep(10000);





int main(void)
{
initRobotBase();
setLEDs(0b111111);
mSleep(2500);
setLEDs(0b100100);

BUMPERS_setStateChangedHandler(bumpersStateChanged);

ACS_setStateChangedHandler(acsStateChanged);

powerON();
setACSPwrLow();

while(true)
{
behaviourController();
task_RP6System();
zahler();
}
return 0;
}

bitte beachte das die zeile

uint16_t zaehler;

nur die variable zaehler initialisiert, d.h. rp6 weis das die variable existiert!!