Hallo bin gerade dabei die Beispielprogramme, für die M32 durchzumachen.
Jetzt will ich das RP6Control_09_Move etwas abändern, dazu kopiere ich mir den Quellcode in AVR-Studio4 rein.
Bevor ich etwas ändere versuche ich erst das Originalprogramm zu kompilieren, dass funktioniert bei diesem leider nicht.
Code:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: I2C Master 9 - Lib2
* Author(s): Dominik S. Herwald
* ****************************************************************************
* Description:
* Now we add some movement functions to the new Library. We use them
* to make the Robot move just like in one of the RP6Base Example programs.
* It moves about 30cm forwards, turns about 180°, moves 30cm, turns 180°
* and so on.
*
* ############################################################################
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
*
* ATTENTION: THE ROBOT MOVES AROUND IN THIS EXAMPLE! PLEASE PROVIDE ABOUT
* 2m x 2m OR MORE FREE SPACE FOR THE ROBOT!
*
* >>> DO NOT FORGET TO REMOVE THE FLAT CABLE CONNECTION TO THE USB INTERFACE
* BEFORE YOU START THIS PROGRAM BY PRESSING THE START BUTTON ON THE ROBOT!
*
* #+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+#+
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6ControlLib.h" // The RP6 Control Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // I2C Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6 Control I2C Master library":
#include "RP6Control_I2CMasterLib.h"
/*****************************************************************************/
/**
* Timed Watchdog display only - the other heartbeat function
* does not work in this example as we use blocked moving functions here.
*/
void watchDogRequest(void)
{
static uint8_t heartbeat2 = false;
if(heartbeat2)
{
clearPosLCD(0, 14, 1);
heartbeat2 = false;
}
else
{
setCursorPosLCD(0, 14);
writeStringLCD_P("#");
heartbeat2 = true;
}
}
/*****************************************************************************/
// I2C Requests:
/**
* The I2C_requestedDataReady Event Handler
*/
void I2C_requestedDataReady(uint8_t dataRequestID)
{
checkRP6Status(dataRequestID);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P("\nI2C ERROR - TWI STATE: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6Control();
initLCD();
writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n");
writeString_P("\nMoving...\n");
// ---------------------------------------
WDT_setRequestHandler(watchDogRequest);
// ---------------------------------------
// Init TWI Interface:
I2CTWI_initMaster(100);
I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
sound(180,80,25);
sound(220,80,25);
setLEDs(0b1111);
showScreenLCD("################", "################");
mSleep(500);
showScreenLCD("I2C-Master", "Movement...");
mSleep(1000);
setLEDs(0b0000);
// ---------------------------------------
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
while(true)
{
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
move(60, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b1000);
showScreenLCD("ROTATE", "LEFT");
rotate(50, LEFT, 180, BLOCKING);
setLEDs(0b1001);
showScreenLCD("MOVE", "FWD");
move(60, FWD, DIST_MM(300), BLOCKING);
setLEDs(0b0001);
showScreenLCD("ROTATE", "RIGHT");
rotate(50, RIGHT, 180, BLOCKING);
}
return 0;
}
#
Da kommen diese Fehlermeldungen:
../Move_M32_29_12_2010.c: In function 'main':
../Move_M32_29_12_2010.c:130: warning: implicit declaration of function 'move'
../Move_M32_29_12_2010.c:130: error: 'BLOCKING' undeclared (first use in this function)
../Move_M32_29_12_2010.c:130: error: (Each undeclared identifier is reported only once
../Move_M32_29_12_2010.c:130: error: for each function it appears in.)
../Move_M32_29_12_2010.c:133: warning: implicit declaration of function 'rotate'
make: *** [Move_M32_29_12_2010.o] Error 1
Build failed with 3 errors and 2 warnings...
Als Source Files habe ich die:
RP6ControlLib.c
RP6UART.c
RP6Control_I2CMasterLib.c
RP6I2CmasterTWI.c
und als Header Files die:
RP6ControlLib.h
RP6UART.h
RP6Control_I2CMasterLib.h
RP6I2CmasterTWI.h
eingebunden.
Kann mir jemand helfen?
Danke
roy-sam
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