hi Sisor,
ok, am anfang war ein buchstabe aber mittendrinn eine leerstelle, was evtl. auch die ursache gewesen sein könnte, oder? Jetzt heisst das file "obstacle_avoidance.ino". Ist von sainsmart, evtl. zu kompliziert um damit anzufangen? Ich habe teile bei sainsmart bestellt, da möchte ich die testen, wenn sie da sind 
Code:
const int EchoPin = 2; // Ultrasonic signal input
const int TrigPin = 3; // Ultrasonic signal output
const int leftmotorpin1 = 8; //signal output of Dc motor driven plate
const int leftmotorpin2 = 9;
const int rightmotorpin1 = 6;
const int rightmotorpin2 = 7;
const int HeadServopin = 10; // signal input of headservo
const int Sharppin = 11; // infrared output
const int maxStart = 800;
//run dec time
// Variables
int isStart = maxStart;
int currDist = 0;
//start
// distance
boolean running = false;
void setup() {
Serial.begin(9600); // Serial begin texting
//signal input port
pinMode(EchoPin, INPUT);
pinMode(Sharppin, INPUT);
//signal output port
for (int pinindex = 3; pinindex < 11; pinindex++) {
pinMode(pinindex, OUTPUT); // set pins 3 to 10 as outputs
}
// headservo interface
headservo.attach(HeadServopin);
//start buffer movable head
headservo.write(70);
delay(2000);
headservo.write(20);
delay(2000);
}
void loop() {
if(DEBUG){
Serial.print("running:");
if(running){
Serial.println("true");
}
else{
Serial.println("false");
}
}
if (isStart <= 0) {
if(running){
totalhalt();
// stop!
}
int findsomebody = digitalRead(Sharppin);
if(DEBUG){
Serial.print("findsomebody:");
Serial.println(findsomebody);
}
if(findsomebody > 0) {
isStart = maxStart;
}
delay(4000);
return;
}
isStart--;
delay(100);
if(DEBUG){
Serial.print("isStart: ");
Serial.println(isStart);
}
currDist = MeasuringDistance(); //measure front distance
if(DEBUG){
Serial.print("Current Distance: ");
Serial.println(currDist);
}
if(currDist > 30) {
nodanger();
}
else if(currDist < 15){
backup();
randTrun();
}
else {
//whichway();
randTrun();
}
}
//measure distance, unit “cm”
long MeasuringDistance() {
long duration;
//pinMode(TrigPin, OUTPUT);
digitalWrite(TrigPin, LOW);
delayMicroseconds(2);
digitalWrite(TrigPin, HIGH);
delayMicroseconds(5);
digitalWrite(TrigPin, LOW);
//pinMode(EchoPin, INPUT);
duration = pulseIn(EchoPin, HIGH);
return duration / 29 / 2;
}
// forward
void nodanger() {
running = true;
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, LOW);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, LOW);
return;
}
//backward
void backup() {
running = true;
digitalWrite(leftmotorpin1, LOW);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, LOW);
digitalWrite(rightmotorpin2, HIGH);
delay(1000);
}
//choose way
void whichway() {
running = true;
totalhalt();
// first stop!
headservo.write(20);
delay(1000);
int lDist = MeasuringDistance();
totalhalt();
// check left distance
// probe recovering
headservo.write(120);
// turn the servo right
delay(1000);
int rDist = MeasuringDistance();
totalhalt();
if(lDist < rDist) {
body_lturn();
}
else{
body_rturn();
}
// check right distance
// probe recovering
return;
}
//remodulate to the original status mechanically
void totalhalt() {
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, HIGH);
headservo.write(70);
//
set servo to face forward
running = false;
return;
delay(1000);
}
//turn left
void body_lturn() {
running = true;
digitalWrite(leftmotorpin1, LOW);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, LOW);
delay(1500);
totalhalt();
}
//turn right
void body_rturn() {
running = true;
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, LOW);
digitalWrite(rightmotorpin1, LOW);
digitalWrite(rightmotorpin2, HIGH);
delay(1500);
totalhalt();
}
void randTrun(){
long randNumber;
randomSeed(analogRead(0));
randNumber = random(0, 10);
if(randNumber > 5) {
body_rturn();
}
else
{
body_lturn();
}
}
lässt sich in der arduino IDE öffnen, beim compilierversuch kommt:
Code:
obstacle_avoidance.cpp: In function ‘void setup()’:
obstacle_avoidance.cpp:38:1: error: ‘headservo’ was not declared in this scope
obstacle_avoidance.cpp: In function ‘void loop()’:
obstacle_avoidance.cpp:46:4: error: ‘DEBUG’ was not declared in this scope
obstacle_avoidance.cpp:61:4: error: ‘DEBUG’ was not declared in this scope
obstacle_avoidance.cpp:73:4: error: ‘DEBUG’ was not declared in this scope
obstacle_avoidance.cpp:78:4: error: ‘DEBUG’ was not declared in this scope
obstacle_avoidance.cpp: In function ‘void whichway()’:
obstacle_avoidance.cpp:130:1: error: ‘headservo’ was not declared in this scope
obstacle_avoidance.cpp: In function ‘void totalhalt()’:
obstacle_avoidance.cpp:157:1: error: ‘headservo’ was not declared in this scope
obstacle_avoidance.cpp:159:1: error: ‘set’ was not declared in this scope
obstacle_avoidance.cpp:159:5: error: expected ‘;’ before ‘servo’
jetzt weiss ich dass es bedeutet, dass bestimmte libs fehlen. Muss ich diese (welche? alle?) in das verzeichnis mit der zu compilierenden datei kopieren, oder gibt es eine möglichkeit das über pfade in der IDE zu machen? Die IDE bietet die möglichkeit die libs zu includen, reicht das schon?
danke erstmal...
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