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.
Da kommen diese Fehlermeldungen: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; } #
../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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