Programmierproblem beim Asuro
Hallo alle zusammen.....
habe ein kleines Problem mit dem Programm von meinem Asuro, aber vill könnt ihr mir ja weiter helfen.
So sieht das Programm aus.....
Code:
#include "asuro.h"
int DriveCircle( int angel, unsigned char Dir)
{ Encoder_Init(0,0);
int segments_left;
int segments_right;
unsigned char MotorDr_Left = FWD;
unsigned char MotorDr_Right = RWD;
int MotorSpdLeft = 120;
int MotorSpdRight = 120;
if (angel == 45)
{
segments_left = 13;
segments_right = 13;
}
else if (angel == 90)
{
segments_left = 27;
segments_right = 27;
}
else if (angel == 180)
{
segments_left = 53;
segments_right = 53;
}
else if (angel == 360)
{
segments_left = 107;
segments_right = 107;
}
else
{
StatusLED(RED); // Statusleuchtdiode Rot schalten
}
Encoder_Set(0,0);
if(Dir == RIGHT)
{
MotorDr_Left = FWD;
MotorDr_Right = RWD;
}
if(Dir == LEFT)
{
MotorDr_Left = RWD;
MotorDr_Right = FWD;
}
while((encoder[LEFT] < segments_left)||(encoder[RIGHT] < segments_right))
{
MotorDir(MotorDr_Left,MotorDr_Right);
MotorSpeed(MotorSpdLeft,MotorSpdRight);
if(encoder[LEFT] >= segments_left)
{
MotorSpdLeft = 160;
}
if(encoder[RIGHT] >= segments_right)
{
MotorSpdRight = 160;
}
if(encoder[LEFT]&&encoder[RIGHT] >= segments_left)
{
MotorSpeed(BREAK, BREAK);
Msleep(300);
MotorSpeed(0,0); // Kollision! Sofort anhalten
}
}
return 0;
}
int DriveLength( int length, unsigned char MotorDr, int MotorSpd)
{
Encoder_Init();
int diff;
float cycles;
int segments_left;
int segments_right;
int MotorSpdLeft = MotorSpd;
int MotorSpdRight = MotorSpd;
unsigned char schalter;
cycles = length / 12,2; // Umdrehungen des linken Reifens = zu fahrende Strecke links / Reifen-Umfangs (Umfang = 12,2 cm !!!)
segments_left = cycles * 40; // Anzahl der zu fahrenden Segmente = Umdrehungen * Anzahl der Segmente pro Umdrehung (40)
segments_right = cycles * 40;
Encoder_Set(0,0);
while((encoder[LEFT] < segments_left)||(encoder[RIGHT] < segments_right))
{
MotorDir(MotorDr,MotorDr);
MotorSpeed(MotorSpdLeft,MotorSpdRight);
schalter = PollSwitch();
PrintInt(schalter);
if(( schalter > 0)&&(MotorDr == FWD))
{
MotorSpeed(0,0);
MotorDir(BREAK,BREAK);
Msleep(300);
return encoder[LEFT];
}
diff = encoder[LEFT]-encoder[RIGHT];
if ((diff > 0)&&(encoder[LEFT] < segments_left)&&(encoder[RIGHT] < segments_right))
{
MotorSpdRight = MotorSpdRight + (MotorSpdRight / 100 * 2.5);
MotorSpdLeft = MotorSpd;
}
else if ((diff < 0)&&(encoder[LEFT] < segments_left)&&(encoder[RIGHT] < segments_right))
{
MotorSpdLeft = MotorSpdLeft + (MotorSpdLeft / 100 * 2.5);
MotorSpdRight = MotorSpd;
}
else if ((diff == 0)&&(encoder[LEFT] < segments_left)&&(encoder[RIGHT] < segments_right))
{
MotorSpdLeft = MotorSpd;
MotorSpdRight = MotorSpd;
}
if(encoder[LEFT] >= segments_left)
{
MotorSpdLeft = 0;
}
if(encoder[RIGHT] >= segments_right)
{
MotorSpdRight = 0;
}
}
MotorSpeed(0,0);
return encoder[LEFT];
}
int main(void)
{
Init();
StatusLED(GREEN);
int blink = 0;
float cycles;
int way = 0;
int segments;
unsigned char endschalt;
while(way < 1000)
{
segments = DriveLength(100, FWD, 120);
cycles = segments / 40;
way = way + (cycles * 12.2);
endschalt = PollSwitch();
PrintInt(endschalt);
if (( endschalt == 2)||( endschalt == 16)||( endschalt == 18 ))
{
DriveLength(10, RWD, 120);
DriveCircle(90, RIGHT);
}
else if ( endschalt == 32)
{
DriveCircle(45, RIGHT);
}
else if ( endschalt == 1)
{
DriveCircle(45, LEFT);
}
}
while(1)
{
if (blink == 0)
{
blink = 1;
StatusLED(OFF);
Msleep(300);
}
else if(blink == 1)
{
blink = 0;
StatusLED(GREEN);
Msleep(300);
}
}
return 0;
}
Folgende Fehler treten auf:
Code:
C:\WinAVR\Asuro\FirstTry>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=test.lst test.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > test.d; \
[ -s test.d ] || rm -f test.d
-------- begin --------
avr-gcc --version
avr-gcc (GCC) 3.3.1
Copyright (C) 2003 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=test.lst test.c -o test.o
test.c: In function `DriveCircle':
test.c:4: warning: implicit declaration of function `Encoder_Init'
test.c:43: warning: implicit declaration of function `Encoder_Set'
test.c:61: error: `encoder' undeclared (first use in this function)
test.c:61: error: (Each undeclared identifier is reported only once
test.c:61: error: for each function it appears in.)
test.c:61: error: `LEFT' undeclared (first use in this function)
test.c:61: error: `RIGHT' undeclared (first use in this function)
test.c:79: warning: implicit declaration of function `Msleep'
test.c: In function `DriveLength':
test.c:106: error: `encoder' undeclared (first use in this function)
test.c:106: error: `LEFT' undeclared (first use in this function)
test.c:106: error: `RIGHT' undeclared (first use in this function)
test.c:111: warning: implicit declaration of function `PrintInt'
test.c: In function `main':
test.c:188: error: `RIGHT' undeclared (first use in this function)
test.c:196: error: `LEFT' undeclared (first use in this function)
make: *** [test.o] Error 1
> Process Exit Code: 2
Wäre echt cool wenn ihr mir bei meinem Problem helfen könntet....
Gruß
2stoned
