Problem mit dem Auswerten der Liniensensoren

[Jacob2]

Hallo,
Bei mir funktioniert das Auswerten der Liniensensoren irgendwie nicht richtig . Ich hab erstmal zum ausprobieren den code so genommen wie er in der Anleitung steht. Die Fototransistoren (bzw. die Motoren) zeigen aber keine Reaktion (weder beim beleuchten noch beim verdunkeln).
Hier ist der Code, den ich aus der Anleitung hab(und so auch geflasht hab):

#include "asuro.h"

int main(void)
{	
    unsigned int data[2]; 	
	Init();
    FrontLED(ON);
    MotorDir(FWD,FWD);	
    while (1) 
	{
	  LineData(data);
	  if(data[0] > data[1])
	  { MotorSpeed(200,150);}
	  else
	  {MotorSpeed(150,200);}
	}	  
	return 0;
}

Ich persöhnlich kann darin keinen Fehler sehen, aber vielleicht jemand anderes?!
Jacob

[ehenkes]

Versuch mal den hier:

 
#include "asuro.h"
#include <stdlib.h>

#define SPEED       100
#define SPEEDMAX    200
#define SPEEDMIN     20
#define IMAX      16000
#define IMAXALARM 15000

unsigned char speed, j;
int speedLeft,speedRight;
unsigned int lineData[2];
int x, xalt, kp, kd, ki, yp, yd, yi, drest=0, y, y2, isum=0, ADOffset;

void FollowLine (void)
{
   unsigned char leftDir = FWD, rightDir = FWD;
  
   LineData(lineData);
   x = (lineData[LEFT] - lineData[RIGHT]) - ADOffset;
  
   yp = x*kp;                          // P-Anteil
  
   isum += x;
   if (isum >  IMAX) isum =  IMAX;  
   if (isum < -IMAX) isum = -IMAX;
   yi = isum / 625 * ki;               //I-Anteil
  
   yd = (x - xalt) * kd;               // D-Anteil 
   yd += drest;                       
   if (yd > 255)
   {
       drest = yd - 255;   
   }
   else if (yd < -255)
   {
       drest = yd + 255;
   }
   else
   {
       drest = 0;
   }
  
   if (isum > IMAXALARM)        BackLED(OFF,ON);  
   else if (isum < -IMAXALARM)  BackLED(ON,OFF);
   else BackLED(OFF,OFF);
  
   y = yp + yi + yd;                 // PID
   y2 = y / 2;                        
   xalt = x;                        
  
   speedLeft = speedRight = speed;
   MotorDir(FWD,FWD);
  
   if ( y > 0)
   {                    
      StatusLED(GREEN);
      speedLeft = speed + y2;        
      if (speedLeft > SPEEDMAX)
      {
         speedLeft = SPEEDMAX;       
         y2 = speedLeft - speed;     
      }
      y = y - y2;
      speedRight = speed - y;        
      if (speedRight < SPEEDMIN)
      {
         speedRight = SPEEDMIN;
      }
   }
  
   if ( y < 0)
   {                    
      StatusLED(RED);
      speedRight = speed - y2;       
      if (speedRight > SPEEDMAX)
      {
         speedRight = SPEEDMAX;      
         y2 = speed - speedRight;    
      }
      y = y - y2;
      speedLeft = speed + y;         
      if (speedLeft < SPEEDMIN)
      {
         speedLeft = SPEEDMIN;
      }
   }
   leftDir = rightDir = FWD;
   if (speedLeft  < SPEEDMIN + 5)  leftDir  = BREAK;
   if (speedRight < SPEEDMIN + 5)  rightDir = BREAK;
   MotorDir(leftDir,rightDir);
   MotorSpeed(abs(speedLeft),abs(speedRight));
}

int main(void)
{
   Init();
   FrontLED(ON);
   for (j = 0; j < 255; j++) LineData(lineData);
   LineData(lineData);
   ADOffset = lineData[LEFT] - lineData[RIGHT]; // Helligkeitsunterschied links und rechts    
  
   MotorDir(FWD,FWD);
   StatusLED(GREEN);

   speed = SPEED;
   speedLeft  = speed;
   speedRight = speed; 
  
   kp = 10; ki = 4; kd = 70;      // Regler Parameter kd enthält bereits Division durch dt
   /*   10(!)    4(!)     70(!)   */ /*<=== gute Ausgangswerte*/  
  
   while(1)
   {
      FollowLine();
   }
   return 0;
}

[Jacob2]

Ok...
Ist auf jeden Fall um einiges umfangreicher!
ich werds gleich mal ausprobieren.
Jacob

[Jacob2]

Hallo,
so, da bin ich wieder!
das compilieren funktioniert nich( es gibt eine menge fehlermeldungen)!
Liegt das vielleicht an einer fehlenden datei ? weil ich ganz oben die zeile:
#INCLUDE <stdlib.h>
gesehen habe.
ist das vielleicht so eine "Library"?
hab den begriff hier schon öfters gelesen, weis aber nicht richtig was das ist oder wo man es herbekommt!
MfG Jacob

[recycle]

Hallo,
so, da bin ich wieder!
das compilieren funktioniert nich( es gibt eine menge fehlermeldungen)!
Liegt das vielleicht an einer fehlenden datei ?

Rate mal, warum ein Compiler Fehlermeldungen ausgibt?

[ehenkes]

Was beinhaltet die Fehlermeldung genau?

[Jacob2]

Hallo,
hier die fehler aus dem Fehler-Fenster (den ganzen inhalt konnte ich nicht schreiben weil über 20000 Zeichen):

test.c -o test.o
test.c:5:14: warning: ISO C requires whitespace after the macro name
test.c:6:17: warning: ISO C requires whitespace after the macro name
test.c:7:17: warning: ISO C requires whitespace after the macro name
test.c:8:13: warning: ISO C requires whitespace after the macro name
test.c: In function `FollowLine':
test.c:18: error: stray '\240' in program
test.c:18: error: stray '\240' in program
test.c:19: error: stray '\240' in program
test.c:20: error: stray '\240' in program
test.c:20: error: stray '\240' in program
test.c:21: error: stray '\240' in program
test.c:21: error: stray '\240' in program
test.c:21: error: `LEFT' undeclared (first use in this function)
test.c:21: error: (Each undeclared identifier is reported only once
test.c:21: error: for each function it appears in.)
test.c:21: error: `RIGHT' undeclared (first use in this function)
test.c:22: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:23: error: stray '\240' in program
test.c:24: error: stray '\240' in program
test.c:25: error: stray '\240' in program
test.c:25: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:26: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:27: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:28: error: stray '\240' in program
test.c:29: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:30: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:31: error: stray '\240' in program
test.c:32: error: stray '\240' in program
test.c:32: error: stray '\240' in program
test.c:33: error: stray '\240' in program
test.c:33: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:34: error: stray '\240' in program
test.c:35: error: stray '\240' in program
test.c:35: error: stray '\240' in program
test.c:36: error: stray '\240' in program
test.c:36: error: stray '\240' in program
test.c:37: error: stray '\240' in program
test.c:37: error: stray '\240' in program
test.c:38: error: stray '\240' in program
test.c:38: error: stray '\240' in program
test.c:38: error: stray '\240' in program
test.c:38: error: stray '\240' in program
test.c:39: error: stray '\240' in program
test.c:39: error: stray '\240' in program
test.c:40: error: stray '\240' in program
test.c:40: error: stray '\240' in program
test.c:41: error: stray '\240' in program
test.c:41: error: stray '\240' in program
test.c:42: error: stray '\240' in program
test.c:42: error: stray '\240' in program
test.c:42: error: stray '\240' in program
test.c:42: error: stray '\240' in program
test.c:43: error: stray '\240' in program
test.c:43: error: stray '\240' in program
test.c:44: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:45: error: stray '\240' in program
test.c:46: error: stray '\240' in program
test.c:46: error: stray '\240' in program
test.c:46: error: stray '\240' in program
test.c:47: error: stray '\240' in program
test.c:47: error: stray '\240' in program
test.c:48: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:49: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:50: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:51: error: stray '\240' in program
test.c:52: error: stray '\240' in program
test.c:53: error: stray '\240' in program
test.c:53: error: stray '\240' in program
test.c:54: error: stray '\240' in program
test.c:54: error: stray '\240' in program
test.c:55: error: stray '\240' in program
test.c:56: error: stray '\240' in program
test.c:56: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:57: error: stray '\240' in program
test.c:58: error: stray '\240' in program
test.c:58: error: stray '\240' in program
test.c:58: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:59: error: stray '\240' in program
test.c:60: error: stray '\240' in program
test.c:60: error: stray '\240' in program
test.c:60: error: stray '\240' in program
test.c:60: error: stray '\240' in program
test.c:60: error: stray '\240' in program
test.c:61: error: stray '\240' in program
test.c:61: error: stray '\240' in program
test.c:61: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:62: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:63: error: stray '\240' in program
test.c:64: error: stray '\240' in program
test.c:64: error: stray '\240' in program
test.c:64: error: stray '\240' in program
test.c:65: error: stray '\240' in program
test.c:65: error: stray '\240' in program
test.c:65: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:66: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:67: error: stray '\240' in program
test.c:68: error: stray '\240' in program
test.c:68: error: stray '\240' in program
test.c:68: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:69: error: stray '\240' in program
test.c:70: error: stray '\240' in program
test.c:70: error: stray '\240' in program
test.c:70: error: stray '\240' in program
test.c:71: error: stray '\240' in program
test.c:71: error: stray '\240' in program
test.c:72: error: stray '\240' in program
test.c:73: error: stray '\240' in program
test.c:73: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:74: error: stray '\240' in program
test.c:75: error: stray '\240' in program
test.c:75: error: stray '\240' in program
test.c:75: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:76: error: stray '\240' in program
test.c:77: error: stray '\240' in program
test.c:77: error: stray '\240' in program
test.c:77: error: stray '\240' in program
test.c:77: error: stray '\240' in program
test.c:77: error: stray '\240' in program
test.c:78: error: stray '\240' in program
test.c:78: error: stray '\240' in program
test.c:78: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:79: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:80: error: stray '\240' in program
test.c:81: error: stray '\240' in program
test.c:81: error: stray '\240' in program
test.c:81: error: stray '\240' in program
test.c:82: error: stray '\240' in program
test.c:82: error: stray '\240' in program
test.c:82: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:83: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:84: error: stray '\240' in program
test.c:85: error: stray '\240' in program
test.c:85: error: stray '\240' in program
test.c:85: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:86: error: stray '\240' in program
test.c:87: error: stray '\240' in program
test.c:87: error: stray '\240' in program
test.c:87: error: stray '\240' in program
test.c:88: error: stray '\240' in program
test.c:88: error: stray '\240' in program
test.c:89: error: stray '\240' in program
test.c:89: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:90: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:91: error: stray '\240' in program
test.c:92: error: stray '\240' in program
test.c:92: error: stray '\240' in program
test.c:93: error: stray '\240' in program
test.c:93: error: stray '\240' in program
test.c: In function `main':
test.c:98: error: stray '\240' in program
test.c:98: error: stray '\240' in program
test.c:99: error: stray '\240' in program
test.c:99: error: stray '\240' in program
test.c:100: error: stray '\240' in program
test.c:100: error: stray '\240' in program
test.c:101: error: stray '\240' in program
test.c:101: error: stray '\240' in program
test.c:102: error: stray '\240' in program
test.c:102: error: stray '\240' in program
test.c:102: error: `LEFT' undeclared (first use in this function)
test.c:102: error: `RIGHT' undeclared (first use in this function)
test.c:103: error: stray '\240' in program
test.c:104: error: stray '\240' in program
test.c:104: error: stray '\240' in program
test.c:105: error: stray '\240' in program
test.c:105: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:107: error: stray '\240' in program
test.c:108: error: stray '\240' in program
test.c:108: error: stray '\240' in program
test.c:108: error: stray '\240' in program
test.c:109: error: stray '\240' in program
test.c:109: error: stray '\240' in program
test.c:110: error: stray '\240' in program
test.c:111: error: stray '\240' in program
test.c:111: error: stray '\240' in program
test.c:111: error: stray '\240' in program
test.c:111: error: stray '\240' in program
test.c:111: error: stray '\240' in program
test.c:112: error: stray '\240' in program
test.c:112: error: stray '\240' in program
test.c:112: error: stray '\240' in program
test.c:113: error: stray '\240' in program
test.c:114: error: stray '\240' in program
test.c:114: error: stray '\240' in program
test.c:115: error: stray '\240' in program
test.c:115: error: stray '\240' in program
test.c:116: error: stray '\240' in program
test.c:116: error: stray '\240' in program
test.c:116: error: stray '\240' in program
test.c:117: error: stray '\240' in program
test.c:117: error: stray '\240' in program
test.c:118: error: stray '\240' in program
test.c:118: error: stray '\240' in program
test.c:120:1: warning: no newline at end of file
make: *** [test.o] Error 1

> Process Exit Code: 2

Vielleicht sagt das dir was, mir auf jeden fall nicht!
MfG Jacob

[ehenkes]

Kopiere asuro.h nach C:\WinAVR\avr\include und verwende bitte reinen ASCII-Text. Du hast irgendwo rtf-Format erwischt.

[damaltor]

stray fehler bedeuten meist dass ungültige zeichen verwendet wurden. öffne die datei mit notepad (dem editor unter windows) bzw mit nano, vi oder kate unter linux. kannst du die dateien vernünftig lesen oder sind blöcke, fehlende zeichen oder sowas im weg?

[Jacob2]

Wie bekommt man den Code eigentlich "richtig" aus dem Codefenster heraus?
Ich hab einfach alles markiert, in die zwischenablage und dann in eine datei eingefügt, aber das ist bestimmt nicht die feinste art oder?
Und dann gibt es da noch ein problem:
Ich bin hier nämlich auf einem uralten Mac unterwegs, und dem sein Word kann nicht viele Dateien erstellen, die der andere PC(von dem aus ich ASURO programmiere) lesen/erkennen kann (aber rtf eben).
Und wie ich da ASCII-Text verwenden soll, weis ich auch nicht.
nach dem kopieren von asuro.h bestand das problem weiterhin.
Und zu damaltor: ich kann die dateien gut lesen.
MfG Jacob