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我被困在上傳的Arduino草圖到UNO板。我遇到了類型錯誤問題。我沒有使用polulu輪編碼器。請幫我解決這個問題。編譯錯誤上載草圖的Arduino UNO
RobotController:14: error: 'PololuWheelEncoders2' does not name a type
RobotController.pde: In function 'void setup()':
RobotController:83: error: 'encoders' was not declared in this scope
RobotController.pde: In function 'void ReadSonar()':
RobotController:271: error: 'MID_SPEED' was not declared in this scope
RobotController.pde: In function 'int NormalizeSpeed(int)':
RobotController:340: error: 'MID_SPEED' was not declared in this scope
RobotController:343: error: 'MID_SPEED' was not declared in this scope
RobotController.pde: In function 'void SetMotors(int, int, int, int, bool, bool, bool)':
RobotController:359: error: 'encoders' was not declared in this scope
RobotController.pde: In function 'void NormalizeMotors()':
RobotController:368: error: 'MID_SPEED' was not declared in this scope
RobotController:369: error: 'encoders' was not declared in this scope
RobotController.pde: In function 'void SynchronizeMotors()':
RobotController:392: error: 'encoders' was not declared in this scope
RobotController:398: error: 'MID_SPEED' was not declared in this scope
RobotController:407: error: 'MID_SPEED' was not declared in this scope
#include <Usb.h>
#include <AndroidAccessory.h>
#include <PololuWheelEncoders2.h>
#include <Servo.h>
AndroidAccessory acc("Manufacturer", "Model", "Description", "Version", "URI", "Serial");
byte RcvMsg[5];
byte SntMsg[5];
Servo rightSideMotors;
Servo leftSideMotors;
PololuWheelEncoders2 encoders;
const int MIN_SPEED = 40;
const int MAX_SPEED = 140;
const int RIGHT_ADV_THRES = 100;
const int WHEEL_CIR = 36; //wheel circumference in cm
const int BAUD_RATE = 9600;
const int LAS_HOR_PIN = 2; //blue
const int LAS_VERT_PIN = 3; //white
const int CAM_HOR_PIN = 4;
const int CAM_VERT_PIN = 5;
const int FRONT_SONAR = 8;
const int REAR_SONAR = 9;
const int SPEED_CONT_PIN = 14;
const int DIR_CONT_PIN = 6;
int LoopCount = 0;
Servo LaserHor;
Servo CameraHor;
Servo CameraVert;
Servo LaserVert;
int RightSideAdv = 0;
long LeftSideStop = 0;
long RightSideStop = 0;
int LeftSideSpeed = 0;
int RightSideSpeed = 0;
const int DELAY = 1;
const int READ_SONAR_FREQ = 10;
const int BROADCAST_SONAR_FREQ = 10;
const int SONAR_SAMPLES = 30;
const int SONAR_TAKE_ACTION_THRESHOLD = 50;
const int SYNCH_MOTORS_FREQ = 100;
bool HeedSonar = true;
bool Synchronize = false;
bool WatchForStop = true;
bool TEST_CYCLE = false;
int TEST_COUNT = 0;
enum Commands { CmdMoveForward, CmdMoveForwardDistance, CmdMoveBackward, CmdMoveBackwardDistance, CmdSpinLeft, CmdSpinLeftDistance, CmdSpinRight, CmdSpinRightDistance, CmdStop, CmdMoveCameraVert, CmdMoveCameraHor };
enum Events { EvtFrontSonar, EvtRearSonar, EvtSonarStop, EvtDistanceStop };
void setup() {
Serial.begin(BAUD_RATE);
//LaserHor.attach(LAS_HOR_PIN);
LaserVert.attach(LAS_VERT_PIN);
CameraHor.attach(CAM_HOR_PIN);
CameraVert.attach(CAM_VERT_PIN);
//LaserHor.write(90);
LaserVert.write(90);
CameraHor.write(90);
CameraVert.write(90);
rightSideMotors.attach(SPEED_CONT_PIN);
leftSideMotors.attach(DIR_CONT_PIN);
pinMode(FRONT_SONAR, INPUT);
pinMode(REAR_SONAR, INPUT);
encoders.init(10, 11, 13, 12);
MoveForward(50, 1000);
acc.powerOn();
}
void TestCycle() {
/*Serial.println("STOPPING:");
Serial.println(LeftSideStop);
Serial.println(RightSideStop);
Serial.println(abs(encoders.getCountsLeft()) - LeftSideStop);
Serial.println(abs(encoders.getCountsRight()) - RightSideStop);*/
TEST_COUNT++;
if (TEST_COUNT == 1) {
CameraHor.write(45);
delay(150);
CameraHor.write(0);
delay(1000);
CameraHor.write(45);
delay(150);
CameraHor.write(135);
delay(150);
CameraHor.write(180);
delay(1000);
CameraHor.write(135);
delay(150);
CameraHor.write(90);
delay(150);
SpinRight(50, 180);
}
if (TEST_COUNT == 2) {
CameraVert.write(45);
delay(500);
CameraVert.write(135);
delay(500);
CameraVert.write(90);
delay(500);
MoveForward(90, 1000);
}
if (TEST_COUNT == 3) {
CameraVert.write(130);
}
}
void loop() {
if (acc.isConnected()) {
LaserVert.write(130);
ReadIncomingSignal();
if (WatchForStop) {
NormalizeMotors();
}
if (HeedSonar) {
UpdateLoopCount();
if (LoopCount % READ_SONAR_FREQ == 0) {
ReadSonar();
}
if (LoopCount % SYNCH_MOTORS_FREQ == 0) {
SynchronizeMotors();
}
delay(DELAY);
}
}
else {
LaserVert.write(90);
}
}
void SendToAndroid(byte signal, unsigned long value) {
//Serial.print("Sending: ");
//Serial.println(signal);
SntMsg[0] = signal;
SntMsg[1] = value >> 24;
SntMsg[2] = value >> 16;
SntMsg[3] = value >> 8;
SntMsg[4] = value;
acc.write(SntMsg, 5);
}
void ReadIncomingSignal() {
int len = acc.read(RcvMsg, 9, 1);
while (len > 0) {
switch(RcvMsg[0]){
case CmdMoveForward:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
MoveForward(speed);
break;
}
case CmdMoveForwardDistance:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
int distance = getIntFromBytes(RcvMsg[5], RcvMsg[6], RcvMsg[7], RcvMsg[8]);
MoveForward(speed, distance);
break;
}
case CmdMoveBackward:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
MoveBackward(speed);
break;
}
case CmdMoveBackwardDistance:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
int distance = getIntFromBytes(RcvMsg[5], RcvMsg[6], RcvMsg[7], RcvMsg[8]);
MoveBackward(speed, distance);
break;
}
case CmdSpinLeft:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
SpinLeft(speed);
break;
}
case CmdSpinLeftDistance:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
int distance = getIntFromBytes(RcvMsg[5], RcvMsg[6], RcvMsg[7], RcvMsg[8]);
SpinLeft(speed, distance);
break;
}
case CmdSpinRight:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
SpinRight(speed);
break;
}
case CmdSpinRightDistance:
{
int speed = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
int distance = getIntFromBytes(RcvMsg[5], RcvMsg[6], RcvMsg[7], RcvMsg[8]);
SpinRight(speed, distance);
break;
}
case CmdStop:
{
Stop();
break;
}
case CmdMoveCameraVert:
{
int degrees = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
MoveCameraVert(degrees);
break;
}
case CmdMoveCameraHor:
{
int degrees = getIntFromBytes(RcvMsg[1], RcvMsg[2], RcvMsg[3], RcvMsg[4]);
MoveCameraHor(degrees);
break;
}
}
len = acc.read(RcvMsg, 9, 1);
}
}
int getIntFromBytes(byte b1, byte b2, byte b3, byte b4)
{
int value = 0;
value += b1;
value <<= 8;
value += b2;
value <<= 8;
value += b3;
value <<= 8;
value += b4;
return value;
}
void UpdateLoopCount() {
LoopCount = (LoopCount % 1000) + 1;
}
void ReadSonar()
{
unsigned long frontSum = 0;
unsigned long rearSum = 0;
for (int i = 0; i < SONAR_SAMPLES; i++) {
unsigned long frontDuration = pulseIn(FRONT_SONAR, HIGH);
unsigned long rearDuration = pulseIn(REAR_SONAR, HIGH);
frontSum += frontDuration/147.0 * 2.54;
rearSum += rearDuration/147.0 * 2.54;
}
unsigned long frontAvg = frontSum/SONAR_SAMPLES;
unsigned long rearAvg = rearSum/SONAR_SAMPLES;
bool forward = LeftSideSpeed > MID_SPEED || RightSideSpeed > MID_SPEED;
if (HeedSonar && ((forward && frontAvg <= SONAR_TAKE_ACTION_THRESHOLD) || (!forward && rearAvg <= SONAR_TAKE_ACTION_THRESHOLD))) {
Stop();
}
Serial.println(LoopCount);
Serial.println(frontAvg);
if (LoopCount % BROADCAST_SONAR_FREQ == 0) {
SendToAndroid(EvtFrontSonar, frontAvg);
SendToAndroid(EvtRearSonar, rearAvg);
}
}
void MoveForward(int speed) {
SetMotors(speed, speed, 0, 0, true, true, false);
}
void MoveForward(int speed, int cms) {
SetMotors(speed, speed, cms, cms, true, true, true);
}
void MoveBackward(int speed) {
SetMotors(-speed, -speed, 0, 0, true, true, false);
}
void MoveBackward(int speed, int cms) {
SetMotors(-speed, -speed, cms, cms, true, true, true);
}
void SpinLeft(int speed) {
SetMotors(-speed, speed, 0, 0, true, false, false);
}
void SpinLeft(int speed, int degrees) {
int cms = (degrees/3.0);
int extra = ((cms - 30)/30.0);
cms += extra;
SetMotors(-speed, speed, cms, cms, true, false, true);
}
void SpinRight(int speed) {
SetMotors(speed, -speed, 0, 0, true, false, false);
}
void SpinRight(int speed, int degrees) {
int cms = (degrees/3.0);
int extra = ((cms - 30)/30.0) * 2.0;
cms += extra;
SetMotors(speed, -speed, cms, cms, true, false, true);
}
void MoveCameraVert(int degrees) {
CameraVert.write(degrees);
}
void MoveCameraHor(int degrees) {
CameraHor.write(degrees);
}
void Stop() {
SetMotors(0, 0, 0, 0, false, true, true);
if (TEST_CYCLE) {
TestCycle();
}
}
int NormalizeSpeed(int speedAsPercent) {
if (speedAsPercent == 0) {
return MID_SPEED;
}
else {
return (int)(MID_SPEED + ((MAX_SPEED - MID_SPEED) * (speedAsPercent/100.0)));
}
}
long NormalizeDistance(int cms) {
return (long)((cms * 3200.0)/WHEEL_CIR); //64 counts per rev, 50:1 ratio = 64 * 50 = 3200
}
void SetMotors(int leftSpeed, int rightSpeed, int leftStop, int rightStop, bool synchronize, bool heedSonar, bool watchForStop) {
LeftSideSpeed = NormalizeSpeed(leftSpeed);
RightSideSpeed = NormalizeSpeed(rightSpeed);
LeftSideStop = NormalizeDistance(leftStop);
RightSideStop = NormalizeDistance(rightStop);
leftSideMotors.write(LeftSideSpeed);
rightSideMotors.write(RightSideSpeed);
encoders.getCountsAndResetRight();
encoders.getCountsAndResetLeft();
Synchronize = synchronize;
HeedSonar = heedSonar;
WatchForStop = watchForStop;
RightSideAdv = 0;
}
void NormalizeMotors() {
if (LeftSideSpeed != MID_SPEED || RightSideSpeed != MID_SPEED) {
long left = abs(encoders.getCountsLeft());
long right = abs(encoders.getCountsRight());
bool stopLeft = left >= LeftSideStop;
bool stopRight = right >= RightSideStop;
if (stopLeft && stopRight) {
Stop();
}
else {
if (stopLeft) {
LeftSideSpeed = 0;
leftSideMotors.write(MID_SPEED);
}
if (stopRight) {
RightSideSpeed = 0;
rightSideMotors.write(MID_SPEED);
}
}
}
}
void SynchronizeMotors() {
if (Synchronize) {
long left = abs(encoders.getCountsLeft());
long right = abs(encoders.getCountsRight());
int newRightAdv = right - left;
if (abs(newRightAdv) > RIGHT_ADV_THRES && abs(newRightAdv) > abs(RightSideAdv)) {
if (newRightAdv > 0) {
//Serial.println("DOWN");
if (RightSideSpeed < MID_SPEED) {
RightSideSpeed += 1;
}
else {
RightSideSpeed -= 1;
}
}
else {
//Serial.println("UP");
if (RightSideSpeed < MID_SPEED) {
RightSideSpeed -= 1;
}
else {
RightSideSpeed += 1;
}
}
rightSideMotors.write(RightSideSpeed);
}
RightSideAdv = newRightAdv;
}
}
在此先感謝！