Hallo Allemaal!
Bij de onderstaande code krijg ik deze melding:* invalid conversion from 'int' to 'analog_pin_t' [-fpermissive]* ? :o
Kan iemand mij helpen?
//#define testrun // uncomment for test run the motor
#define LEFTSENSOR 3 // PIN 2
#define LEFTSENSORADC 3 // also PIN 2
#define LEFTMOTOR 4 // PIN 3
//#define LEFTDUTY 219 // for calibrate motor in same speed
#define RIGHTSENSOR 2 // PIN 7
#define RIGHTSENSORADC 1 // also PIN 7
#define RIGHTMOTOR 1 // PIN 6
//#define RIGHTDUTY 195 // for calibrate motor in same speed
#define THRESHOLD 56 // readings threshold for line detection
// Every analog readings from 0-1023,
// so an unsigned int allow accumulate 64 reads for average.
// Setting THRESHOLD 56 means white average * 56 / 64
// i.e. readings below 7/8 of white average means a line
unsigned int leftThreshold;
unsigned int rightThreshold;
unsigned int leftRead;
unsigned int rightRead;
bool lastTurnLeft = true;
bool firstMeetBlack = true;
void setup() {
pinMode(LEFTMOTOR, OUTPUT);
pinMode(RIGHTMOTOR, OUTPUT);
delay(2000);
readSensor(THRESHOLD);
leftThreshold = leftRead >> 6; // divide by 64
rightThreshold = rightRead >> 6; // divide by 64
}
void loop() {
#ifdef testrun
turn(true, 0, 10); // minor turn left
delay(500);
turn(false, 0, 10); // minor turn right
delay(500);
turn(true, 0, 50); // turn left
delay(500);
turn(false, 0, 50); // turn right
delay(500);
turn(true, 0, 255); // full turn left
delay(500);
turn(false, 0, 255); // full turn right
delay(500);
turn(true, 10, 40); // minor dash and turn
delay(500);
turn(true, 30, 120); // dash and turn
delay(500);
turn(true, 63, 255); // full dash and turn
delay(500);
turn(true, 10, 0); // minor dash
delay(500);
turn(true, 50, 0); // dash
delay(500);
turn(true, 255, 0); // full dash
delay(3000);
#else // normal run
// ========== real code start here ==========
readSensor(4);
leftRead >>= 2; // divide by 4
rightRead >>= 2; // divide by 4
bool leftBlack = (leftRead < leftThreshold);
bool rightBlack = (rightRead < rightThreshold);
if (firstMeetBlack && (leftBlack || rightBlack)) {
// try to land on the line when first found it
turn(false, 40, 160); // dash and turn
firstMeetBlack = false;
// todo: try to detect lost the line and set it to true again
} else {
if (leftBlack && rightBlack) {
turn(lastTurnLeft, 0, 40);
} else if (leftBlack) {
turn(true, 0, 40);
} else if (rightBlack) {
turn(false, 0, 40);
} else {
turn(leftRead & 0b1, 0, 40); //use left readings as random run
}
}
delay(40);
#endif //normal run
}
void turn(bool turnLeft, byte initTime, byte turnTime) {
lastTurnLeft = turnLeft;
motor(true, true);
delay(initTime);
motor(!turnLeft, turnLeft);
delay(turnTime);
motor(false, false);
}
void motor(bool leftOn, bool rightOn) {
#ifdef LEFTDUTY // PWM
analogWrite(LEFTMOTOR, leftOn?LEFTDUTY:0);
#else
digitalWrite(LEFTMOTOR, leftOn?HIGH:LOW);
#endif
#ifdef RIGHTDUTY // PWM
analogWrite(RIGHTMOTOR, rightOn?RIGHTDUTY:0);
#else
digitalWrite(RIGHTMOTOR, rightOn?HIGH:LOW);
#endif
}
void readSensor(byte count) {
leftRead = 0;
rightRead = 0;
for (int i = 0; i < count; i++) {
leftRead += analogRead(LEFTSENSORADC);
rightRead += analogRead(RIGHTSENSORADC);
delay(1);
}
}