Array Error Message

Projects Programming
17

The whole code with the for loop commented out following the four individual lines in the format -
"wheel[n] = wheels[dir][m];

It uses example 5 from a great tutorial I found for parsing serial input -

Serial input is in the format <speed1, speed2, speed3, speed4, dir>

// Adafruit Motor Shield

#include <Adafruit_MotorShield.h>

// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motRF = AFMS.getMotor(1);
Adafruit_DCMotor *motRR = AFMS.getMotor(2);
Adafruit_DCMotor *motLR = AFMS.getMotor(3);
Adafruit_DCMotor *motLF = AFMS.getMotor(4);

int speed[4] = {0, 0, 0, 0};  // 0 <= n <= 255
int wheel[4] = {4, 4, 4, 4};  // fore (1), rev (2), stop (4)
int dir = 0;    // compass directions, 1 to 16 cw & 17/18 rot
#define for  1  // FORWARD in Adafruit_MotorShield.cpp
#define rev  2  // BACKWARD in Adafruit_MotorShield.cpp
#define halt 4  // RELEASE in Adafruit_MotorShield.cpp

int wheels[19][4] {
  {halt, halt, halt, halt},   // All Stop
  {for,  for,  for,  for },   // N
  {for,  for,  for,  for },   // NNE
  {halt, for,  halt, for },   // NE
  {rev,  for,  rev,  for },   // ENE
  {rev,  for,  rev,  for },   // E
  {rev,  for,  rev,  for },   // ESE
  {rev,  halt, rev,  halt},   // SE
  {rev,  rev,  rev,  rev },   // SSE
  {rev,  rev,  rev,  rev },   // S
  {rev,  rev,  rev,  rev },   // SSW
  {halt, rev,  halt, rev },   // SW
  {for,  rev,  for,  rev },   // WSW
  {for,  rev,  for,  rev },   // W
  {for,  rev,  for,  rev },   // WNW
  {for,  halt, for,  halt},   // NW
  {for,  for,  for,  for },   // NNW
  {rev,  rev,  for,  for },   // CW
  {for,  for,  rev,  rev }    // CCW
};

// Handle data input via serial
const byte numChars = 32;
char receivedChars[numChars];
char tempChars[numChars];     // temporary array for use when parsing
boolean newData = false;

void setup() {
  Serial.begin(9600); // Set up Serial library at 9600 bps
  AFMS.begin(1000);   // PWM Frequency 1.0KHz
}

void loop() {
  recvWithStartEndMarkers();
  if (newData == true) {
    strcpy(tempChars, receivedChars);
    // this temporary copy is necessary to protect the original data
    //   because strtok() used in parseData() replaces the commas with \0
    parseData();
    showParsedData();
    newData = false;
  }

  wheel[0] = wheels[dir][0];
  wheel[1] = wheels[dir][1];
  wheel[2] = wheels[dir][2];
  wheel[3] = wheels[dir][3];
//  for (int i = 0; i < 4; i++) {
//    wheel[i] = wheels[dir][i];
//  }

  motLFgo();
  motLRgo();
  motRRgo();
  motRFgo();
}

// Functions ================================

void motLFgo() {
  motLF ->setSpeed(speed[0]);
  motLF ->run(wheel[0]);}

void motLRgo() {
  motLR ->setSpeed(speed[1]);
  motLR ->run(wheel[1]);}

void motRRgo() {
  motRR ->setSpeed(speed[2]);
  motRR ->run(wheel[2]);}

void motRFgo() {
  motRF ->setSpeed(speed[3]);
  motRF ->run(wheel[3]);}

// Data input
void recvWithStartEndMarkers() {
  static boolean recvInProgress = false;
  static byte ndx = 0;
  char startMarker = '<';
  char endMarker = '>';
  char rc;

  while (Serial.available() > 0 && newData == false) {
    rc = Serial.read();
    if (recvInProgress == true) {
      if (rc != endMarker) {
        receivedChars[ndx] = rc;
        ndx++;
        if (ndx >= numChars) {
          ndx = numChars - 1;
        }
      }
      else {
        receivedChars[ndx] = '\0'; // terminate the string
        recvInProgress = false;
        ndx = 0;
        newData = true;
      }
    }
    else if (rc == startMarker) {
      recvInProgress = true;
    }
  }
}

void parseData() {      // split the data into its parts
  char * strtokIndx;  // this is used by strtok() as an index

  strtokIndx = strtok(tempChars,","); // get the first part - the string
  speed[0] = atoi(strtokIndx);     // convert this part to an integer

  strtokIndx = strtok(NULL, ","); // continue where the previous call left off
  speed[1] = atoi(strtokIndx);     // convert this part to an integer

  strtokIndx = strtok(NULL, ",");
  speed[2] = atoi(strtokIndx);     // convert this part to an integer

  strtokIndx = strtok(NULL, ",");
  speed[3] = atoi(strtokIndx);     // convert this part to an integer

  strtokIndx = strtok(NULL, ",");
  dir = atoi(strtokIndx);         // convert this part to an integer
}

void showParsedData() {
  Serial.print("speed [0]:");
  Serial.print(speed[0]);
  Serial.print("  [1]:");
  Serial.print(speed[1]);
  Serial.print("  [2]:");
  Serial.print(speed[2]);
  Serial.print("  [3]:");
  Serial.print(speed[3]);
  Serial.print("  dir:");
  Serial.println(dir);
}