Hello guys, i want your help with programming of my arduino uno. I'm trying to upload the code of the Autonomous Navigation and 2D Mapping robot from the site Arduino Project Hub.
#include <Wire.h>
#include <HMC5883L.h>
#include <NewPing.h>
NewPing sonar1(A0, A1, 100);
NewPing sonar2(A2, A3, 100);
NewPing sonar3(A4, A5, 100);
HMC5883L compass;
//Motor pins
int d1=8;
int val2=82,val=90;
int d2=9;
int brake1=4;
int brake2=12;
int op1=5;
int op2=7;
int pwm1=6;
int pwm2=11;
int td=35;
int error = 0;
String s="",s1,s2,s3;
//Final heading hard coded
/*
* 0 -> N
* 90 -> E
* 180 -> S
* 270 -> W
*/
int fin_heading=0, curr_heading;
int m11=3,m12=4,m21=5,m22=6;
//Global variables
int t=2,e=7; //HCSR04 control pins
int d,dt; //Distance calculated
//int servoPin=9;
int trans[1000], count =0;
int dis1,dis2,dis3;
//Distance acquire
void distance()
{
dis1=sonar1.ping_cm();
dis2=sonar2.ping_cm();
dis3=sonar3.ping_cm();
}
void heading()
{
MagnetometerRaw raw = compass.readRawAxis();
MagnetometerScaled scaled = compass.readScaledAxis();
int MilliGauss_OnThe_XAxis = scaled.XAxis;
float heading = atan2(scaled.YAxis, scaled.XAxis);
float declinationAngle = -0.0457;
heading += declinationAngle;
if(heading < 0)
heading += 2*PI;
// Check for wrap due to addition of declination.
if(heading > 2*PI)
heading -= 2*PI;
// Convert radians to degrees for readability.
float headingDegrees = heading * 180/M_PI;
curr_heading=(int)headingDegrees;
delay(66);
}
void setup()
{
Serial.begin(9600);
pinMode(d1,OUTPUT);
pinMode(d2,OUTPUT);
pinMode(brake1,OUTPUT);
pinMode(brake2,OUTPUT);
pinMode(op1,OUTPUT);
pinMode(op2,OUTPUT);
pinMode(pwm1,OUTPUT);
pinMode(pwm2,OUTPUT);
Wire.begin();
error = compass.setScale(1.3);
error = compass.setMeasurementMode(MEASUREMENT_CONTINUOUS);
}
void loop()
{
String sc="+";
heading();
distance();
s1=String(dis1);
s2=String(dis2);
s3=String(dis3);
String head=String((int)curr_heading);
//String head="360";
s=sc+s1+sc+s2+sc+s3+sc+head+"arg";
Serial.print(s);
Serial.println();
//Algorithm
char cd='f';
cd= dist_empty();
switch(cd)
{
case 'l':
left();
delay(420);
stoop();
delay(100);
break;
case 'r': right();
delay(420);
stoop();
delay(100);
break;
case 'f': forward();
delay(150);
stoop();
delay(100);
break;
default: stoop();
}
Serial.println(cd);
delay(100);
}
char dist_empty()
{
//Follow RHR
td=18;
if(dis1<td&&dis1!=0)
{
if(dis2>td||dis2==0)
return 'l';
else if(dis3>td||dis3==0)
return 'r';
else
return 's';
}
else
{
/*if(dis3<=10)
return 'l';//a=l
else if(dis2<=10)
return 'r';//b=r
else*/
return 'f';
}
}
void left()
{
digitalWrite(brake2,LOW);
analogWrite(pwm2,val);
digitalWrite(d1,HIGH);
analogWrite(pwm1,val);
digitalWrite(d2,LOW);
digitalWrite(brake1,LOW);
digitalWrite(op1,LOW);
digitalWrite(op2,LOW);
}
void right()
{
digitalWrite(brake2,LOW);
analogWrite(pwm2,val);
digitalWrite(d1,LOW);
analogWrite(pwm1,val);
digitalWrite(d2,HIGH);
digitalWrite(brake1,LOW);
digitalWrite(op1,LOW);
digitalWrite(op2,LOW);
}
void forward()
{
digitalWrite(d1,LOW);
analogWrite(pwm1,val);
digitalWrite(brake2,LOW);
analogWrite(pwm2,val2);
digitalWrite(d2,LOW);
digitalWrite(brake1,LOW);
digitalWrite(op1,LOW);
digitalWrite(op2,LOW);
}
void stoop()
{
digitalWrite(brake2,HIGH);
digitalWrite(d1,LOW);
digitalWrite(d2,LOW);
digitalWrite(brake1,HIGH);
digitalWrite(op1,LOW);
digitalWrite(op2,LOW);
analogWrite(pwm1, 0);
analogWrite(pwm2, 0);
}
the arduino shows me a lot of errors like:
Arduino: 1.6.9 Hourly Build 2016/05/09 06:33 (Windows 10), Board: "Arduino/Genuino Uno"
C:\Users\Charalampos\Downloads\genesis_A01\genesis_A01.ino: In function 'void heading()':
genesis_A01:51: error: 'class HMC5883L' has no member named 'readRawAxis'
MagnetometerRaw raw = compass.readRawAxis();
^
genesis_A01:52: error: 'class HMC5883L' has no member named 'readScaledAxis'
MagnetometerScaled scaled = compass.readScaledAxis();
C:\Users\Charalampos\Downloads\genesis_A01\genesis_A01.ino: In function 'void setup()':
genesis_A01:80: error: 'class HMC5883L' has no member named 'setScale'
error = compass.setScale(1.3); ^
genesis_A01:81: error: 'class HMC5883L' has no member named 'setMeasurementMode'
error = compass.setMeasurementMode(MEASUREMENT_CONTINUOUS); ^
genesis_A01:81: error: 'MEASUREMENT_CONTINUOUS' was not declared in this scope
error = compass.setMeasurementMode(MEASUREMENT_CONTINUOUS); ^
exit status 1
'class HMC5883L' has no member named 'readRawAxis'
This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.
i dont know much things in programming of arduino. Can someone help me? thanks