Hello everybody.
I'm newbie to arduino and i need help with my project's code. I'm making insect robot using this instruction 4. Insect Robot - Make: Arduino Bots and Gadgets [Book] , but instead of using 3-pin ping sensor I'm using 4-pin one. So I'm changing the code a bit and here's the problems.
// walkerForwardComplete.pde - Two servo walker.
// Complete code with obstacle avoidance
// (c) Kimmo Karvinen & Tero Karvinen http://BotBook.com
// Updated by Joe Saavedra, 2010
#include <Servo.h>
Servo frontServo;
Servo rearServo;
/* Servo motors - global variables */
int centerPos = 90;
int frontRightUp = 72;
int frontLeftUp = 108;
int backRightForward = 75;
int backLeftForward = 105;
int walkSpeed = 150; // How long to wait between steps in milliseconds
int centerTurnPos = 81;
int frontTurnRightUp = 63;
int frontTurnLeftUp = 117;
int backTurnRightForward = 66;
int backTurnLeftForward = 96;
/* Ping distance measurement - global variables */
int vcc = 2; //attach pin 2 to vcc
int trig = 3; // attach pin 3 to Trig
int echo = 4; //attach pin 4 to Echo
int gnd = 5; //attach pin 5 to GND
long int duration, distanceInches;
long distanceFront=0; //cm
int startAvoidanceDistance=20; //cm
int distanceCm=0 ;
void center()
{
frontServo.write(centerPos);
rearServo.write(centerPos);
}
void moveForward()
{
frontServo.write(frontRightUp);
rearServo.write(backLeftForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
frontServo.write(frontLeftUp);
rearServo.write(backRightForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveBackRight()
{
frontServo.write(frontRightUp);
rearServo.write(backRightForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos-6);
delay(65);
frontServo.write(frontLeftUp+9);
rearServo.write(backLeftForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveTurnLeft()
{
frontServo.write(frontTurnRightUp);
rearServo.write(backTurnLeftForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
frontServo.write(frontTurnLeftUp);
rearServo.write(backTurnRightForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
}
void setup()
{
frontServo.attach(2);
rearServo.attach(3);
pinMode (vcc,OUTPUT);
pinMode (gnd,OUTPUT);
Serial.begin(9600);
}
void loop()
{
digitalWrite(vcc, HIGH);
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trig, OUTPUT);
digitalWrite(trig, LOW);
delayMicroseconds(2);
digitalWrite(trig, HIGH);
delayMicroseconds(5);
digitalWrite(trig, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echo,INPUT);
duration = pulseIn(echo, HIGH);
// convert the time into a distance
distanceCm = microsecondsToCentimeters(duration);
delay(100);
}
long microsecondsToInches(long microseconds) ;
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PI...
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
distanceFront=distanceCm();
if (distanceFront > 1){ // Filters out any stray 0.00 error readings
if (distanceFront<startAvoidanceDistance) {
for(int i=0; i<=8; i++) {
moveBackRight();
delay(walkSpeed);
}
for(int i=0; i<=10; i++) {
moveTurnLeft();
delay(walkSpeed);
}
}
else {
moveForward();
delay(walkSpeed);
}
}
}
Insect_bot:129: error: expected unqualified-id before '{' token
Insect_bot:147: error: expected constructor, destructor, or type conversion before '=' token
Insect_bot:148: error: expected unqualified-id before 'if'
This is a function declaration. It should not have a semi-colon at the end.
distanceFront = distanceCm();
This is trying to call a function named distanceCm() but there is no such function. distanceCm is a simple variable, but there is another problem because the section of code around there is not in a function.
This is a function declaration. It should not have a semi-colon at the end.
This is where that define versus declare distinction often gets outta whack. Actually, the line referenced is the start of a function definition and the semicolon should not be included. A function declaration (aka, function prototype) does require a semicolon at the end. The distinction between define and declare is real and has been discussed at length in another thread.
Thanks for the help I updated the code to this but there's still one more error. I would appreciate any help.
// walkerForwardComplete.pde - Two servo walker.
// Complete code with obstacle avoidance
// (c) Kimmo Karvinen & Tero Karvinen http://BotBook.com
// Updated by Joe Saavedra, 2010
#include <Servo.h>
Servo frontServo;
Servo rearServo;
/* Servo motors - global variables */
int centerPos = 90;
int frontRightUp = 72;
int frontLeftUp = 108;
int backRightForward = 75;
int backLeftForward = 105;
int walkSpeed = 150; // How long to wait between steps in milliseconds
int centerTurnPos = 81;
int frontTurnRightUp = 63;
int frontTurnLeftUp = 117;
int backTurnRightForward = 66;
int backTurnLeftForward = 96;
/* Ping distance measurement - global variables */
int vcc = 2; //attach pin 2 to vcc
int trig = 3; // attach pin 3 to Trig
int echo = 4; //attach pin 4 to Echo
int gnd = 5; //attach pin 5 to GND
long int duration, distanceInches;
long distanceFront=0; //cm
int startAvoidanceDistance=20; //cm
int distanceCm=0 ;
void center()
{
frontServo.write(centerPos);
rearServo.write(centerPos);
}
void moveForward()
{
frontServo.write(frontRightUp);
rearServo.write(backLeftForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
frontServo.write(frontLeftUp);
rearServo.write(backRightForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveBackRight()
{
frontServo.write(frontRightUp);
rearServo.write(backRightForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos-6);
delay(65);
frontServo.write(frontLeftUp+9);
rearServo.write(backLeftForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveTurnLeft()
{
frontServo.write(frontTurnRightUp);
rearServo.write(backTurnLeftForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
frontServo.write(frontTurnLeftUp);
rearServo.write(backTurnRightForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
}
void setup()
{
frontServo.attach(2);
rearServo.attach(3);
pinMode (vcc,OUTPUT);
pinMode (gnd,OUTPUT);
Serial.begin(9600);
}
void loop()
{
digitalWrite(vcc, HIGH);
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trig, OUTPUT);
digitalWrite(trig, LOW);
delayMicroseconds(2);
digitalWrite(trig, HIGH);
delayMicroseconds(5);
digitalWrite(trig, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echo,INPUT);
duration = pulseIn(echo, HIGH);
// convert the time into a distance
distanceCm = microsecondsToCentimeters(duration);
delay(100);
}
long microsecondsToInches(long microseconds)
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PI...
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
}
{
distanceFront=distanceCm;
if (distanceFront > 1){ // Filters out any stray 0.00 error readings
if (distanceFront<startAvoidanceDistance) {
for(int i=0; i<=8; i++) {
moveBackRight();
delay(walkSpeed);
}
for(int i=0; i<=10; i++) {
moveTurnLeft();
delay(walkSpeed);
}
}
else {
moveForward();
delay(walkSpeed);
}
}
}
sketch_jul02a:145: error: expected unqualified-id before '{' token
The error is because the following code block doesn't appear within a function block.
// This code appears after the microsecondsToCentimeters() function definition
{
distanceFront = distanceCm;
if (distanceFront > 1) { // Filters out any stray 0.00 error readings
if (distanceFront < startAvoidanceDistance) {
for (int i = 0; i <= 8; i++) {
moveBackRight();
delay(walkSpeed);
}
for (int i = 0; i <= 10; i++) {
moveTurnLeft();
delay(walkSpeed);
}
}
else {
moveForward();
delay(walkSpeed);
}
}
}
Where do you want this section of code to be executed?
Also, please read Nick Gammon's two posts at the top of this Forum for guidelines on how to properly post here, especially the use of code tags ("</>").
econjack:
This is where that define versus declare distinction often gets outta whack. Actually, the line referenced is the start of a function definition and the semicolon should not be included. A function declaration (aka, function prototype) does require a semicolon at the end. The distinction between define and declare is real and has been discussed at length in another thread.
Thanks for the help. I completed my code couldn't done that without your help, appreciate it very much. But still i don't know how this code works on my Arduino Uno because when I connected it to my PC it heated up and no LEDs lighted up.
Post your revised code here and do us all a favour and use code tags (</> above the editor window) Describe exactly what happens when you run the program, what you expect to happen and what you have connected to the Uno.
#include <Servo.h>
Servo frontServo;
Servo rearServo;
/* Servo motors - global variables */
int centerPos = 90;
int frontRightUp = 72;
int frontLeftUp = 108;
int backRightForward = 75;
int backLeftForward = 105;
int walkSpeed = 150; // How long to wait between steps in milliseconds
int centerTurnPos = 81;
int frontTurnRightUp = 63;
int frontTurnLeftUp = 117;
int backTurnRightForward = 66;
int backTurnLeftForward = 96;
/* Ping distance measurement - global variables */
int trig = 6; // attach pin 3 to Trig
int echo = 7; //attach pin 4 to Echo
long int duration, distanceInches;
long distanceFront=0; //cm
int startAvoidanceDistance=20; //cm
int distanceCm=0 ;
void center()
{
frontServo.write(centerPos);
rearServo.write(centerPos);
}
void moveForward()
{
frontServo.write(frontRightUp);
rearServo.write(backLeftForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
frontServo.write(frontLeftUp);
rearServo.write(backRightForward);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveBackRight()
{
frontServo.write(frontRightUp);
rearServo.write(backRightForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos-6);
delay(65);
frontServo.write(frontLeftUp+9);
rearServo.write(backLeftForward-6);
delay(125);
frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}
void moveTurnLeft()
{
frontServo.write(frontTurnRightUp);
rearServo.write(backTurnLeftForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
frontServo.write(frontTurnLeftUp);
rearServo.write(backTurnRightForward);
delay(125);
frontServo.write(centerTurnPos);
rearServo.write(centerTurnPos);
delay(65);
}
void setup()
{
frontServo.attach(2);
rearServo.attach(3);
Serial.begin(9600);
}
void loop()
{
// establish variables for duration of the ping,
// and the distance result in inches and centimeters:
long duration, inches, cm;
// The PING))) is triggered by a HIGH pulse of 2 or more microseconds.
// Give a short LOW pulse beforehand to ensure a clean HIGH pulse:
pinMode(trig, OUTPUT);
digitalWrite(trig, LOW);
delayMicroseconds(2);
digitalWrite(trig, HIGH);
delayMicroseconds(5);
digitalWrite(trig, LOW);
// The same pin is used to read the signal from the PING))): a HIGH
// pulse whose duration is the time (in microseconds) from the sending
// of the ping to the reception of its echo off of an object.
pinMode(echo,INPUT);
duration = pulseIn(echo, HIGH);
// convert the time into a distance
distanceCm = microsecondsToCentimeters(duration);
delay(100);
}
long microsecondsToInches(long microseconds)
{
// According to Parallax's datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.
// See: http://www.parallax.com/dl/docs/prod/acc/28015-PI...
return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds)
{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.
return microseconds / 29 / 2;
distanceFront=distanceCm;
if (distanceFront > 1){ // Filters out any stray 0.00 error readings
if (distanceFront<startAvoidanceDistance) {
for(int i=0; i<=8; i++) {
moveBackRight();
delay(walkSpeed);
}
for(int i=0; i<=10; i++) {
moveTurnLeft();
delay(walkSpeed);
}
}
else {
moveForward();
delay(walkSpeed);
}
}
}
That site is another bull sh*t project site as it is trying to power every thing from the arduino using a little 9v battery. You need a separate power supply for the servos.
It's almost never a good idea to tie a motor directly to an Arduino pin. The pin can only provide a small amount of current (i.e., < 40mA) which is probably less than your motor wants. Rule of Thumb: Getting smoke back into the Arduino is much harder than letting it out.
