Fixing Code with the Mechatronics Rover

Hey All, not sure if anyone else on here has ever tackled the HowToMechatronics.com Mars Rover project but I'm nearly complete though running into some code issues when trying to upload to the Mega. The code is admittedly my weak point, especially when viewing code that someone else has written that may need slight debugging. Was able to 3D print, build, assemble, wire up, solder, etc. this whole thing and hoping to be able to take it to a Cub Scout rocket launch event this weekend. At this point I have added all the proper libraries but am getting stuck on, what seem like, a small issue of an undefined variable (i.e. "not declared in this scope" error). I'm guessing there might be other errors after this, but I get stuck at this part when uploading the code. Any guidance for someone that is more than willing to try to learn would be appreciated. Below is the code, forgive me if there is a better way to upload code like this that's not quite so bulky.


#include <Servo.h>
#include <ServoEasing.h>
#include <IBusBM.h>
#include <AccelStepper.h>

#define motorW1_IN1 6
#define motorW1_IN2 7
#define motorW2_IN1 4
#define motorW2_IN2 5
#define motorW3_IN1 2
#define motorW3_IN2 3
#define motorW4_IN1 13
#define motorW4_IN2 10
#define motorW5_IN1 8
#define motorW5_IN2 9
#define motorW6_IN1 11
#define motorW6_IN2 12

ServoEasing servoW1;
ServoEasing servoW3;
ServoEasing servoW4;
ServoEasing servoW6;
ServoEasing servoCamTilt;

AccelStepper camPanStepper(1, 46, 45);  //(Type:driver, STEP, DIR) - Stepper1

IBusBM IBus;
IBusBM IBusSensor;

int angle = 0;   // servo position in degrees
int ch0, ch1, ch2, ch3, ch6 = 0;
int servo1Angle = 90;
int servo3Angle = 90;
int servo4Angle = 90;
int servo6Angle = 90;
int s = 0; // rover speed
int r = 0; // turning radius
int m1, m2, m3, m4, m5, m6;
int camTilt = 90;
int camPan = 0;
float speed1, speed2, speed3 = 0;
float speed1PWM, speed2PWM, speed3PWM = 0;
float thetaInnerFront, thetaInnerBack, thetaOuterFront, thetaOuterBack = 0;


float d1 = 271; // distance in mm
float d2 = 278;
float d3 = 301;
float d4 = 304;


void setup() {

  /*
     Use this if you need to change the frequency of the PWM signals
    TCCR4B = TCCR4B & B11111000 | B00000101;     // D6,D7,D8 PWM frequency of 30.64 Hz
    TCCR2B = TCCR2B & B11111000 | B00000111;   // D9, D10 PWM frequency of 30.64 Hz
    TCCR1B = TCCR1B & B11111000 | B00000101;   // D11, D12  PWM frequency of 30.64 Hz
    TCCR5B = TCCR5B & B11111000 | B00000101; // D4, D13 PWM frequency of 30.64 Hz
    TCCR3B = TCCR3B & B11111000 | B00000101;    // D2, D3, D5 PWM frequency of 30.64 Hz
  */
  
  Serial.begin(115200);
  IBus.begin(Serial1, IBUSBM_NOTIMER); // Servo iBUS
  IBusSensor.begin(Serial2, IBUSBM_NOTIMER); // Sensor iBUS

  IBusSensor.addSensor(IBUSS_INTV); // add voltage sensor

  servoW1.attach(22);
  servoW3.attach(23);
  servoW4.attach(24);
  servoW6.attach(25);
  servoCamTilt.attach(26);

  servoW1.write(90);
  servoW3.write(90);
  servoW4.write(90);
  servoW6.write(90);
  servoCamTilt.write(90);

  servoW1.setSpeed(550);
  servoW3.setSpeed(550);
  servoW4.setSpeed(550);
  servoW6.setSpeed(550);
  servoCamTilt.setSpeed(200);

  camPanStepper.setMaxSpeed(1000);
  camPan = 0;
  camTilt = 90;


  // DC Motors
  // Motor Wheel 1 - Left Front
  digitalWrite(motorW1_IN1, LOW);   // PWM value
  digitalWrite(motorW1_IN2, LOW); // Forward
  // Motor Wheel 2 - Left Middle
  digitalWrite(motorW2_IN1, LOW);
  digitalWrite(motorW2_IN2, LOW);
  // Motor Wheel 3 - Left Back
  digitalWrite(motorW3_IN1, LOW);
  digitalWrite(motorW3_IN2, LOW);
  // right side motors move in opposite direction
  // Motor Wheel 4 - Right Front
  digitalWrite(motorW4_IN1, LOW);
  digitalWrite(motorW4_IN2, LOW);
  // Motor Wheel 5 - Right Middle
  digitalWrite(motorW5_IN1, LOW);
  digitalWrite(motorW5_IN2, LOW);
  // Motor Wheel 6 - Right Back
  digitalWrite(motorW6_IN1, LOW);
  digitalWrite(motorW6_IN2, LOW);


}

void loop() {
  // Reading the data comming from the RC Transmitter
  IBus.loop();
  ch0 = IBus.readChannel(0);
  ch1 = IBus.readChannel(1);
  ch2 = IBus.readChannel(2);
  ch3 = IBus.readChannel(3);
  ch6 = IBus.readChannel(6);

  // Convertign the incoming data
  // Steering right
  if (ch0 > 1515) {
    r = map(ch0, 1515, 2000, 1400, 600); // turining radius from 1400mm to 600mm
  }
  // Steering left
  else if (ch0 < 1485) {
    r = map(ch0, 1485, 1000, 1400, 600); // turining radius from 600mm to 1400mm
  }
  // Rover speed in % from 0 to 100
  s = map(ch2, 1000, 2000, 0, 100); // rover speed from 0% to 100%

  // Camera head steering
  if (ch1 < 1485 ) {
    if (camTilt >= 35) {
      camTilt--;
      delay(20);
    }
  }
  if (ch1 > 1515 ) {
    if (camTilt <= 165) {
      camTilt++;
      delay(20);
    }
  }
  servoCamTilt.startEaseTo(camTilt); // Camera tilt

  if (ch3 >= 1000 && ch3 < 1485) {
    camPan = map(ch3, 1000, 1485, 400, 0);
  }
  else if (ch3 > 1515 && ch3 <= 2000) {
    camPan = map(ch3, 1515, 2000, 0, -400);
  }
  else {
    camPan = 0;
  }
  camPanStepper.setSpeed(camPan);    // Camera pan
  camPanStepper.run();


  calculateMotorsSpeed();
  calculateServoAngle();

  // Steer right
  if (ch0 > 1515) {
    // Servo motors
    // Outer wheels
    servoW1.startEaseTo(97 + thetaInnerFront); // front wheel steer right
    servoW3.startEaseTo(97 - thetaInnerBack); // back wheel steer left for overall steering to the right of the rover
    // Inner wheels
    servoW4.startEaseTo(94 + thetaOuterFront);
    servoW6.startEaseTo(96 - thetaOuterBack);

    // DC Motors
    if (ch6 < 1500) { // Move forward
      // Motor Wheel 1 - Left Front
      analogWrite(motorW1_IN1, speed1PWM);   // Outer wheels running at speed1 - max speed
      digitalWrite(motorW1_IN2, LOW);
      // Motor Wheel 2 - Left Middle
      analogWrite(motorW2_IN1, speed1PWM);
      digitalWrite(motorW2_IN2, LOW);
      // Motor Wheel 3 - Left Back
      analogWrite(motorW3_IN1, speed1PWM);
      digitalWrite(motorW3_IN2, LOW);
      // right side motors move in opposite direction
      // Motor Wheel 4 - Right Front
      digitalWrite(motorW4_IN1, LOW);
      analogWrite(motorW4_IN2, speed2PWM); // Inner front wheel running at speed2 - lower speed
      // Motor Wheel 5 - Right Middle
      digitalWrite(motorW5_IN1, LOW);
      analogWrite(motorW5_IN2, speed3PWM); // Inner middle wheel running at speed3 - lowest speed
      // Motor Wheel 6 - Right Back
      digitalWrite(motorW6_IN1, LOW);
      analogWrite(motorW6_IN2, speed2PWM); // Inner back wheel running at speed2 - lower speed
    }
    else if (ch6 > 1500) {
      // Motor Wheel 1 - Left Front
      digitalWrite(motorW1_IN1, LOW);   // Outer wheels running at speed1 - max speed
      analogWrite(motorW1_IN2, speed1PWM);
      // Motor Wheel 2 - Left Middle
      digitalWrite(motorW2_IN1, LOW);
      analogWrite(motorW2_IN2, speed1PWM);
      // Motor Wheel 3 - Left Back
      digitalWrite(motorW3_IN1, LOW);
      analogWrite(motorW3_IN2, speed1PWM);
      // right side motors move in opposite direction
      // Motor Wheel 4 - Right Front
      analogWrite(motorW4_IN1, speed2PWM);
      digitalWrite(motorW4_IN2, LOW); // Inner front wheel running at speed2 - lower speed
      // Motor Wheel 5 - Right Middle
      analogWrite(motorW5_IN1, speed3PWM);
      digitalWrite(motorW5_IN2, LOW); // Inner middle wheel running at speed3 - lowest speed
      // Motor Wheel 6 - Right Back
      analogWrite(motorW6_IN1, speed2PWM);
      digitalWrite(motorW6_IN2, LOW); // Inner back wheel running at speed2 - lower speed
    }
  }

  // Steer left
  else if (ch0 < 1485) {
    // Servo motors
    servoW1.startEaseTo(97 - thetaOuterFront);
    servoW3.startEaseTo(97 + thetaOuterBack);
    servoW4.startEaseTo(94 - thetaInnerFront);
    servoW6.startEaseTo(96 + thetaInnerBack);

    // DC Motors
    if (ch6 < 1500) { // Move forward
      // Motor Wheel 1 - Left Front
      analogWrite(motorW1_IN1, speed2PWM);   // PWM value
      digitalWrite(motorW1_IN2, LOW); // Forward
      // Motor Wheel 2 - Left Middle
      analogWrite(motorW2_IN1, speed3PWM);
      digitalWrite(motorW2_IN2, LOW);
      // Motor Wheel 3 - Left Back
      analogWrite(motorW3_IN1, speed2PWM);
      digitalWrite(motorW3_IN2, LOW);
      // Motor Wheel 4 - Right Front
      // right side motors move in opposite direction
      digitalWrite(motorW4_IN1, LOW);
      analogWrite(motorW4_IN2, speed1PWM);
      // Motor Wheel 5 - Right Middle
      digitalWrite(motorW5_IN1, LOW);
      analogWrite(motorW5_IN2, speed1PWM);
      // Motor Wheel 6 - Right Back
      digitalWrite(motorW6_IN1, LOW);
      analogWrite(motorW6_IN2, speed1PWM);
    }
    else if (ch6 > 1500) { // Move backward
      // Motor Wheel 1 - Left Front
      digitalWrite(motorW1_IN1, LOW);   // PWM value
      analogWrite(motorW1_IN2, speed2PWM); // Forward
      // Motor Wheel 2 - Left Middle
      digitalWrite(motorW2_IN1, LOW);
      analogWrite(motorW2_IN2, speed3PWM);
      // Motor Wheel 3 - Left Back
      digitalWrite(motorW3_IN1, LOW);
      analogWrite(motorW3_IN2, speed2PWM);
      // Motor Wheel 4 - Right Front
      // right side motors move in opposite direction
      analogWrite(motorW4_IN1, speed1PWM);
      digitalWrite(motorW4_IN2, LOW);
      // Motor Wheel 5 - Right Middle
      analogWrite(motorW5_IN1, speed1PWM);
      digitalWrite(motorW5_IN2, LOW);
      // Motor Wheel 6 - Right Back
      analogWrite(motorW6_IN1, speed1PWM);
      digitalWrite(motorW6_IN2, LOW);
    }
  }

  // Move straight
  else {
    servoW1.startEaseTo(97);
    servoW3.startEaseTo(97);
    servoW4.startEaseTo(94);
    servoW6.startEaseTo(96);

    // DC Motors
    if (ch6 < 1500) {
      // Motor Wheel 1 - Left Front
      analogWrite(motorW1_IN1, speed1PWM);  // all wheels move at the same speed
      digitalWrite(motorW1_IN2, LOW); // Forward
      // Motor Wheel 2 - Left Middle
      analogWrite(motorW2_IN1, speed1PWM);
      digitalWrite(motorW2_IN2, LOW);
      // Motor Wheel 3 - Left Back
      analogWrite(motorW3_IN1, speed1PWM);
      digitalWrite(motorW3_IN2, LOW);
      // right side motors move in opposite direction
      // Motor Wheel 4 - Right Front
      digitalWrite(motorW4_IN1, LOW);
      analogWrite(motorW4_IN2, speed1PWM);
      // Motor Wheel 5 - Right Middle
      digitalWrite(motorW5_IN1, LOW);
      analogWrite(motorW5_IN2, speed1PWM);
      // Motor Wheel 6 - Right Back
      digitalWrite(motorW6_IN1, LOW);
      analogWrite(motorW6_IN2, speed1PWM);
    }
    else if (ch6 > 1500) {
      // Motor Wheel 1 - Left Front
      digitalWrite(motorW1_IN1, LOW);  // all wheels move at the same speed
      analogWrite(motorW1_IN2, speed1PWM); // Forward
      // Motor Wheel 2 - Left Middle
      digitalWrite(motorW2_IN1, LOW);
      analogWrite(motorW2_IN2, speed1PWM);
      // Motor Wheel 3 - Left Back
      digitalWrite(motorW3_IN1, LOW);
      analogWrite(motorW3_IN2, speed1PWM);
      // right side motors move in opposite direction
      // Motor Wheel 4 - Right Front
      analogWrite(motorW4_IN1, speed1PWM);
      digitalWrite(motorW4_IN2, LOW);
      // Motor Wheel 5 - Right Middle
      analogWrite(motorW5_IN1, speed1PWM);
      digitalWrite(motorW5_IN2, LOW);
      // Motor Wheel 6 - Right Back
      analogWrite(motorW6_IN1, speed1PWM);
      digitalWrite(motorW6_IN2, LOW);
    }
  }
  // Monitor the battery voltage
  int sensorValue = analogRead(A0);
  float voltage = sensorValue * (5.00 / 1023.00) * 3.02; // Convert the reading values from 5v to suitable 12V
  // Send battery voltage value to transmitter
  IBusSensor.loop();
  IBusSensor.setSensorMeasurement(1, voltage * 100);
}

void calculateMotorsSpeed() {
  // if no steering, all wheels speed is the same - straight move
  if (ch0 > 1485 && ch0 < 1515) {
    speed1 = speed2 = speed3 = s;
  }
  // when steering, wheels speed depend on the turning radius value
  else {
    // Outer wheels, furthest wheels from turning point, have max speed
    // Due to the rover geometry, all three outer wheels should rotate almost with the same speed. They differe only 1% so we asume they are the same.
    speed1 = s;
    // Inner front and back wheels are closer to the turing point and have lower speeds compared to the outer speeds
    speed2 = s * sqrt(pow(d3, 2) + pow((r - d1), 2)) / (r + d4);
    // Inner middle wheel is closest to the turning point, has the lowest speed
    speed3 = s * (r - d4) / (r + d4);
  }

  // speed value from 0 to 100% to PWM value from 0 to 255
  speed1PWM = map(round(speed1), 0, 100, 0, 255);
  speed2PWM = map(round(speed2), 0, 100, 0, 255);
  speed3PWM = map(round(speed3), 0, 100, 0, 255);
}

void calculateServoAngle() {
  // Calculate the angle for each servo for the input turning radius "r"
  thetaInnerFront = round((atan((d3 / (r + d1)))) * 180 / PI);
  thetaInnerBack = round((atan((d2 / (r + d1)))) * 180 / PI);
  thetaOuterFront = round((atan((d3 / (r - d1)))) * 180 / PI);
  thetaOuterBack = round((atan((d2 / (r - d1)))) * 180 / PI);

}

Welcome to the forum

Please copy the full error message using the "Copy error message" button in the IDE and post it here in code tags

Arduino: 1.8.19 (Windows 10), Board: "Arduino Uno"

C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Matt\Documents\Arduino\libraries -fqbn=arduino:avr:uno -ide-version=10819 -build-path C:\Users\Matt\AppData\Local\Temp\arduino_build_135272 -warnings=none -build-cache C:\Users\Matt\AppData\Local\Temp\arduino_cache_847048 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -verbose C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino

C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Matt\Documents\Arduino\libraries -fqbn=arduino:avr:uno -ide-version=10819 -build-path C:\Users\Matt\AppData\Local\Temp\arduino_build_135272 -warnings=none -build-cache C:\Users\Matt\AppData\Local\Temp\arduino_cache_847048 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -verbose C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino

Using board 'uno' from platform in folder: C:\Program Files (x86)\Arduino\hardware\arduino\avr

Using core 'arduino' from platform in folder: C:\Program Files (x86)\Arduino\hardware\arduino\avr

Detecting libraries used...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for Servo.h: [Servo@1.1.8]

ResolveLibrary(Servo.h)

  -> candidates: [Servo@1.1.8]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for ServoEasing.h: [ServoEasing-3.0.0@3.0.0]

ResolveLibrary(ServoEasing.h)

  -> candidates: [ServoEasing-3.0.0@3.0.0]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for IBusBM.h: [IBusBM-1.1.4@1.1.4]

ResolveLibrary(IBusBM.h)

  -> candidates: [IBusBM-1.1.4@1.1.4]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for AccelStepper.h: [AccelStepper-1.61.0@1.61]

ResolveLibrary(AccelStepper.h)

  -> candidates: [AccelStepper-1.61.0@1.61]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\avr\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\mbed\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\megaavr\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\nrf52\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\sam\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\samd\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src\\stm32f4\\Servo.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src\\IBusBM.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src\\AccelStepper.cpp" -o nul

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src\\MultiStepper.cpp" -o nul

Generating function prototypes...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\preproc\\ctags_target_for_gcc_minus_e.cpp"

"C:\\Program Files (x86)\\Arduino\\tools-builder\\ctags\\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\preproc\\ctags_target_for_gcc_minus_e.cpp"

Compiling sketch...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -MMD -flto -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\standard" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp.o"

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino: In function 'void setup()':

Mars_Rover:74:14: error: 'Serial1' was not declared in this scope

   IBus.begin(Serial1, IBUSBM_NOTIMER); // Servo iBUS

              ^~~~~~~

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino:74:14: note: suggested alternative: 'Serial'

   IBus.begin(Serial1, IBUSBM_NOTIMER); // Servo iBUS

              ^~~~~~~

              Serial

Mars_Rover:75:20: error: 'Serial2' was not declared in this scope

   IBusSensor.begin(Serial2, IBUSBM_NOTIMER); // Sensor iBUS

                    ^~~~~~~

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino:75:20: note: suggested alternative: 'Serial'

   IBusSensor.begin(Serial2, IBUSBM_NOTIMER); // Sensor iBUS

                    ^~~~~~~

                    Serial

Using library Servo at version 1.1.8 in folder: C:\Program Files (x86)\Arduino\libraries\Servo 

Using library ServoEasing-3.0.0 at version 3.0.0 in folder: C:\Users\Matt\Documents\Arduino\libraries\ServoEasing-3.0.0 

Using library IBusBM-1.1.4 at version 1.1.4 in folder: C:\Users\Matt\Documents\Arduino\libraries\IBusBM-1.1.4 

Using library AccelStepper-1.61.0 at version 1.61 in folder: C:\Users\Matt\Documents\Arduino\libraries\AccelStepper-1.61.0 

exit status 1

'Serial1' was not declared in this scope


You're compiling for a Uno; the Uno has no Serial1 (or Serial2).
Select the Mega and try again.

You are ABSOLUTELY correct. Let me try again.

Okay, fixed the "duh" error of compiling for the wrong board. Now maybe having trouble with some of the new libraries?

Arduino: 1.8.19 (Windows 10), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Matt\Documents\Arduino\libraries -fqbn=arduino:avr:mega:cpu=atmega2560 -ide-version=10819 -build-path C:\Users\Matt\AppData\Local\Temp\arduino_build_135272 -warnings=none -build-cache C:\Users\Matt\AppData\Local\Temp\arduino_cache_847048 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -verbose C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino

C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries C:\Users\Matt\Documents\Arduino\libraries -fqbn=arduino:avr:mega:cpu=atmega2560 -ide-version=10819 -build-path C:\Users\Matt\AppData\Local\Temp\arduino_build_135272 -warnings=none -build-cache C:\Users\Matt\AppData\Local\Temp\arduino_cache_847048 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino7.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=C:\Program Files (x86)\Arduino\hardware\tools\avr -verbose C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover\Mars_Rover.ino

Using board 'mega' from platform in folder: C:\Program Files (x86)\Arduino\hardware\arduino\avr

Using core 'arduino' from platform in folder: C:\Program Files (x86)\Arduino\hardware\arduino\avr

Detecting libraries used...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for Servo.h: [Servo@1.1.8]

ResolveLibrary(Servo.h)

  -> candidates: [Servo@1.1.8]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for ServoEasing.h: [ServoEasing-3.0.0@3.0.0]

ResolveLibrary(ServoEasing.h)

  -> candidates: [ServoEasing-3.0.0@3.0.0]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for IBusBM.h: [IBusBM-1.1.4@1.1.4]

ResolveLibrary(IBusBM.h)

  -> candidates: [IBusBM-1.1.4@1.1.4]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Alternatives for AccelStepper.h: [AccelStepper-1.61.0@1.61]

ResolveLibrary(AccelStepper.h)

  -> candidates: [AccelStepper-1.61.0@1.61]

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o nul

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\avr\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\mbed\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\megaavr\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\nrf52\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\sam\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\samd\Servo.cpp

Using cached library dependencies for file: C:\Program Files (x86)\Arduino\libraries\Servo\src\stm32f4\Servo.cpp

Using cached library dependencies for file: C:\Users\Matt\Documents\Arduino\libraries\IBusBM-1.1.4\src\IBusBM.cpp

Using cached library dependencies for file: C:\Users\Matt\Documents\Arduino\libraries\AccelStepper-1.61.0\src\AccelStepper.cpp

Using cached library dependencies for file: C:\Users\Matt\Documents\Arduino\libraries\AccelStepper-1.61.0\src\MultiStepper.cpp

Generating function prototypes...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\preproc\\ctags_target_for_gcc_minus_e.cpp"

"C:\\Program Files (x86)\\Arduino\\tools-builder\\ctags\\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\preproc\\ctags_target_for_gcc_minus_e.cpp"

Compiling sketch...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -MMD -flto -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO=10819 -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\variants\\mega" "-IC:\\Program Files (x86)\\Arduino\\libraries\\Servo\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\ServoEasing-3.0.0\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\IBusBM-1.1.4\\src" "-IC:\\Users\\Matt\\Documents\\Arduino\\libraries\\AccelStepper-1.61.0\\src" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp" -o "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp.o"

Compiling libraries...

Compiling library "Servo"

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\avr\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\mbed\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\megaavr\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\nrf52\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\sam\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\samd\Servo.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\Servo\stm32f4\Servo.cpp.o

Compiling library "ServoEasing-3.0.0"

Compiling library "IBusBM-1.1.4"

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\IBusBM-1.1.4\IBusBM.cpp.o

Compiling library "AccelStepper-1.61.0"

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\AccelStepper-1.61.0\AccelStepper.cpp.o

Using previously compiled file: C:\Users\Matt\AppData\Local\Temp\arduino_build_135272\libraries\AccelStepper-1.61.0\MultiStepper.cpp.o

Compiling core...

Using precompiled core: C:\Users\Matt\AppData\Local\Temp\arduino_cache_847048\core\core_arduino_avr_mega_cpu_atmega2560_0c812875ac70eb4a9b385d8fb077f54c.a

Linking everything together...

"C:\\Program Files (x86)\\Arduino\\hardware\\tools\\avr/bin/avr-gcc" -w -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections -mmcu=atmega2560 -o "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272/Mars_Rover.ino.elf" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\sketch\\Mars_Rover.ino.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\avr\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\mbed\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\megaavr\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\nrf52\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\sam\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\samd\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\Servo\\stm32f4\\Servo.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\IBusBM-1.1.4\\IBusBM.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\AccelStepper-1.61.0\\AccelStepper.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272\\libraries\\AccelStepper-1.61.0\\MultiStepper.cpp.o" "C:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272/..\\arduino_cache_847048\\core\\core_arduino_avr_mega_cpu_atmega2560_0c812875ac70eb4a9b385d8fb077f54c.a" "-LC:\\Users\\Matt\\AppData\\Local\\Temp\\arduino_build_135272" -lm

C:\Users\Matt\AppData\Local\Temp\ccHMJadq.ltrans0.ltrans.o: In function `global constructors keyed to 65535_0_Mars_Rover.ino.cpp.o.2469':

<artificial>:(.text.startup+0x188): undefined reference to `ServoEasing::ServoEasing()'

<artificial>:(.text.startup+0x190): undefined reference to `ServoEasing::ServoEasing()'

<artificial>:(.text.startup+0x198): undefined reference to `ServoEasing::ServoEasing()'

<artificial>:(.text.startup+0x1a0): undefined reference to `ServoEasing::ServoEasing()'

<artificial>:(.text.startup+0x1a8): undefined reference to `ServoEasing::ServoEasing()'

C:\Users\Matt\AppData\Local\Temp\ccHMJadq.ltrans0.ltrans.o: In function `setup':

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:79: undefined reference to `ServoEasing::attach(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:80: undefined reference to `ServoEasing::attach(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:81: undefined reference to `ServoEasing::attach(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:82: undefined reference to `ServoEasing::attach(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:83: undefined reference to `ServoEasing::attach(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:85: undefined reference to `ServoEasing::write(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:86: undefined reference to `ServoEasing::write(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:87: undefined reference to `ServoEasing::write(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:88: undefined reference to `ServoEasing::write(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:89: undefined reference to `ServoEasing::write(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:91: undefined reference to `ServoEasing::setSpeed(unsigned int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:92: undefined reference to `ServoEasing::setSpeed(unsigned int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:93: undefined reference to `ServoEasing::setSpeed(unsigned int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:94: undefined reference to `ServoEasing::setSpeed(unsigned int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:95: undefined reference to `ServoEasing::setSpeed(unsigned int)'

C:\Users\Matt\AppData\Local\Temp\ccHMJadq.ltrans0.ltrans.o: In function `loop':

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:160: undefined reference to `ServoEasing::startEaseTo(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:182: undefined reference to `ServoEasing::startEaseTo(float)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:183: undefined reference to `ServoEasing::startEaseTo(float)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:185: undefined reference to `ServoEasing::startEaseTo(float)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:186: undefined reference to `ServoEasing::startEaseTo(float)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:236: undefined reference to `ServoEasing::startEaseTo(float)'

C:\Users\Matt\AppData\Local\Temp\ccHMJadq.ltrans0.ltrans.o:C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:237: more undefined references to `ServoEasing::startEaseTo(float)' follow

C:\Users\Matt\AppData\Local\Temp\ccHMJadq.ltrans0.ltrans.o: In function `loop':

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:288: undefined reference to `ServoEasing::startEaseTo(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:289: undefined reference to `ServoEasing::startEaseTo(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:290: undefined reference to `ServoEasing::startEaseTo(int)'

C:\Users\Matt\Documents\STL\Mars Rover\DIY Mars Rover - STL Files\Mars_Rover/Mars_Rover.ino:291: undefined reference to `ServoEasing::startEaseTo(int)'

collect2.exe: error: ld returned 1 exit status

Using library Servo at version 1.1.8 in folder: C:\Program Files (x86)\Arduino\libraries\Servo 

Using library ServoEasing-3.0.0 at version 3.0.0 in folder: C:\Users\Matt\Documents\Arduino\libraries\ServoEasing-3.0.0 

Using library IBusBM-1.1.4 at version 1.1.4 in folder: C:\Users\Matt\Documents\Arduino\libraries\IBusBM-1.1.4 

Using library AccelStepper-1.61.0 at version 1.61 in folder: C:\Users\Matt\Documents\Arduino\libraries\AccelStepper-1.61.0 

exit status 1

Error compiling for board Arduino Mega or Mega 2560.


That's a linker error, suggesting that ServoEasing library is incorrectly installed.
Check you have both .h and .cpp files.

Library Manager claims that Version 3.0.0 of Servo Easing is installed. I see .h files in the folder and .hpp files, but I don't see any .cpp.

the library hasn't .cpp files

Anyway, try to download it from github and replace the folder libraries\ServoEasing

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