library problem

Projects Programming
1

hello evryone !

I'm trying to create my library for a robot project with my high school.

Here's the code from the folder of the library.

my arduino code:

#include <robot_sumo.h>

robot_sumo robot(true);

void setup() {
  robot.begin(200);

}

void loop() {



}

cpp file:

#include "robot_sumo.h"

// Moteur A
#define pwma 3
#define ain1 9
#define ain2 10

// Moteur B
#define pwmb 5
#define bin1 7
#define bin2 6

#define STBY 8
//capteur ultrason
#define trig 12
#define echo 11
//capteur infrarouge
#define capteur_avant_gauche A2
#define capteur_centre A1
#define capteur_avant_droit A0
#define capteur_arriere_droit A7
#define capteur_arriere_gauche A6


robot_sumo::robot_sumo(bool test = true);
//fonction d'initialisation de tout les pins
void robot_sumo::begin(const int seuil) {
	pinMode(pwma, OUTPUT);
	pinMode(ain1, OUTPUT);
	pinMode(ain2, OUTPUT);

	pinMode(pwmb, OUTPUT);
	pinMode(bin1, OUTPUT);
	pinMode(bin2, OUTPUT);

	pinMode(STBY, OUTPUT);

	pinMode(trig, OUTPUT);
	pinMode(echo, INPUT);

	pinMode(capteur_avant_droit, INPUT);
	pinMode(capteur_avant_gauche, INPUT);
	pinMode(capteur_centre, INPUT);
	pinMode(capteur_arriere_gauche, INPUT);
	pinMode(capteur_arriere_droit, INPUT);

	int _seuil = seuil;
  }

void robot_sumo::AG(int vitesseG) {

	if (vitesseG < 0) _vitesseG = (vitesseG - (2 * vitesseG));
	if (vitesseG > 0) _vitesseG = vitesseG;

	analogWrite(pwma, _vitesseG);
	digitalWrite(STBY, HIGH);

	if (vitesseG > 0) {
		digitalWrite(ain1, HIGH);
		digitalWrite(ain2, LOW);
	}

	if (vitesseG < 0) {
		digitalWrite(ain1, LOW);
		digitalWrite(ain2, HIGH);
	}
	

}

void robot_sumo::AD(int vitesseD) {

	if (vitesseD < 0) _vitesseD = (vitesseD - (2 * vitesseD));
	if (vitesseD > 0) _vitesseD = vitesseD;

	analogWrite(pwma, _vitesseD);
	digitalWrite(STBY, HIGH);

	if (vitesseD > 0) {
		digitalWrite(bin1, HIGH);
		digitalWrite(bin2, LOW);
	}

	if (vitesseD < 0) {
		digitalWrite(bin1, LOW);
		digitalWrite(bin2, HIGH);
	}


}

void robot_sumo::Stop() {

	digitalWrite(ain1, HIGH);
	digitalWrite(ain2, HIGH);

	digitalWrite(bin1, HIGH);
	digitalWrite(bin2, HIGH);
}

float robot_sumo::ultrason() {

	digitalWrite(trig, HIGH);

	delayMicroseconds(10);

	digitalWrite(trig, LOW);

	long _duree = pulseIn(echo, HIGH);
	float distance = (_duree / 2) / 29.1;
	return distance;
}

String robot_sumo::Acouleur() {

	int c1 = analogRead(capteur_avant_droit);
	int c2 = analogRead(capteur_avant_gauche);
	int c3 = analogRead(capteur_centre);

	String couleurretenue;

	if (c1 > 200 & c2 > 200 & c3 > 200) {
		couleurretenue = "Noir";
	}
	else if (c1 <= 200 || c2 <= 200 || c3 <= 200) {
		couleurretenue = "Blanc";
	}
	return couleurretenue;
}

String robot_sumo::Rcouleur() {	

	int c4 = analogRead(capteur_arriere_gauche);
	int c5 = analogRead(capteur_arriere_droit);

	String couleurretenue;

		if (c4 > 200 & c5 > 200) {
			couleurretenue = "Noir";
		}
		else if (c4 <= 200 || c5 <= 200) {
			couleurretenue = "Blanc";
		}
		return couleurretenue;
	}

.h file:

#ifndef tl
#define tl

#if (ARDUINO >=100)
  #include "Arduino.h"
#else
  #include "WProgram.h"
#endif

class robot_sumo  {
  public:
	  robot_sumo(bool test=true);
    // Methods
    void begin(const int seuil);
	void AG(int vitesseG);
	void AD(int vitesseD);
	void Stop();
	float ultrason();
	String Acouleur();
	String Rcouleur();
    

  private:
	  const int _seuil;
	  int _vitesseG;
	  int _vitesseD;
	  long _duree;
};
#endif

and the arduino ide gives me an error :

C:\Users\nathan\AppData\Local\Temp\ccQU5dXf.ltrans0.ltrans.o: In function `_GLOBAL__sub_I_robot':

C:\Users\nathan\Documents\Arduino\test/test.ino:3: undefined reference to `robot_sumo::robot_sumo(bool)'

collect2.exe: error: ld returned 1 exit status

exit status 1
Erreur de compilation pour la carte Arduino Nano

what's wrong ?

I'm Belgian so excuse me if my English is not perfect :slight_smile:

2

You did not define your constructor. You only have this line in your .cpp file:

robot_sumo::robot_sumo(bool test = true);
3

And how can I solve that ?

4

les_scriven:
And how can I solve that ?

You have a couple of options:

  1. Don't declare a constructor and then a default constructor will be created.
  2. Define the constructor you have declared. For whatever reason you have defined a bool called test that you are passing to the constructor but I don't see it used anywhere in your code. In any case you could simply define your constructor like this:
robot_sumo::robot_sumo(bool test)
{
}

It doesn't do anything and doesn't store off the test argument but it will make the compiler/linker happy.