Hi, I'm very new on Arduino and i'm trying to combine of 2 codes. This code is not give errors for Arduino Leonardo (I just compiled for Leonardo and it was done, i don't have Leonardo and it has different pins) but it gives errors for Arduino Mega 2560. The error is called "Multiple Definition Error" for Vector 47.
I have a robot, that robot has 4 wheels and different functions. (Sorry, but my English is not very good) I can command to this robot on phone. So, this code has bluetooth codes and movement codes.
That's all i can say. Where is my false?
So, this my code, also i attached that code.
#include <AltSoftSerial.h>
AltSoftSerial BTserial;
#include <Servo.h>
int aci=90,i;
Servo myservo;
int gecikme=40;
// Variables used for incoming data
const byte maxDataLength = 20;
char receivedChars[21] ;
boolean newData = false;
// Pins de HC-SR04
const int trigger_sol = 10;
const int echo_sol = 11;
// Pins de HC-SR04
const int trigger_sag = 12;
const int echo_sag = 13;
// Constants for hardware
const byte m_PIN[] = {23,25,27,29};
const byte SWITCH_PIN[] = {31,33,35,37};
// general variables
boolean m_State[] = {false,false,false,false};
boolean switch_State[] = {false,false,false,false};
boolean oldswitch_State[] = {false,false,false,false};
const int on_sol = 22;
const int on_orta = 24;
const int on_sag = 26;
const int hareket_sensoru_sol = 51;
const int hareket_sensoru_sag = 53;
int durum;
int engel_oku;
void setup() {
Serial.begin(9600);
myservo.attach(10);
// Configuración de los pines
pinMode(trigger_sol, OUTPUT);
pinMode(echo_sol, INPUT);
pinMode(trigger_sag, OUTPUT);
pinMode(echo_sag, INPUT);
// ön engel switchler pull-up olacak
pinMode(22,INPUT_PULLUP); // on_sol
pinMode(24,INPUT_PULLUP); //on_orta
pinMode(26,INPUT_PULLUP);
pinMode(51,INPUT);
pinMode(53,INPUT);
///*** Motorlar ve Switchler
for (byte pin = 0; pin < 4; pin++)
{
// Set the button switch pins for input
pinMode(SWITCH_PIN[pin], INPUT);
pinMode(m_PIN[pin], OUTPUT); digitalWrite(m_PIN[pin],LOW);
}
kafa_test();
ileri_git(); delay(1000);dur();
geri_git(); delay(200);dur();
sola_don(); delay(200);dur();
saga_don(); delay(200);dur();
// open serial communication for debugging
Serial.begin(9600);
Serial.print("Sketch: "); Serial.println(FILE);
Serial.print("Uploaded: "); Serial.println(DATE);
Serial.println(" ");
// open software serial connection to the Bluetooth module.
BTserial.begin(9600);
Serial.println("AltSoftSerial started at 9600");
newData = false;
}
//***********************************************************
//***********************************************************
//***********************************************************
//***********************************************************
void loop() {
hareket_sensor_kontrol();
engel_oku = digitalRead(22);
if (engel_oku == LOW) {sistem_test();delay(1000);}
engel_oku = digitalRead(24);
if (engel_oku == LOW) { sistem_test();delay(1000); }
engel_oku = digitalRead(26);
if (engel_oku == LOW) { sistem_test();delay(1000); }
for (byte switchNum = 1; switchNum < 5; switchNum++)
{
checkSwitch(switchNum);
}
recvWithStartEndMarkers(); // check to see if we have received any new commands
if (newData) { processCommand(); } // if we have a new command do something about it
}
//***********************************************************
//***********************************************************
//***********************************************************
//***********************************************************
void checkSwitch( byte pos)
{
// pos = 1,2,3. Array pos = 0,1,2 so convert by subtracting 1
pos = pos-1;
// very simple debouce.
boolean state1 = digitalRead(SWITCH_PIN[pos]); delay(1);
boolean state2 = digitalRead(SWITCH_PIN[pos]); delay(1);
boolean state3 = digitalRead(SWITCH_PIN[pos]); delay(1);
if ((state1 == state2) && (state1==state3))
{
switch_State[pos] = state1;
if ( (switch_State[pos] == HIGH) && (oldswitch_State[pos] == LOW) )
{
m_State[pos] = ! m_State[pos]; // flip the status.
char TMPcmd[8] = "<L,1,0>";
TMPcmd[3] = pos+1+48; // pos+1 should be 1,2,3 convert a numeric value to ascii by adding 48
TMPcmd[5] = m_State[pos]+48; // m_State should be 0 or 1
BTserial.print(TMPcmd);
digitalWrite(m_PIN[pos],m_State[pos]);
Serial.println(TMPcmd);
}
oldswitch_State[pos] = switch_State[pos];
}
}
void hareket_sensor_kontrol()
{
Serial.println(" Hareket Kontrol Ediliyor ");
int buttonState_sol = digitalRead(hareket_sensoru_sol);
int buttonState_sag = digitalRead(hareket_sensoru_sag);
if (buttonState_sol == HIGH || buttonState_sag == HIGH ) { Serial.println(" SOLDA Hareket ");sola_don(); delay(300);dur();saga_don(); delay(300);dur();sistem_test();delay(1000); }
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++
void sola_don() // sola dön
{
digitalWrite(23, HIGH);digitalWrite(27, HIGH); delay(100);Serial.println(" SOLA donuyorum "); durum=1;
}
void saga_don()
{
digitalWrite(25, HIGH);digitalWrite(29, HIGH); delay(100); Serial.println(" SAGA donuyorum ");durum=1;
}
void ileri_git() // geri git
{
digitalWrite(23, HIGH);digitalWrite(29, HIGH); delay(100);Serial.println(" ilerliyorum ");durum=1;
}
void geri_git() // ileri olacak
{
digitalWrite(25, HIGH);digitalWrite(27, HIGH); delay(100);Serial.println(" GERi Gidiyorum ");durum=1;
}
void dur()
{
digitalWrite(23, LOW);
digitalWrite(25, LOW);
digitalWrite(27, LOW);
digitalWrite(29, LOW);
delay(200); Serial.println(" DURDUM ");
}
//*******************************************************//
void kafa_test()
{
for(i=1;i<=15;i=i+1)
{
aci=aci+5;
myservo.write(aci);
// sets the servo position according to the scaled value
delay(gecikme);
}
Serial.print("1= "); Serial.println(aci); delay(500);
for(i=1;i<=30;i=i+1)
{
aci=aci-5;
myservo.write(aci);
delay(gecikme);
}
Serial.print("2= "); Serial.println(aci); delay(500);
for(i=1;i<=15;i=i+1)
{
aci=aci+5;
myservo.write(aci);
// sets the servo position according to the scaled value
delay(gecikme);
}
Serial.print("3: "); Serial.println(aci); delay(500);
delay(2000);
}
void processCommand()
{
Serial.print("receivedChars = "); Serial.println(receivedChars);
if (receivedChars[0] == 'L')
{
byte mnum = receivedChars[1] - 48; // convert ascii to value by subtracting 48
boolean mstatus = receivedChars[2] - 48;
digitalWrite(m_PIN[mnum-1],mstatus);
m_State[mnum-1] = mstatus;
}
receivedChars[0] = '\0';
newData = false;
}
void sistem_test()
{
for(i=1;i<=5;i=i+1)
{
aci=aci+5;
myservo.write(aci);
// sets the servo position according to the scaled value
delay(gecikme);
}
Serial.print("test1= "); Serial.println(aci); delay(500);
for(i=1;i<=5;i=i+1)
{
aci=aci-5;
myservo.write(aci);
delay(gecikme);
}
Serial.print("test2= "); Serial.println(aci); delay(500);
}
void recvWithStartEndMarkers()
{
static boolean recvInProgress = false;
static byte ndx = 0;
char startMarker = '<';
char endMarker = '>';
char rc;
if (BTserial.available() > 0)
{
rc = BTserial.read();
if (recvInProgress == true)
{
if (rc != endMarker)
{
receivedChars[ndx] = rc;
ndx++;
if (ndx > maxDataLength) { ndx = maxDataLength; }
}
else
{
receivedChars[ndx] = '\0'; // terminate the string
recvInProgress = false;
ndx = 0;
newData = true;
}
}
else if (rc == startMarker) { recvInProgress = true; }
}
}
sketch_apr30a.ino (7.69 KB)
