Problems calling upon a function in an obstacle avoiding robot

Using Arduino Programming Questions
#1

Hello! So I have a tech demo tomorrow with my robot PROTO. I was tweaking his code tonight and i got these errors.

obstacleEvasion.cpp:22:12: error: no matching function for call to ‘AF_DCMotor::AF_DCMotor()’
obstacleEvasion.cpp:22:12: note: candidates are:
In file included from obstacleEvasion.cpp:10:0:
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:156:3: note: AF_DCMotor::AF_DCMotor(uint8_t, uint8_t)
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:156:3: note: candidate expects 2 arguments, 0 provided
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:153:7: note: AF_DCMotor::AF_DCMotor(const AF_DCMotor&)
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:153:7: note: candidate expects 1 argument, 0 provided
obstacleEvasion.cpp:23:12: error: no matching function for call to ‘AF_DCMotor::AF_DCMotor()’
obstacleEvasion.cpp:23:12: note: candidates are:
In file included from obstacleEvasion.cpp:10:0:
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:156:3: note: AF_DCMotor::AF_DCMotor(uint8_t, uint8_t)
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:156:3: note: candidate expects 2 arguments, 0 provided
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:153:7: note: AF_DCMotor::AF_DCMotor(const AF_DCMotor&)
/home/pi/sketchbook/libraries/AFmotor/AFMotor.h:153:7: note: candidate expects 1 argument, 0 provided

Could someone help me debug? Here’s the actual code.

</*MAEP 2.0 Navigation
by Noah Moroze, aka GeneralGeek
This code has been released under a Attribution-NonCommercial-ShareAlike license, more info at http://creativecommons.org/licenses/
PING))) code by David A. Mellis and Tom Igoe http://www.arduino.cc/en/Tutorial/Ping
*/

/Altered by Dominique M. Alzate for DC Motor support and raspberry pi control brain. PROTOmetheus/

#include <Servo.h> //include Servo library
#include <AFMotor.h> //include DC Motor library

const int pingPin = 7;
const int irPin = 0; //Sharp infrared sensor pin
const int dangerThresh = 10; //threshold for obstacles (in cm)
int leftDistance, rightDistance; //distances on either side
Servo panMotor;
AF_DCMotor leftMotor;
AF_DCMotor rightMotor; //declare motors
long duration; //time it takes to recieve PING))) signal

void setup()
{
panMotor.attach(6); //attach motors to proper pins
panMotor.write(90); //set PING))) pan to center
leftMotor.setSpeed(105); //set the speed of the motors, between 0-255
rightMotor.setSpeed (105);
}

void loop()
{
int distanceFwd = ping();
if (distanceFwd>dangerThresh) //if path is clear
{
delay (500);
leftMotor.run(FORWARD); //if there’s no obstacle ahead, Go Forward!
rightMotor.run(FORWARD); //move forward
}
else //if path is blocked
{
leftMotor.run(FORWARD); // Turn as long as there’s an obstacle ahead.
rightMotor.run (BACKWARD);
panMotor.write(0);
delay(500);
rightDistance = ping(); //scan to the right
delay(500);
panMotor.write(180);
delay(700);
leftDistance = ping(); //scan to the left
delay(500);
panMotor.write(90); //return to center
delay(100);
compareDistance();
}
}

void compareDistance()
{
if (leftDistance>rightDistance) //if left is less obstructed
{
leftMotor.run(BACKWARD);
rightMotor.run(FORWARD); //turn left
delay(500);
}
else if (rightDistance>leftDistance) //if right is less obstructed
{
leftMotor.run(FORWARD);
rightMotor.run(BACKWARD); //turn right
delay(500);
}
else //if they are equally obstructed
{
leftMotor.run(FORWARD);
rightMotor.run(BACKWARD); //turn 180 degrees
delay(1000);
}
}

long ping()
{
// Send out PING))) signal pulse
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);

//Get duration it takes to receive echo
pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);

//Convert duration into distance
return duration / 29 / 2;
}>

I’d really appreciate any help I can get.

#2

Hello and welcome,

Maybe this will help? AF_DCMotor Class | Adafruit Motor Shield | Adafruit Learning System

#3

your code in readable format

#include <Servo.h> //include Servo library
#include <AFMotor.h> //include DC Motor library

const int pingPin = 7;
const int irPin = 0;  //Sharp infrared sensor pin
const int dangerThresh = 10; //threshold for obstacles (in cm)
int leftDistance, rightDistance; //distances on either side
Servo panMotor;
AF_DCMotor leftMotor;
AF_DCMotor rightMotor; //declare motors
long duration; //time it takes to recieve PING))) signal

void setup()
{
  panMotor.attach(6); //attach motors to proper pins
  panMotor.write(90); //set PING))) pan to center
  leftMotor.setSpeed(105); //set the speed of the motors, between 0-255
  rightMotor.setSpeed (105);
}

void loop()
{
  int distanceFwd = ping();
  if (distanceFwd > dangerThresh) //if path is clear
  {
    delay (500);
    leftMotor.run(FORWARD); //if there's no obstacle ahead, Go Forward!
    rightMotor.run(FORWARD);  //move forward
  }
  else //if path is blocked
  {
    leftMotor.run(FORWARD);  // Turn as long as there's an obstacle ahead.
    rightMotor.run (BACKWARD);
    panMotor.write(0);
    delay(500);
    rightDistance = ping(); //scan to the right
    delay(500);
    panMotor.write(180);
    delay(700);
    leftDistance = ping(); //scan to the left
    delay(500);
    panMotor.write(90); //return to center
    delay(100);
    compareDistance();
  }
}

void compareDistance()
{
  if (leftDistance > rightDistance) //if left is less obstructed
  {
    leftMotor.run(BACKWARD);
    rightMotor.run(FORWARD); //turn left
    delay(500);
  }
  else if (rightDistance > leftDistance) //if right is less obstructed
  {
    leftMotor.run(FORWARD);
    rightMotor.run(BACKWARD); //turn right
    delay(500);
  }
  else //if they are equally obstructed
  {
    leftMotor.run(FORWARD);
    rightMotor.run(BACKWARD); //turn 180 degrees
    delay(1000);
  }
}

long ping()
{
  // Send out PING))) signal pulse
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);

  //Get duration it takes to receive echo
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  //Convert duration into distance
  return duration / 29 / 2;
}

it will not compile as these lines are missing arguments

AF_DCMotor leftMotor;
AF_DCMotor rightMotor; //declare motors

sample shows

AF_DCMotor motor(4);

never played with this shield but im guessing that (4) is a pin number?

#4