I am having trouble with this code. Thoughts on how i can fix it to run?
/***********************************************************************
UNB ECE RedBot Servo Pan Ultrasonic HC-SR04 Demo
Written by Troy T. Lavigne (UNB ECE)- Feb 11, 2015
Visit our website at http://www.unb.ca/fredericton/engineering/depts/ece/outreach/redbots/
Thanks to: 30 Jul 2013 by Mike Hord @ SparkFun Electronics.
The HC-SR04 can be purchased from DealExtreme at http://www.dx.com/p/hc-sr04-ultrasonic-sensor-distance-measuring-module-133696
This demo uses a "panning" HC-SR04 Ultrasonic Sensor Distance Measuring Module
to randomly drive around a room and hopefully avoid objects! Turning to the
optimal angle is performed by using a SparkFun RedBot Sensor - Wheel Encoder.
Right and Left motor encoder inputs must be connected to:
=========================================================
3 - Right wheel encoder
A2 - Left wheel encoder
If your connection is to different pins, simply alter the RedBotEncoder
pins to match the pins that your encoder is connected to.
Servo connection:
=================
A0 - white wire
5V - red wire
GND - black wire
HC-SR04 Ultrasonic connection:
=============================
RedBot HC-SR04
A4 Trig
A5 Echo
5V VCC
GND GND
***********************************************************************/
// Include the libraries. We make a provision for using the Xbee header
// via software serial to report values, but that's not really used in
// the code anywhere.
#include <RedBot.h>
#include <Servo.h>
// Pin connections for the HC-SR04 module
#define trigPin A4
#define echoPin A5
// Instantiate the motor control class. This only needs to be done once
// and indeed SHOULD only be done once!
RedBotMotor motor;
// Instantiate our encoder. We will use the encoder to perform direction changes.
RedBotEncoder encoder = RedBotEncoder(10, A2); // right, left
Servo panservo; // create servo object to control a servo
// No two motors/wheels are identical, so alter these numbers to drive a straight line
#define fwdSpdL 125 // Tune for robot/battery condition.
#define fwdSpdR 110 // Tune for robot/battery condition.
#define mindistance 25 // stop when mindistance cm away from an object dead ahead
#define numsamples 3 // Take multiple Ping sensor samples to average
#define DegreesPerSample 5 // Define the angle change per sample
//#define wheel_circumference 20.3 // wheel circumference is ~20.3cm
//#define wheel_distance 10.2 // wheel to wheel distance is ~10.2cm
#define pi 3.14159 // Mmmm. Pie.
#define circumference 2*pi*10.2 // Circumference of the robot driving in a circle is = 2*pi*radius
#define encoderL 1.27 // 1 encoder tick = wheel circumference/16 = 20.3cm/16 = 1.27cm/tick approximately
int pos = 90; // variable to store the servo position
int pannull = 90; // variable to store the servo position
int panangle = 0;
int tiltnull = 50; // variable to store the servo position
int idealangle = 0; // Direction of most distant object
float angle = 0;
float count = 0;
float alpha;
float length;
long cm, averagecm;
long duration, centimeters; // for HC-SR04
long idealcm = 0;
void setup()
{
Serial.begin(57600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
Serial.println("Starting RedBot Servo Pan Ultrasonic Demo Program!");
//Serial.println();
panservo.attach(A0); // Attaches the servo on pin 3 to the servo object
panservo.write(100); // Tell servo to turn the ultrasonic sensor straight ahead.
delay(1000);
}
void loop()
{
idealcm = 0;
idealangle = 0;
// Find the best path (farthest obstacle)
for (panangle = 10; panangle < 170; panangle=panangle+DegreesPerSample) {
panservo.write(panangle); // tell servo to go to position in variable 'pos'
averagecm = 0;
for (int x = 1; x < numsamples; x++) {
cm = hcsr04();
//Serial.println("Sample Read");
//Serial.println();
averagecm = averagecm + cm;
delay (10); // wait 10ms
}
cm = averagecm / numsamples;
if (cm > idealcm) {
idealcm = cm;
idealangle = panangle;
}
}
// if the entire path is blocked, turn 180 Degrees
if (idealcm < mindistance)
{
//Serial.println("Blocked path, turning around");
length = circumference/4;
count = length/encoderL; // Convert distance to encoder ticks.
while (encoder.getTicks(LEFT) < count)
{
motor.leftDrive(fwdSpdL);
motor.rightDrive(-fwdSpdR);
delay(100);
}
} else {
motor.leftDrive(0);
motor.rightDrive(0);
//Serial.print("Ideal panangle is ");
//Serial.println(idealangle);
// Positive number means turn to the left.
// Negative number means turn to the right.
//Serial.print("Distance from null and count: ");
angle = pannull-idealangle;
length = float((angle*circumference)/360);
count = length/encoderL; // Convert distance to encoder ticks.
// Serial.print(angle);
// Serial.print(" ");
// Serial.print(count);
// Serial.print(" ");
// Serial.println(length);
delay(250);
panservo.write(idealangle);
delay(250); // Wait after pointing the servo in the directin we want to go
encoder.clearEnc(BOTH);
if (count > 0) // turn the right wheel forward until count = encoder.getTicks(RIGHT)
{
while (encoder.getTicks(RIGHT) < count)
{
motor.leftDrive(0);
motor.rightDrive(fwdSpdR);
}
} else {
count = abs(count);
while (encoder.getTicks(LEFT) < count)
{
motor.leftDrive(fwdSpdL);
motor.rightDrive(0);
delay(100);
}
}
// stop both wheels, wait a short period of time then drive forward until an object is detected less than the minimum distance away.
motor.leftDrive(0);
motor.rightDrive(0);
panservo.write(pannull); // tell servo to point straight ahead
delay(100);
averagecm = 0;
for (int x = 1; x < numsamples; x++) {
cm = hcsr04();
averagecm = averagecm + cm;
delay (10);
}
cm = averagecm / numsamples;
// Serial.print("Distance to object is (cm):");
// Serial.println(cm);
while (cm > mindistance)
{
motor.leftDrive(fwdSpdL);
motor.rightDrive(fwdSpdR);
averagecm = 0;
for (int x = 1; x < numsamples; x++) {
cm = hcsr04();
averagecm = averagecm + cm;
delay (10);
}
cm = averagecm / numsamples;
// Serial.print("Distance to object is (cm):");
// Serial.println(cm);
//delay(50);
}
motor.leftDrive(0);
motor.rightDrive(0);
}
}
long hcsr04()
{
digitalWrite(trigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
digitalWrite(trigPin, HIGH);
delayMicroseconds(10); // Added this line
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
centimeters = (duration/2) / 29.1;
Serial.print(centimeters);
Serial.println(" cm");
return centimeters;
}
this is the error i keep getting. All other codes that i upload to the redbot that reference "RedBotMotor motor;" work fine so its not a library issue. I am trying to avoid having to write my own similar code.
Arduino: 1.6.7 (Windows 10), Board: "Arduino/Genuino Uno"
ServoPanHCSR04Ultra:49: error: 'RedBotMotor' does not name a type
RedBotMotor motor;
^
C:\Users\Home\Dropbox\ServoPanHCSR04Ultra\ServoPanHCSR04Ultra.ino: In function 'void loop()':
ServoPanHCSR04Ultra:132: error: 'motor' was not declared in this scope
motor.leftDrive(fwdSpdL);
^
ServoPanHCSR04Ultra:138: error: 'motor' was not declared in this scope
motor.leftDrive(0);
^
exit status 1
'RedBotMotor' does not name a type
This report would have more information with
"Show verbose output during compilation"
enabled in File > Preferences.
