Undefined Reference with Tinkerkit Braccio

Projects General Guidance
1

With the sketch below, I'm getting the following errors:

#include <Braccio.h>

void setup() {
  Braccio.begin();

}

void loop() {
  // put your main code here, to run repeatedly:

}

/var/folders/rn/55y62jb51xnbc4ccbqyd__540000gn/T//ccYwaZJh.ltrans0.ltrans.o: In function 'begin':
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:59: undefined reference to 'base'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:59: undefined reference to 'base'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:60: undefined reference to 'shoulder'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:60: undefined reference to 'shoulder'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:61: undefined reference to 'elbow'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:61: undefined reference to 'elbow'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:62: undefined reference to 'wrist_rot'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:62: undefined reference to 'wrist_rot'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:63: undefined reference to 'wrist_ver'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:63: undefined reference to 'wrist_ver'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:64: undefined reference to 'gripper'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:64: undefined reference to 'gripper'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:67: undefined reference to 'base'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:67: undefined reference to 'base'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:68: undefined reference to 'shoulder'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:68: undefined reference to 'shoulder'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:69: undefined reference to 'elbow'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:69: undefined reference to 'elbow'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:70: undefined reference to 'wrist_ver'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:70: undefined reference to 'wrist_ver'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:71: undefined reference to 'wrist_rot'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:71: undefined reference to 'wrist_rot'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:72: undefined reference to 'gripper'
/Users/marcofusco/Documents/Arduino/libraries/Braccio/src/Braccio.cpp:72: undefined reference to 'gripper'
collect2: error: ld returned 1 exit status
exit status 1

Compilation error: exit status 1

I tried uninstalling and re-installing the Braccio and Servo libraries but that did not work.

2

Is there a reason not to use some library example code?
I could imagine that you need servo library as well.

3

With your header and sketch, you need to define all those terms. Or...

#include <BraccioRobot.h>

4

I found the sketch below which uploads, however the robot is completely unresponsive:

/*
  simpleMovements.ino

 This  sketch simpleMovements shows how they move each servo motor of Braccio

 Created on 18 Nov 2015
 by Andrea Martino

 This example is in the public domain.
 */

#include <Braccio.h>
#include <Servo.h>

Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;

void setup() {
  //Initialization functions and set up the initial position for Braccio
  //All the servo motors will be positioned in the "safety" position:
  //Base (M1):90 degrees
  //Shoulder (M2): 45 degrees
  //Elbow (M3): 180 degrees
  //Wrist vertical (M4): 180 degrees
  //Wrist rotation (M5): 90 degrees
  //gripper (M6): 10 degrees
  Braccio.begin();

  Serial.begin(9600);

  while (!Serial);
}

void loop() {
   /*
   Step Delay: a milliseconds delay between the movement of each servo.  Allowed values from 10 to 30 msec.
   M1=base degrees. Allowed values from 0 to 180 degrees
   M2=shoulder degrees. Allowed values from 15 to 165 degrees
   M3=elbow degrees. Allowed values from 0 to 180 degrees
   M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
   M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
   M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
  */
  
                       //(step delay, M1, M2, M3, M4, M5, M6);
  Braccio.ServoMovement(20,           0,  15, 180, 170, 0,  73);  

  //Wait 1 second
  delay(1000);

  Braccio.ServoMovement(20,           180,  165, 0, 0, 180,  10);  

  //Wait 1 second
  delay(1000);

  Serial.println("test");
}
5

Probably your power and wiring. Show a wiring diagram... i see no pins defined.

6

I have a 9V battery connected to Vin and GND and servos connected to the shield:

IMG_2984
IMG_29841920×1440 303 KB

IMG_2983
IMG_29831920×1440 361 KB

7

That battery can't supply high current, sufficient for motors.
If you want support here, post details about your devices/circuit. Some quick google research for "Tinkerkit Braccio" gives 5V5A supply...

8

I see you have the Braccio motor shield. That has pre-defined pins. Wiring is good. Power is bad.

9

When a 12V adapter is plugged into the Arduino shield a red LED with the label "error" is turned on. Is it possible I damaged the shield from not supplying enough current before?

10

What power supply is recommended by Braccio?

11

No.
But I'm not familiar with your board so you could post some scheme how everything is wired/powered.

12

In its original form, it is an expensive kit. I can not imagine it ships with a PP3.