Hi folks, a have a nasty problem, i can't get this solved i constantly get an the message that my function funcOnOf is declared void. I tried to include some code that receives osc messages i got working with an arduino ethernet on an anarduino uno with a redfly shield where i could get a connection with the wifi router an send the output of a pololu MinIMU-9 v.2.
i think it has something to do with the callback function server.addCallback("/Eth_ArdOSC/toggle2", &funcOnOff); in initialize (). I also read that the arduino ide has some hidden problems in certain situations with pointers... dunno
MinIMU9AHRS:46: error: variable or field 'funcOnOf' declared void
MinIMU9AHRS:46: error: 'OSCMessage' was not declared in this scope
MinIMU9AHRS:46: error: '_mes' was not declared in this scope
MinIMU9AHRS:131: error: redefinition of 'OSCServer server'
MinIMU9AHRS:112: error: 'OSCServer server' previously declared here
MinIMU9AHRS.ino: In function 'void initialize()':
MinIMU9AHRS:290: error: 'funcOnOff' was not declared in this scope
some weird thing is i get this error in line 46 where usally is some commented text of the pololu example....
// Uncomment the below line to use this axis definition:
// X axis pointing forward
// Y axis pointing to the right
// and Z axis pointing down.
// Positive pitch : nose up
// Positive roll : right wing down
// Positive yaw : clockwise
int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
// Uncomment the below line to use this axis definition:
// X axis pointing forward
// Y axis pointing to the left
// and Z axis pointing up.
// Positive pitch : nose down
// Positive roll : right wing down
// Positive yaw : counterclockwise
// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168
#include <Wire.h>
#include <RedFly.h> //wifi shield watterod
#include <ArdOSCW.h> //ArdOSC Library had to rename
//defines 1mbit
#define WIFISPEED 115200
#define WIFIPOWER LOW_POWER_1M //LOW_POWER_1M oder MED_POWER_1M
// LSM303 accelerometer: 8 g sensitivity
// 3.8 mg/digit; 1 g = 256
#define GRAVITY 256 //this equivalent to 1G in the raw data coming from the accelerometer
#define ToRad(x) ((x)*0.01745329252) // *pi/180
#define ToDeg(x) ((x)*57.2957795131) // *180/pi
// L3G4200D gyro: 2000 dps full scale
// 70 mdps/digit; 1 dps = 0.07
#define Gyro_Gain_X 0.07 //X axis Gyro gain
#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
// LSM303 magnetometer calibration constants; use the Calibrate example from
// the Pololu LSM303 library to find the right values for your board
#define M_X_MIN -421
#define M_Y_MIN -639
#define M_Z_MIN -238
#define M_X_MAX 424
#define M_Y_MAX 295
#define M_Z_MAX 472
#define Kp_ROLLPITCH 0.02
#define Ki_ROLLPITCH 0.00002
#define Kp_YAW 1.2
#define Ki_YAW 0.00002
/*For debugging purposes*/
//OUTPUTMODE=1 will print the corrected data,
//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift)
#define OUTPUTMODE 1
//#define PRINT_DCM 0 //Will print the whole direction cosine matrix
//#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw
#define STATUS_LED 13
//
//osc send
byte myIp[] = { 192, 168, 178, 130 };
uint16_t serverPort = 10000;
uint16_t destPort = 12000;
byte destIp[] = { 192, 168, 178, 76 };
OSCServer server;
OSCClient client;
//osc variables
float oscRoll;
float oscPitch;
float oscYaw;
int t = 100;
//visual rgb led
int ledGreen=6;
int ledBlue=5;
int ledRed=3;
int val;
//tracker
float G_Dt=0.02; // Integration time (DCM algorithm) We will run the integration loop at 50Hz if possible
long timer=0; //general purpuse timer
long timer_old;
long timer24=0; //Second timer used to print values
int AN[6]; //array that stores the gyro and accelerometer data
int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors
int gyro_x;
int gyro_y;
int gyro_z;
int accel_x;
int accel_y;
int accel_z;
int magnetom_x;
int magnetom_y;
int magnetom_z;
float c_magnetom_x;
float c_magnetom_y;
float c_magnetom_z;
float MAG_Heading;
float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector
float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
float Omega_P[3]= {0,0,0};//Omega Proportional correction
float Omega_I[3]= {0,0,0};//Omega Integrator
float Omega[3]= {0,0,0};
// Euler angles
float roll;
float pitch;
float yaw;
float errorRollPitch[3]= {0,0,0};
float errorYaw[3]= {0,0,0};
unsigned int counter=0;
byte gyro_sat=0;
float DCM_Matrix[3][3]= {
{
1,0,0 }
,{
0,1,0 }
,{
0,0,1 }
};
float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
float Temporary_Matrix[3][3]={
{
0,0,0 }
,{
0,0,0 }
,{
0,0,0 }
};
//functions debugging redfly
void debugout(char *s)
{
#if defined(__AVR_ATmega32U4__)
Serial.print(s);
#else
RedFly.disable();
Serial.print(s);
RedFly.enable();
#endif
}
void debugoutln(char *s)
{
#if defined(__AVR_ATmega32U4__)
Serial.println(s);
#else
RedFly.disable();
Serial.println(s);
RedFly.enable();
#endif
}
void initialize()
{
//watterod redshield
uint8_t ret;
//init the WiFi module on the shield
// ret = RedFly.init(115200); //br=9600|19200|38400|57600|115200|200000|230400, pwr=LOW_POWER|MED_POWER|HIGH_POWER
// ret = RedFly.init(pwr) //9600 baud, pwr=LOW_POWER|MED_POWER|HIGH_POWER
// ret = RedFly.init() //9600 baud, HIGH_POWER
ret = RedFly.init(WIFISPEED,WIFIPOWER);
if(ret)
{
debugoutln("INIT ERR"); //there are problems with the communication between the Arduino and the RedFly
for(;;); //do nothing forevermore
}
else
{
//scan for wireless networks (must be run before join command)
for(int y=0; y<10; y++)
{
RedFly.scan();
ret = RedFly.join("Lacuna", "1JungerWeinUnd20AlteWeiber", INFRASTRUCTURE);
if(ret)
{
debugoutln("JOIN ERR");
y++;
delay(1500);
}
else
{
if (y==10){
for(;;); //do nothing forevermore
}
else{
y=10;
debugoutln("CONNECTED!");
//osc receive
//wieder normal
ret = RedFly.begin(myIp);
if(ret)
{
RedFly.disconnect();
for(;;); //do nothing forevermore
}
else
{
//start server
server.begin(serverPort);
//set callback function
server.addCallback("/Eth_ArdOSC/toggle2", &funcOnOff);
pinMode(ledPin, OUTPUT);
pinMode(ledRed, OUTPUT);
pinMode(ledBlue, OUTPUT);
pinMode(ledGreen, OUTPUT);
}
}
}
}
}
}
void setup()
{
//wifi connection and osc
initialize();
//ht
//delay(1500);
Serial.begin(115200);
pinMode (STATUS_LED,OUTPUT); // Status LED
I2C_Init();
Serial.println("Pololu MinIMU-9 + Arduino AHRS");
digitalWrite(STATUS_LED,LOW);
delay(1500);
Accel_Init();
Compass_Init();
Gyro_Init();
delay(20);
... //reading stuff of polulu hat to delete some line for the post
}
void loop() //Main Loop
{
.... //other stuff i had to delete for post
if(server.aviableCheck()>0){
}
}
}
void funcOnOf(OSCMessage *_mes)
{
oscRoll=ToDeg(roll);
oscPitch=ToDeg(pitch);
oscYaw=ToDeg(yaw);
int value = _mes->getArgInt32(0);
Serial.print("Value = : ");
Serial.println(value);
//analogWrite(ledRed,value/2);
analogWrite(ledBlue,value/4);
//create new osc message
OSCMessage newMes;
//set destination ip address & port no
newMes.setAddress(destIp,destPort);
newMes.beginMessage("/head/direction");
newMes.addArgFloat(oscRoll);
newMes.addArgFloat(oscPitch);
newMes.addArgFloat(oscYaw);
//send osc message
server.stop(); //stop server while sending
client.send(&newMes);
server.begin(serverPort); //start server
}
thanks guys
