Hi!
I would like to use:
- 1 PING (https://www.pololu.com/product/1605) and 2 HC-SR04 ultrasonic sensors
- 2 magnetic encoders (https://www.pololu.com/product/2598) with the
- Baby Orangutan B-328 (https://www.pololu.com/product/1220) but
reading the avr_library_commands i noticed that:
- OrangutanPulseIn and PololuWheelEncoders
would conflict because both of them use pin-change interrupts. Specifically, they use AVR’s PCINT0, PCINT1 and PCINT2 and i checked this useful table from PololuWheelEncoders.cpp in github:
AVR pin…PCINT #…PCI #
PD0 - PD7…PCINT16 - PCINT23…PCI2
PB0 - PB5…PCINT0 - PCINT5…PCI0
PC0 - PC5 …PCINT8 - PCINT13…PCI1
and i am thinking to use PCI1 and PCI2 for WheelEncoders and PCI0 for the 3 ultrasonic sensors, but i would like to know if that’s possible making some modifications to the source code of:
- OrangutanPulseIn.cpp and
- PololuWheelEncoders.cpp
because i’ve already tried to implement some code with the library as it is but i get the followings errors:
Error 4 ld returned 1 exit status collect2.exe 0 0 PING_HC-SR04_MOTOR_RIGHT
Error 1 multiple definition of `__vector_3' /home/david/libpololu-avr/devices/atmega328p/../../src/PololuWheelEncoders/../../src/PololuWheelEncoders/PololuWheelEncoders.cpp 256 1 PING_HC-SR04_MOTOR_RIGHT
Error 2 multiple definition of `__vector_4' /home/david/libpololu-avr/devices/atmega328p/../../src/PololuWheelEncoders/../../src/PololuWheelEncoders/PololuWheelEncoders.cpp 259 1 PING_HC-SR04_MOTOR_RIGHT
Error 3 multiple definition of `__vector_5' /home/david/libpololu-avr/devices/atmega328p/../../src/PololuWheelEncoders/../../src/PololuWheelEncoders/PololuWheelEncoders.cpp 259 1 PING_HC-SR04_MOTOR_RIGHT
when compiling with Atmel Studio 6.0 the next code:
#include <pololu/orangutan.h>
//Front PING sensor
#define SIG IO_B5 //PING signal
//Left HC-SR04 pins
#define E2 IO_B2 //receive pulse
#define T2 IO_B4 //send pulse
#define buffer_size 6
#define m2a IO_C3 //LEFT MOTOR as pcb and connected to test in protoboard
#define m2b IO_C2 // as pcb and connected to test in protoboard
#define m1a IO_D7 //RIGHT motor not connected when tested
#define m1b IO_D4
char send_buffer[buffer_size];
uint16_t duration_left, duration_front;
uint8_t npp = 2; //number of pulse pins
int left_enc_cnt;
int left_speed = 30;
int left_stop = 0;
void wait_for_sending_to_finish(){ //avr_library_commands Section 10
while(!serial_send_buffer_empty()); //pololu_avr_library Section 3.h
}
void send_data(uint16_t data){
wait_for_sending_to_finish();
send_buffer[3] = data % 10 + 48; //unidades
if(data < 10){ //decenas, centenas y miles son cero
send_buffer[0] = 0 + 48; //miles
send_buffer[1] = 0 + 48; //centenas
send_buffer[2] = 0 + 48; //decenas
}
else if(data < 100){
send_buffer[0] = 0 + 48; //miles
send_buffer[1] = 0 + 48; //centenas
send_buffer[2] = (data / 10) % 10 + 48; //decenas
}
else if(data < 1000){
send_buffer[0] = 0 + 48; //miles
send_buffer[1] = (data / 100) % 10 + 48; //centenas
send_buffer[2] = (data / 10) % 10 + 48; //decenas
}
else if(data < 10000){
send_buffer[0] = (data / 1000) % 10 + 48; //miles
send_buffer[1] = (data / 100) % 10 + 48; //centenas
send_buffer[2] = (data / 10) % 10 + 48; //decenas
}
else if(data < 100000){
send_buffer[0] = (data / 10000) % 10 + 48; //decenas de millar
send_buffer[0] = (data / 1000) % 10 + 48; //millar
send_buffer[1] = (data / 100) % 10 + 48; //centenas
send_buffer[2] = (data / 10) % 10 + 48; //decenas
}
else{
}
send_buffer[4] = 10; //Salto de linea
send_buffer[5] = 13; //Retorno de carro
serial_send(send_buffer, buffer_size);
}
int main(){
serial_set_baud_rate(115200); //Default baud rate comm in HC-05 after configuration
encoders_init(m1a, m1b, m2a, m2b);
set_m2_speed(left_speed);
while(1){
left_enc_cnt = encoders_get_counts_m2();
send_data(left_enc_cnt);
set_digital_output(SIG, LOW);
set_digital_output(T2, LOW);
delay_us(2);
set_digital_output(SIG, HIGH);
set_digital_output(T2, HIGH);
delay_us(5);
set_digital_output(SIG, LOW);
set_digital_output(T2, LOW);
pulse_in_start((unsigned char[]){SIG, E2}, npp);
set_digital_input(SIG, HIGH_IMPEDANCE);
set_digital_input(T2, HIGH_IMPEDANCE);
delay_us(2150); //2150, long de pulso maximo de 1512
duration_front = pulse_to_microseconds(get_last_high_pulse(0));
duration_left = pulse_to_microseconds(get_last_high_pulse(1));
send_data(duration_front);
send_data(duration_left);
left_enc_cnt = encoders_get_counts_m2();
send_data(left_enc_cnt);
send_data(0);
delay_ms(1000);
}
}
Is it possible to modify the code in order to achive what i’m looking for?
If so, could you tell where i can find the source code after the libpololu-avr is installed?
I’ve checked in:
C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1061\avr8-gnu-toolchain\avr\include\pololu
but there is only the .h files not the .cpp :’( (The installation of the library was so easy with the .exe that you provide that i didn’t know what it did)
Thanks in advance 