First of all, use the [code ] tag (no space). So it looks like this:
user_routines_fast.c:
Code:
long Left_Encoder_Count = 0;
long Right_Encoder_Count = 0;
int lh_encoder_max;
unsigned int rh_encoder_max;
long int rh_en_count;
long int lh_en_count;
float target_ratio;
float actual_ratio;
unsigned char autorun_status = 1;
#define lh_en Left_Encoder_Count;
#define rh_en Right_Encoder_Count;
#define pwm1_lh pwm01
#define pwm2_rh pwm02
int pw2_rhpos;
int pw2_rhneg;
/* delete all of thse ---- float lh_30turnfactor ; */
int onecnt = 0; /* one tenth of a second counter */
int rhcnt = 0;
int lhcnt = 0;
int rhcnt1000 = 0;
float actual_factor = 0;
float rh_adjust_factor = 0;
int rh_speed_var = 220;
these are the variables in
user_routines.c
Code:
int pwadd = 0;
int pwadd2 = 0;
char heat = 'c';
unsigned float pwadd3 = 300;
int pwadd4 = 0;
int p1xvar2;
int p1yvar2;
int p1xcoef = 150; /*max no =100 50 takes 14 scans to catch up*/
int p1ycoef = 150; /*con 100 takes 6 scans to catch up 150 = 5 SCANS*/
int p1yfl; /* p1x filter */
int p1xfl; /* p1y filter */
float lh_30turnfactor ;
int onecnt = 0; /* one tenth of a second counter */
int rhcnt = 0;
int lhcnt = 0;
int rhcnt1000 = 0;
float actual_factor = 0;
float rh_adjust_factor = 0;
int rh_speed_var = 220;
float pwadd5 = 1;
int pwadd6 = 0;
rom const char *StrPtr = "Hello world!";
/* int x = 15;
*int y = 0x50;
*long z = 0xdeadface; */
extern long Left_Encoder_Count; /* tm 226 see these in fast.c*/
#define lenco Left_Encoder_Count
extern long Right_Encoder_Count; /* tm 226 see these in fast.c*/
#define renco Right_Encoder_Count
#define Deadband 15
#define DriveFilter .3
#define p1_x_right p1_x
#define p1_y_fwd p1_y
#define p1_sw_trig_plow_out p1_sw_trig
#define p1_sw_top_plow_in p1_sw_top
/*p1_wheel p1_sw_aux1
p1_sw_aux2 */
#define p2_x_winch p2_x
#define p2_y_mast_fwd p2_y
#define p2_wheel_mast_up p2_wheel
#define p2sw_trig_claw_sov p2_sw_trig
#define p2sw_top_unclaw_sov p2_sw_top
#define p2_sw_aux1_compr_on p2_sw_aux1
#define p2_sw_aux2_compr_off p2_sw_aux2
#define p3_x_right p3_x
#define p3_y_fwd p3_y
#define rl1a_mast_back_sov relay1_fwd
#define rl1b_claw_sov relay1_rev /* 2/18/04 */
#define rl2a_plow_mtr relay2_fwd
#define rl2b_plow_mtr relay2_rev
#define rl3a_winch_mtr relay3_fwd
#define rl3b_winch_mtr relay3_rev
#define rl4a_compresr relay4_fwd
#define rl5a_mast_mtr relay5_fwd
#define rl5b_mast_mtr relay5_rev
#define rc_din2_lh_sw rc_dig_in02
#define rc_din3_rh_sw rc_dig_in03
#define rc_din4_plow_out_ls rc_dig_in04
#define rc_din15_plow_in_ls rc_dig_in15
#define rc_din6_mast_ls_dn rc_dig_in06
#define rc_din7_mast_ls_up rc_dig_in07
#define rc_din11_pres_sw rc_dig_in11
#define pwm1_lh pwm01
#define pwm2_rh pwm02
#define pw3_winch pwm03
#define pw4_mast pwm04
user_routines_fast.c:
Code:
long Left_Encoder_Count = 0;
long Right_Encoder_Count = 0;
user_routines.c:
Code:
extern long Left_Encoder_Count; /* tm 226 see these in fast.c*/
extern long Right_Encoder_Count; /* tm 226 see these in fast.c*/
When we compile we get an error message as shown below:
Code:
if (autorun_status == 1)
/* State 1 - Initialize for straight movement for seven feet fast 5.0 --*/
{
pwm1_lh = 127; /* Stop left motor */
pwm2_rh = 127; /* Stop right motor */
rh_en = 0; /* Reset actual encoder count we get an error on this line!!!*/
lh_en = 0; /* Reset actual encoder count */
rh_en_count = 0; /* Reset saved encoder count */
lh_en_count = 0; /* Reset saved encoder count */
rh_encoder_max = 771; /* Initialize max encoder counts for step 1 */
lh_encoder_max = 771; /* Initialize max encoder counts for step 1 */
target_ratio = 1.0; /* 1.0 straight, 1.1 turns left (more rh) .9 turns right */
pwm1_lh = 180; /* Set inital left motor speed */
pwm2_rh = 180; /* Set initial right motor speed */
autorun_status = 2; } /* or send to #3 and try that */
/* State 2 - Maintain target ratio for seven feet */