Help with Kevin Watson's 2008 code

[2526]

The project did build but as soon as I added pwm01 = p1_y; It would not build as shown below.

void Teleop(void)
{
pwm01 = p1_y;
// example code to test your gyro and encoder(s)

long Encoder_Count;

static unsigned int i = 0;
static unsigned int j = 0;
int temp_gyro_rate;
long temp_gyro_angle;
int temp_gyro_bias;

i++;
j++; // this will rollover every ~1000 seconds

// enable this block of code to test your gyro
if(j == 10)
{
printf("\r\nCalculating Gyro Bias...\r\n");
}
if(j == 38) // let the gyro stablize for a second before starting a calibration
{
// start a gyro bias calculation
Start_Gyro_Bias_Calc();
}
if(j == 191) // allow calibration routine to run for four seconds
{
// terminate the gyro bias calculation
Stop_Gyro_Bias_Calc();

// reset the gyro heading angle
Reset_Gyro_Angle();

temp_gyro_bias = Get_Gyro_Bias();
printf("Gyro Bias=%d\r\n", temp_gyro_bias);
}
if(i == 35 && j >= 191)
{
temp_gyro_rate = Get_Gyro_Rate();
temp_gyro_angle = Get_Gyro_Angle();
printf(" Gyro Rate=%d\r\n", temp_gyro_rate);
printf("Gyro Angle=%d\r\n\r\n", (int)temp_gyro_angle);
}


/*
// enable this block of code to test your encoder(s)
if(i == 37 && j >= 191)
{
Encoder_Count = Get_Encoder_1_Count();
printf("E1=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_2_Count();
printf("E2=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_3_Count();
printf("E3=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_4_Count();
printf("E4=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_5_Count();
printf("E5=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_6_Count();
printf("E6=%d\r\n\r\n",(int)Encoder_Count);
}
*/

// reset the loop counter
if(i >= 38)
{
i = 0;
}

// enable this to use IFI's default robot code
// Default_Routine(); // located in ifi_code.c

// update the state of the LEDs on the operator interface
Update_OI_LEDs(); // located in ifi_code.c
}

[eaglesfan10]

Originally Posted by 2526

The project did build but as soon as I added pwm01 = p1_y; It would not build as shown below.

void Teleop(void)
{
pwm01 = p1_y;
// example code to test your gyro and encoder(s)

long Encoder_Count;

static unsigned int i = 0;
static unsigned int j = 0;
int temp_gyro_rate;
long temp_gyro_angle;
int temp_gyro_bias;

i++;
j++; // this will rollover every ~1000 seconds

// enable this block of code to test your gyro
if(j == 10)
{
printf("\r\nCalculating Gyro Bias...\r\n");
}
if(j == 38) // let the gyro stablize for a second before starting a calibration
{
// start a gyro bias calculation
Start_Gyro_Bias_Calc();
}
if(j == 191) // allow calibration routine to run for four seconds
{
// terminate the gyro bias calculation
Stop_Gyro_Bias_Calc();

// reset the gyro heading angle
Reset_Gyro_Angle();

temp_gyro_bias = Get_Gyro_Bias();
printf("Gyro Bias=%d\r\n", temp_gyro_bias);
}
if(i == 35 && j >= 191)
{
temp_gyro_rate = Get_Gyro_Rate();
temp_gyro_angle = Get_Gyro_Angle();
printf(" Gyro Rate=%d\r\n", temp_gyro_rate);
printf("Gyro Angle=%d\r\n\r\n", (int)temp_gyro_angle);
}


/*
// enable this block of code to test your encoder(s)
if(i == 37 && j >= 191)
{
Encoder_Count = Get_Encoder_1_Count();
printf("E1=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_2_Count();
printf("E2=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_3_Count();
printf("E3=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_4_Count();
printf("E4=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_5_Count();
printf("E5=%d\r\n",(int)Encoder_Count);

Encoder_Count = Get_Encoder_6_Count();
printf("E6=%d\r\n\r\n",(int)Encoder_Count);
}
*/

// reset the loop counter
if(i >= 38)
{
i = 0;
}

// enable this to use IFI's default robot code
// Default_Routine(); // located in ifi_code.c

// update the state of the LEDs on the operator interface
Update_OI_LEDs(); // located in ifi_code.c
}

You need to put it AFTER your declarations. Put it after this line:
int temp_gyro_bias;

[2526]

Thanks for the help we'll try that please check back as I'm sure we'll have more questions

[Joe Ross]

Originally Posted by 2526

The project did build but as soon as I added pwm01 = p1_y; It would not build as shown below.

	pwm01 = p1_y;
	// example code to test your gyro and encoder(s)

	long Encoder_Count;

	static unsigned int i = 0;
	static unsigned int j = 0;
	int temp_gyro_rate;
	long temp_gyro_angle;
	int temp_gyro_bias;

In C, you have to put your code after all variable declarations. If you move pwm01 = p1_y; to the end of this block, it will compile.