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Ho una buona conoscenza di Arduino e Java e ho deciso di provare a controllare il mio Arduino ATMega con la mia scheda Samsung Galaxy 10.1. Ho installato l'API 12 con il gestore SDK, il plugin ADT per Eclipse e ora sto seguendo le istruzioni da Installing the Arduino software and necessary libraries (al Kit di sviluppo accessorio Open Android) per installare il firmware per la scheda ADK. Quando mi ha colpito compilarlo mi da due errori:Perché il programma di demokit per ADK non viene compilato in Arduino?
demokit:146: error: 'acc' was not declared in this scope
demokit:249: error: 'touch_robot' was not declared in this scope
e dice
'AndroidAccessory' does not name a type.
Il codice è simile al seguente:
#include <Wire.h>
#include <Servo.h>
#include <Max3421e.h>
#include <Usb.h>
#include <AndroidAccessory.h>
#include <CapSense.h>
#define LED3_RED 2
#define LED3_GREEN 4
#define LED3_BLUE 3
#define LED2_RED 5
#define LED2_GREEN 7
#define LED2_BLUE 6
#define LED1_RED 8
#define LED1_GREEN 10
#define LED1_BLUE 9
#define SERVO1 11
#define SERVO2 12
#define SERVO3 13
#define TOUCH_RECV 14
#define TOUCH_SEND 15
#define RELAY1 A0
#define RELAY2 A1
#define LIGHT_SENSOR A2
#define TEMP_SENSOR A3
#define BUTTON1 A6
#define BUTTON2 A7
#define BUTTON3 A8
#define JOY_SWITCH A9 // pulls line down when pressed
#define JOY_nINT A10 // active low interrupt input
#define JOY_nRESET A11 // active low reset output
AndroidAccessory acc("Google, Inc.",
"DemoKit",
"DemoKit Arduino Board",
"1.0",
"http://www.android.com",
"0000000");
Servo servos[3];
// 10 Mohm resistor on demo shield
CapSense touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV);
void setup();
void loop();
void init_buttons()
{
pinMode(BUTTON1, INPUT);
pinMode(BUTTON2, INPUT);
pinMode(BUTTON3, INPUT);
pinMode(JOY_SWITCH, INPUT);
// enable the internal pullups
digitalWrite(BUTTON1, HIGH);
digitalWrite(BUTTON2, HIGH);
digitalWrite(BUTTON3, HIGH);
digitalWrite(JOY_SWITCH, HIGH);
}
void init_relays()
{
pinMode(RELAY1, OUTPUT);
pinMode(RELAY2, OUTPUT);
}
void init_LEDs()
{
digitalWrite(LED1_RED, 1);
digitalWrite(LED1_GREEN, 1);
digitalWrite(LED1_BLUE, 1);
pinMode(LED1_RED, OUTPUT);
pinMode(LED1_GREEN, OUTPUT);
pinMode(LED1_BLUE, OUTPUT);
digitalWrite(LED2_RED, 1);
digitalWrite(LED2_GREEN, 1);
digitalWrite(LED2_BLUE, 1);
pinMode(LED2_RED, OUTPUT);
pinMode(LED2_GREEN, OUTPUT);
pinMode(LED2_BLUE, OUTPUT);
digitalWrite(LED3_RED, 1);
digitalWrite(LED3_GREEN, 1);
digitalWrite(LED3_BLUE, 1);
pinMode(LED3_RED, OUTPUT);
pinMode(LED3_GREEN, OUTPUT);
pinMode(LED3_BLUE, OUTPUT);
}
void init_joystick(int threshold);
byte b1, b2, b3, b4, c;
void setup()
{
Serial.begin(115200);
Serial.print("\r\nStart");
init_LEDs();
init_relays();
init_buttons();
init_joystick(5);
// autocalibrate OFF
touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF);
servos[0].attach(SERVO1);
servos[0].write(90);
servos[1].attach(SERVO2);
servos[1].write(90);
servos[2].attach(SERVO3);
servos[2].write(90);
b1 = digitalRead(BUTTON1);
b2 = digitalRead(BUTTON2);
b3 = digitalRead(BUTTON3);
b4 = digitalRead(JOY_SWITCH);
c = 0;
acc.powerOn();
}
void loop()
{
byte err;
byte idle;
static byte count = 0;
byte msg[3];
long touchcount;
if (acc.isConnected()) {
int len = acc.read(msg, sizeof(msg), 1);
int i;
byte b;
uint16_t val;
int x, y;
char c0;
if (len > 0) {
// assumes only one command per packet
if (msg[0] == 0x2) {
if (msg[1] == 0x0)
analogWrite(LED1_RED, 255 - msg[2]);
else if (msg[1] == 0x1)
analogWrite(LED1_GREEN, 255 - msg[2]);
else if (msg[1] == 0x2)
analogWrite(LED1_BLUE, 255 - msg[2]);
else if (msg[1] == 0x3)
analogWrite(LED2_RED, 255 - msg[2]);
else if (msg[1] == 0x4)
analogWrite(LED2_GREEN, 255 - msg[2]);
else if (msg[1] == 0x5)
analogWrite(LED2_BLUE, 255 - msg[2]);
else if (msg[1] == 0x6)
analogWrite(LED3_RED, 255 - msg[2]);
else if (msg[1] == 0x7)
analogWrite(LED3_GREEN, 255 - msg[2]);
else if (msg[1] == 0x8)
analogWrite(LED3_BLUE, 255 - msg[2]);
else if (msg[1] == 0x10)
servos[0].write(map(msg[2], 0, 255, 0, 180));
else if (msg[1] == 0x11)
servos[1].write(map(msg[2], 0, 255, 0, 180));
else if (msg[1] == 0x12)
servos[2].write(map(msg[2], 0, 255, 0, 180));
} else if (msg[0] == 0x3) {
if (msg[1] == 0x0)
digitalWrite(RELAY1, msg[2] ? HIGH : LOW);
else if (msg[1] == 0x1)
digitalWrite(RELAY2, msg[2] ? HIGH : LOW);
}
}
msg[0] = 0x1;
b = digitalRead(BUTTON1);
if (b != b1) {
msg[1] = 0;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b1 = b;
}
b = digitalRead(BUTTON2);
if (b != b2) {
msg[1] = 1;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b2 = b;
}
b = digitalRead(BUTTON3);
if (b != b3) {
msg[1] = 2;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b3 = b;
}
b = digitalRead(JOY_SWITCH);
if (b != b4) {
msg[1] = 4;
msg[2] = b ? 0 : 1;
acc.write(msg, 3);
b4 = b;
}
switch (count++ % 0x10) {
case 0:
val = analogRead(TEMP_SENSOR);
msg[0] = 0x4;
msg[1] = val >> 8;
msg[2] = val & 0xff;
acc.write(msg, 3);
break;
case 0x4:
val = analogRead(LIGHT_SENSOR);
msg[0] = 0x5;
msg[1] = val >> 8;
msg[2] = val & 0xff;
acc.write(msg, 3);
break;
case 0x8:
read_joystick(&x, &y);
msg[0] = 0x6;
msg[1] = constrain(x, -128, 127);
msg[2] = constrain(y, -128, 127);
acc.write(msg, 3);
break;
case 0xc:
touchcount = touch_robot.capSense(5);
c0 = touchcount > 750;
if (c0 != c) {
msg[0] = 0x1;
msg[1] = 3;
msg[2] = c0;
acc.write(msg, 3);
c = c0;
}
break;
}
}
else {
// reset outputs to default values on disconnect
analogWrite(LED1_RED, 255);
analogWrite(LED1_GREEN, 255);
analogWrite(LED1_BLUE, 255);
analogWrite(LED2_RED, 255);
analogWrite(LED2_GREEN, 255);
analogWrite(LED2_BLUE, 255);
analogWrite(LED3_RED, 255);
analogWrite(LED3_GREEN, 255);
analogWrite(LED3_BLUE, 255);
servos[0].write(90);
servos[0].write(90);
servos[0].write(90);
digitalWrite(RELAY1, LOW);
digitalWrite(RELAY2, LOW);
}
delay(10);
}
// ==============================================================================
// Austria Microsystems i2c Joystick
void init_joystick(int threshold)
{
byte status = 0;
pinMode(JOY_SWITCH, INPUT);
digitalWrite(JOY_SWITCH, HIGH);
pinMode(JOY_nINT, INPUT);
digitalWrite(JOY_nINT, HIGH);
pinMode(JOY_nRESET, OUTPUT);
digitalWrite(JOY_nRESET, 1);
delay(1);
digitalWrite(JOY_nRESET, 0);
delay(1);
digitalWrite(JOY_nRESET, 1);
Wire.begin();
do {
status = read_joy_reg(0x0f);
} while ((status & 0xf0) != 0xf0);
// invert magnet polarity setting, per datasheet
write_joy_reg(0x2e, 0x86);
calibrate_joystick(threshold);
}
int offset_X, offset_Y;
void calibrate_joystick(int dz)
{
char iii;
int x_cal = 0;
int y_cal = 0;
// Low Power Mode, 20ms auto wakeup
// INTn output enabled
// INTn active after each measurement
// Normal (non-Reset) mode
write_joy_reg(0x0f, 0x00);
delay(1);
// dummy read of Y_reg to reset interrupt
read_joy_reg(0x11);
for(iii = 0; iii != 16; iii++) {
while(!joystick_interrupt()) {}
x_cal += read_joy_reg(0x10);
y_cal += read_joy_reg(0x11);
}
// Divide by 16 to get average
offset_X = -(x_cal>>4);
offset_Y = -(y_cal>>4);
write_joy_reg(0x12, dz - offset_X); // Xp, LEFT threshold for INTn
write_joy_reg(0x13, -dz - offset_X); // Xn, RIGHT threshold for INTn
write_joy_reg(0x14, dz - offset_Y); // Yp, UP threshold for INTn
write_joy_reg(0x15, -dz - offset_Y); // Yn, DOWN threshold for INTn
// Dead zone threshold detect requested?
if (dz)
write_joy_reg(0x0f, 0x04);
}
void read_joystick(int *x, int *y)
{
*x = read_joy_reg(0x10) + offset_X;
*y = read_joy_reg(0x11) + offset_Y; // reading Y clears the interrupt
}
char joystick_interrupt()
{
return digitalRead(JOY_nINT) == 0;
}
#define JOY_I2C_ADDR 0x40
char read_joy_reg(char reg_addr)
{
char c;
Wire.beginTransmission(JOY_I2C_ADDR);
Wire.send(reg_addr);
Wire.endTransmission();
Wire.requestFrom(JOY_I2C_ADDR, 1);
while(Wire.available())
c = Wire.receive();
return c;
}
void write_joy_reg(char reg_addr, char val)
{
Wire.beginTransmission(JOY_I2C_ADDR);
Wire.send(reg_addr);
Wire.send(val);
Wire.endTransmission();
}
A proposito, ho anche provato a copiare l'ADK_relsease_0512 la cartella nella mia directory arduino non funzionava ancora. Grazie in anticipo!
Non c'è la riga 280 nel file AndroidAccessory.cpp ora nel 2016 – Ajji