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  1. DualVNH5019MotorShield motors;
  2.  
  3. char LED1 = 5;
  4. char LED2 = 3;
  5.  
  6. void setup()
  7. {
  8. 	Serial.begin(115200);
  9. 	motors.init();
  10.  
  11. 	pinMode(LED1, OUTPUT);
  12. 	pinMode(LED2, OUTPUT);
  13.  
  14. 	digitalWrite(LED1, HIGH);
  15. 	digitalWrite(LED2, LOW);
  16. }
  17.  
  18. uint8_t ReceiveBuffer[64];
  19. int AR_STATE = 0;
  20. char unlock = 17;
  21. char starter = 29;
  22. char terminator = 30;
  23.  
  24.  
  25. static const char arm_motorshield = 0;
  26. static const char get_milliamps = 1;
  27. static const char get_fault = 2;
  28. static const char set_brakes = 3;
  29. static const char set_speed = 4;
  30. static const char set_brakes_A = 5;
  31. static const char set_brakes_B = 6;
  32. static const char set_speed_A = 7;
  33. static const char set_speed_B = 8;
  34. static const char echo_data = 9;
  35. static const char set_max_speed = 10;
  36. static const char I_AM_ALIVE = 111;
  37. static const char CONNECTION_OK = 69;
  38. static const char UN_ARM = 33;
  39.  
  40. class AliveTime
  41. {
  42. 	unsigned long LastAliveTick;
  43. 	unsigned long ConnectionOk;
  44. public:
  45. 	AliveTime()
  46. 	{
  47. 		LastAliveTick = millis();
  48. 		ConnectionOk = LastAliveTick;
  49. 	}
  50. 	void IAmAlive()
  51. 	{
  52. 		LastAliveTick = millis();
  53. 	}
  54. 	unsigned long GetElapsed()
  55. 	{
  56. 		return millis() - LastAliveTick;
  57. 	}
  58. 	void ConnectionCheck()
  59. 	{
  60. 		ConnectionOk = millis();
  61. 	}
  62. 	unsigned long ConnectionOkElapsed()
  63. 	{
  64. 		return millis() - ConnectionOk;
  65. 	}
  66. } AliveTimer;
  67. //starter action data1 data2 data3 data4 terminator|7
  68.  
  69. char ACTION_TO_DO;
  70. int Value_One;
  71. int Value_Two;
  72.  
  73. #define MULTI_TO_INT(a,b) ((ReceiveBuffer[a] << 8) & ReceiveBuffer[b])
  74. #define INT_TO_MULTI(a,b,c) {ReceiveBuffer[a] = ((c & 0xFF00) >> 8); ReceiveBuffer[b] = (c & 0xFF);}
  75.  
  76. void SafetyChecks()
  77. {
  78. 	if (motors.getM1CurrentMilliamps() > 13000)
  79. 	{
  80. 		motors.setM1Speed(0);
  81. 	}
  82. 	if (motors.getM2CurrentMilliamps() > 13000)
  83. 	{
  84. 		motors.setM2Speed(0);
  85. 	}
  86. 	if (AliveTimer.GetElapsed() > 1000)
  87. 	{
  88. 		motors.setBrakes(maximumspeed, maximumspeed);
  89. 	}
  90. 	if (AliveTimer.ConnectionOkElapsed() > 1000)
  91. 	{
  92. 		AliveTimer.ConnectionCheck();
  93. 		ReceiveBuffer[0] = starter;
  94. 		ReceiveBuffer[1] = CONNECTION_OK;
  95. 		ReceiveBuffer[6] = terminator;
  96. 		//Serial.write(ReceiveBuffer, 7);
  97.  
  98. 		Value_One = motors.getM1CurrentMilliamps();
  99. 		Value_Two = motors.getM2CurrentMilliamps();
  100.  
  101. 		ReceiveBuffer[7] = starter;
  102. 		ReceiveBuffer[8] = get_milliamps;
  103. 		INT_TO_MULTI(9, 10, Value_One);
  104. 		INT_TO_MULTI(11, 12, Value_Two);
  105. 		ReceiveBuffer[13] = terminator;
  106.  
  107. 		//Serial.write(ReceiveBuffer, 7);
  108.  
  109. 		ReceiveBuffer[14] = starter;
  110. 		ReceiveBuffer[15] = get_fault;
  111. 		ReceiveBuffer[16] = motors.getM1Fault();
  112. 		ReceiveBuffer[17] = motors.getM2Fault();
  113. 		ReceiveBuffer[18] = 0;
  114. 		ReceiveBuffer[19] = 0;
  115. 		ReceiveBuffer[20] = terminator;
  116.  
  117. 		Serial.write(ReceiveBuffer, 21);
  118. 	}
  119. }
  120.  
  121. void Tick()
  122. {
  123. 	while (Serial.available() >= 7 && AR_STATE)
  124. 	{
  125. 		if (Serial.read() == starter)
  126. 		{
  127. 			Serial.readBytes((char*)&ReceiveBuffer[0], 6);
  128. 			if (ReceiveBuffer[5] == terminator)
  129. 			{
  130. 				ACTION_TO_DO = ReceiveBuffer[0];
  131. 				switch (ACTION_TO_DO)
  132. 				{
  133. 					case get_milliamps:
  134. 					{
  135. 						Value_One = motors.getM1CurrentMilliamps();
  136. 						Value_Two = motors.getM2CurrentMilliamps();
  137.  
  138. 						ReceiveBuffer[0] = starter;
  139. 						ReceiveBuffer[1] = ACTION_TO_DO;
  140. 						INT_TO_MULTI(2, 3, Value_One);
  141. 						INT_TO_MULTI(4, 5, Value_Two);
  142. 						ReceiveBuffer[6] = terminator;
  143.  
  144. 						Serial.write(ReceiveBuffer, 7);
  145.  
  146. 						break;
  147. 					}
  148. 					case get_fault:
  149. 					{
  150. 						ReceiveBuffer[0] = starter;
  151. 						ReceiveBuffer[1] = ACTION_TO_DO;
  152. 						ReceiveBuffer[2] = motors.getM1Fault();
  153. 						ReceiveBuffer[3] = motors.getM2Fault();
  154. 						ReceiveBuffer[4] = 0;
  155. 						ReceiveBuffer[5] = 0;
  156. 						ReceiveBuffer[6] = terminator;
  157.  
  158. 						Serial.write(ReceiveBuffer, 7);
  159. 						break;
  160. 					}
  161. 					case set_brakes:
  162. 					{
  163. 						Value_One = MULTI_TO_INT(1, 2);
  164. 						Value_Two = MULTI_TO_INT(3, 4);
  165.  
  166. 						motors.setBrakes(Value_One, Value_Two);
  167. 						break;
  168. 					}
  169. 					case set_speed:
  170. 					{
  171. 						Value_One = MULTI_TO_INT(1, 2);
  172. 						Value_Two = MULTI_TO_INT(3, 4);
  173.  
  174. 						motors.setSpeeds(Value_One, Value_Two);
  175. 						break;
  176. 					}
  177. 					case set_brakes_A:
  178. 					{
  179. 						Value_One = MULTI_TO_INT(1, 2);
  180.  
  181. 						motors.setM1Brake(Value_One);
  182. 						break;
  183. 					}
  184. 					case set_brakes_B:
  185. 					{
  186. 						Value_One = MULTI_TO_INT(1, 2);
  187.  
  188. 						motors.setM2Brake(Value_One);
  189. 						break;
  190. 					}
  191. 					case set_speed_A:
  192. 					{
  193. 						Value_One = MULTI_TO_INT(1, 2);
  194.  
  195. 						motors.setM1Speed(Value_One);
  196. 						break;
  197. 					}
  198. 					case set_speed_B:
  199. 					{
  200. 						Value_One = MULTI_TO_INT(1, 2);
  201.  
  202. 						motors.setM2Speed(Value_One);
  203. 						break;
  204. 					}
  205. 					case echo_data:
  206. 					{
  207. 						ReceiveBuffer[1] = ReceiveBuffer[0];
  208. 						ReceiveBuffer[2] = ReceiveBuffer[1];
  209. 						ReceiveBuffer[3] = ReceiveBuffer[2];
  210. 						ReceiveBuffer[4] = ReceiveBuffer[3];
  211. 						ReceiveBuffer[5] = ReceiveBuffer[4];
  212. 						ReceiveBuffer[0] = starter;
  213. 						ReceiveBuffer[6] = terminator;
  214. 						Serial.write(ReceiveBuffer, 7);
  215. 						break;
  216. 					}
  217. 					case I_AM_ALIVE:
  218. 					{
  219. 						AliveTimer.IAmAlive();
  220. 						break;
  221. 					}
  222. 					case arm_motorshield:
  223. 					{
  224. 						Serial.print("UNLOCKOK-5AE3C2\0");
  225. 						break;
  226. 					}
  227. 					case UN_ARM:
  228. 					{
  229. 						Value_One = MULTI_TO_INT(1, 2);
  230. 						Value_Two = MULTI_TO_INT(3, 4);
  231. 						if (Value_One == 5000 && Value_Two == 3333)
  232. 						{
  233. 							digitalWrite(LED1, HIGH);
  234. 							digitalWrite(LED2, LOW);
  235.  
  236. 							motors.setSpeeds(0, 0);
  237. 							AR_STATE = 0;
  238. 						}
  239. 					}
  240. 					case set_max_speed:
  241. 					{
  242. 						Value_One = MULTI_TO_INT(1, 2);
  243. 						Value_Two = abs(Value_One);
  244. 						if (Value_Two > 400)
  245. 						{
  246. 							Value_Two = 400;
  247. 						}
  248. 						maximumspeed = Value_Two;
  249. 					}
  250. 					default:
  251. 					{
  252.  
  253. 					}
  254. 				}
  255. 			}
  256. 		}
  257. 		SafetyChecks();
  258. 	}
  259. 	SafetyChecks();
  260. }
  261.  
  262. void loop()
  263. {
  264. 	if (AR_STATE)
  265. 	{
  266. 		Tick();
  267. 	}
  268. 	else
  269. 	{
  270. 		while (Serial.available() >= 7)
  271. 		{
  272. 			if (Serial.read() == starter)
  273. 			{
  274. 				char tempbuffer[6];
  275. 				Serial.readBytes(&tempbuffer[0], 6);
  276. 				if (tempbuffer[0] == arm_motorshield && (tempbuffer[1] == unlock || tempbuffer[2] == unlock || tempbuffer[3] == unlock || tempbuffer[4] == unlock) && tempbuffer[5] == terminator)
  277. 				{
  278. 					AR_STATE = 1;
  279. 					Serial.print("UNLOCKOK-5AE3C2\0");
  280. 					digitalWrite(LED1, LOW);
  281. 					digitalWrite(LED2, HIGH);
  282. 				}
  283. 				else
  284. 				{
  285. 					Serial.print("ARDUINO IS LOCKED\r\n");
  286. 					digitalWrite(LED1, LOW);
  287. 					delay(50);
  288. 					digitalWrite(LED1, HIGH);
  289. 					delay(50);
  290. 					digitalWrite(LED1, LOW);
  291. 					delay(50);
  292. 					digitalWrite(LED1, HIGH);
  293. 					delay(50);
  294. 					digitalWrite(LED1, LOW);
  295. 					delay(50);
  296. 					digitalWrite(LED1, HIGH);
  297. 				}
  298. 			}
  299. 		}
  300. 	}
  301. }
Compilation error #stdin compilation error #stdout 0s 0KB
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compilation info 
prog.cpp:1:1: error: ‘DualVNH5019MotorShield’ does not name a type
 DualVNH5019MotorShield motors;
 ^
prog.cpp: In function ‘void setup()’:
prog.cpp:8:2: error: ‘Serial’ was not declared in this scope
  Serial.begin(115200);
  ^
prog.cpp:9:2: error: ‘motors’ was not declared in this scope
  motors.init();
  ^
prog.cpp:11:16: error: ‘OUTPUT’ was not declared in this scope
  pinMode(LED1, OUTPUT);
                ^
prog.cpp:11:22: error: ‘pinMode’ was not declared in this scope
  pinMode(LED1, OUTPUT);
                      ^
prog.cpp:14:21: error: ‘HIGH’ was not declared in this scope
  digitalWrite(LED1, HIGH);
                     ^
prog.cpp:14:25: error: ‘digitalWrite’ was not declared in this scope
  digitalWrite(LED1, HIGH);
                         ^
prog.cpp:15:21: error: ‘LOW’ was not declared in this scope
  digitalWrite(LED2, LOW);
                     ^
prog.cpp: At global scope:
prog.cpp:18:1: error: ‘uint8_t’ does not name a type
 uint8_t ReceiveBuffer[64];
 ^
prog.cpp: In constructor ‘AliveTime::AliveTime()’:
prog.cpp:47:26: error: ‘millis’ was not declared in this scope
   LastAliveTick = millis();
                          ^
prog.cpp: In member function ‘void AliveTime::IAmAlive()’:
prog.cpp:52:26: error: ‘millis’ was not declared in this scope
   LastAliveTick = millis();
                          ^
prog.cpp: In member function ‘long unsigned int AliveTime::GetElapsed()’:
prog.cpp:56:17: error: ‘millis’ was not declared in this scope
   return millis() - LastAliveTick;
                 ^
prog.cpp: In member function ‘void AliveTime::ConnectionCheck()’:
prog.cpp:60:25: error: ‘millis’ was not declared in this scope
   ConnectionOk = millis();
                         ^
prog.cpp: In member function ‘long unsigned int AliveTime::ConnectionOkElapsed()’:
prog.cpp:64:17: error: ‘millis’ was not declared in this scope
   return millis() - ConnectionOk;
                 ^
prog.cpp: In function ‘void SafetyChecks()’:
prog.cpp:78:6: error: ‘motors’ was not declared in this scope
  if (motors.getM1CurrentMilliamps() > 13000)
      ^
prog.cpp:82:6: error: ‘motors’ was not declared in this scope
  if (motors.getM2CurrentMilliamps() > 13000)
      ^
prog.cpp:88:3: error: ‘motors’ was not declared in this scope
   motors.setBrakes(maximumspeed, maximumspeed);
   ^
prog.cpp:88:20: error: ‘maximumspeed’ was not declared in this scope
   motors.setBrakes(maximumspeed, maximumspeed);
                    ^
prog.cpp:93:3: error: ‘ReceiveBuffer’ was not declared in this scope
   ReceiveBuffer[0] = starter;
   ^
prog.cpp:98:15: error: ‘motors’ was not declared in this scope
   Value_One = motors.getM1CurrentMilliamps();
               ^
prog.cpp:117:3: error: ‘Serial’ was not declared in this scope
   Serial.write(ReceiveBuffer, 21);
   ^
prog.cpp: In function ‘void Tick()’:
prog.cpp:123:9: error: ‘Serial’ was not declared in this scope
  while (Serial.available() >= 7 && AR_STATE)
         ^
prog.cpp:127:29: error: ‘ReceiveBuffer’ was not declared in this scope
    Serial.readBytes((char*)&ReceiveBuffer[0], 6);
                             ^
prog.cpp:135:19: error: ‘motors’ was not declared in this scope
       Value_One = motors.getM1CurrentMilliamps();
                   ^
prog.cpp:152:26: error: ‘motors’ was not declared in this scope
       ReceiveBuffer[2] = motors.getM1Fault();
                          ^
prog.cpp:166:7: error: ‘motors’ was not declared in this scope
       motors.setBrakes(Value_One, Value_Two);
       ^
prog.cpp:174:7: error: ‘motors’ was not declared in this scope
       motors.setSpeeds(Value_One, Value_Two);
       ^
prog.cpp:181:7: error: ‘motors’ was not declared in this scope
       motors.setM1Brake(Value_One);
       ^
prog.cpp:188:7: error: ‘motors’ was not declared in this scope
       motors.setM2Brake(Value_One);
       ^
prog.cpp:195:7: error: ‘motors’ was not declared in this scope
       motors.setM1Speed(Value_One);
       ^
prog.cpp:202:7: error: ‘motors’ was not declared in this scope
       motors.setM2Speed(Value_One);
       ^
prog.cpp:233:27: error: ‘HIGH’ was not declared in this scope
        digitalWrite(LED1, HIGH);
                           ^
prog.cpp:233:31: error: ‘digitalWrite’ was not declared in this scope
        digitalWrite(LED1, HIGH);
                               ^
prog.cpp:234:27: error: ‘LOW’ was not declared in this scope
        digitalWrite(LED2, LOW);
                           ^
prog.cpp:236:8: error: ‘motors’ was not declared in this scope
        motors.setSpeeds(0, 0);
        ^
prog.cpp:243:32: error: ‘abs’ was not declared in this scope
       Value_Two = abs(Value_One);
                                ^
prog.cpp:248:7: error: ‘maximumspeed’ was not declared in this scope
       maximumspeed = Value_Two;
       ^
prog.cpp: In function ‘void loop()’:
prog.cpp:270:10: error: ‘Serial’ was not declared in this scope
   while (Serial.available() >= 7)
          ^
prog.cpp:280:25: error: ‘LOW’ was not declared in this scope
      digitalWrite(LED1, LOW);
                         ^
prog.cpp:280:28: error: ‘digitalWrite’ was not declared in this scope
      digitalWrite(LED1, LOW);
                            ^
prog.cpp:281:25: error: ‘HIGH’ was not declared in this scope
      digitalWrite(LED2, HIGH);
                         ^
prog.cpp:286:25: error: ‘LOW’ was not declared in this scope
      digitalWrite(LED1, LOW);
                         ^
prog.cpp:286:28: error: ‘digitalWrite’ was not declared in this scope
      digitalWrite(LED1, LOW);
                            ^
prog.cpp:287:14: error: ‘delay’ was not declared in this scope
      delay(50);
              ^
prog.cpp:288:25: error: ‘HIGH’ was not declared in this scope
      digitalWrite(LED1, HIGH);
                         ^
prog.cpp: In member function ‘long unsigned int AliveTime::GetElapsed()’:
prog.cpp:57:2: warning: control reaches end of non-void function [-Wreturn-type]
  }
  ^
prog.cpp: In member function ‘long unsigned int AliveTime::ConnectionOkElapsed()’:
prog.cpp:65:2: warning: control reaches end of non-void function [-Wreturn-type]
  }
  ^
stdout
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Standard output is empty
https://ideone.com/MFiKTT
language:
C++14 (gcc 8.3)
created:
11 years ago
visibility:
public

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