I am getting a file error when I try to run this on my NXT 2.0. It's my first time using NXC and the program compiles and transfers fine...
I tried replacing the batteries, the only other thing is that I thought maybe there was a firmware problem. Only thing is, I'd rather not get a custom firmware if I don't have to.
/**
* Tripod walker
*
* Description: This the Tripod program, to make it walk, turn, and avoid obstacles
*
* Notes: Compile for 2.0 NXT firmware (1.028)
*
* @author Daniele Benedettelli, MCP http://robotics.benedettelli.com, Copyright (C) 2012.
*
* @see The GNU Public License (GPL)
*/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#define STEP_PAUSE 80
#define LEFT_LEG OUT_C
#define REAR_LEG OUT_B
#define RIGHT_LEG OUT_A
#define EYE IN_4
#define NEAR 25
#define NONE -1
#define LEFT 1
#define RIGHT 2
#define FRONT 3
#define BACK 4
#define CW 1
#define CCW 0
#define KP 30
#define KD 10
#define KI 0
#define DAMP 60
#define SCALE 5
#define MID 60
int ref[3];
void Set(byte rear, byte left, byte right)
{
ref[REAR_LEG] = rear;
ref[LEFT_LEG] = left;
ref[RIGHT_LEG] = right;
}
void Pulse(byte motor, int times, bool long_pulse)
{
repeat (times)
{
ref[motor] = MID+10;
Wait(80);
//Wait(70+long_pulse*30);
ref[motor] = MID-10;
Wait(80);
}
}
void PulseDouble(byte motor_one, byte motor_two, int times, bool long_pulse)
{
repeat (times)
{
ref[motor_one] = 80;
ref[motor_two] = 80;
Wait(50+long_pulse*40);
ref[motor_one] = 40;
ref[motor_two] = 40;
}
}
void Walk (int dir, int times)
{
repeat(times)
{
if (dir == FRONT)
{
Set(MID-20,MID,MID);
Wait(300);
Set(MID+10,MID,MID);
Wait(200);
}
else if (dir == BACK)
{
Set(MID-10,MID+20,MID+20);
Wait(150);
Set(MID-10,MID-10,MID-10);
Wait(300);
}
else if (dir == RIGHT)
{
Set(MID-10,MID-20,MID-10);
Wait(80);
Set(MID+10,MID-20,MID+10);
Wait(150);
Set(MID-10,MID-20,MID-10);
Wait(300);
}
else if (dir == LEFT)
{
Set(MID-10,MID-10,MID-20);
Wait(80);
Set(MID+10,MID+10,MID-20);
Wait(150);
Set(MID-10,MID-10,MID-20);
Wait(300);
}
// if (times>1) Wait(STEP_PAUSE);
}
}
void Turn(int wise, int times)
{
repeat (times)
{
ref[REAR_LEG] = MID-10;
ref[wise==CCW? RIGHT_LEG:LEFT_LEG] = MID+10;
Wait(100);
ref[wise==CCW? LEFT_LEG:RIGHT_LEG] = MID+10;
ref[wise==CCW? RIGHT_LEG:LEFT_LEG] = MID-10;
Wait(100);
ref[wise==CCW? LEFT_LEG:RIGHT_LEG] = MID-10;
ref[REAR_LEG] = MID+10;
Wait(100);
// Pulse( wise==CCW? REAR_LEG:LEFT_LEG, 1, false);
// Pulse(RIGHT_LEG,1,false);
// Pulse( wise==CCW? LEFT_LEG:REAR_LEG,1,false);
}
}
void Demo()
{
Walk(FRONT,10);
Turn(CCW,10);
Walk(FRONT,10);
Turn(CW,10);
Walk(FRONT,10);
Walk(LEFT,10);
Walk(RIGHT,10);
}
task motorAcontroller()
{
int err, P, I, D, PID, Apos, Aold;
ResetAllTachoCounts(OUT_A);
ResetRotationCount(OUT_A);
while(true)
{
Apos = MotorRotationCount(OUT_A);
err = Apos - ref[OUT_A];
P = KP*err;
I = err + KI*I*(100-DAMP)/100;
D = KD*(err-Aold);
PID = (P + I + D)/SCALE;
PID = abs(PID)>100? sign(PID)*100 : PID;
OnRev(OUT_A,PID);
Aold = err;
}
}
task motorBcontroller()
{
int err, P, I, D, PID, Bpos, Bold;
ResetAllTachoCounts(OUT_B);
ResetRotationCount(OUT_B);
while(true)
{
Bpos = MotorRotationCount(OUT_B);
err = Bpos - ref[OUT_B];
P = KP*err;
I = err + KI*I*(100-DAMP)/100;
D = KD*(err-Bold);
PID = (P + I + D)/SCALE;
PID = abs(PID)>100? sign(PID)*100 : PID;
OnRev(OUT_B,PID);
Bold = err;
}
}
task motorCcontroller()
{
int err, P, I, D, PID, Cpos, Cold;
ResetAllTachoCounts(OUT_C);
ResetRotationCount(OUT_C);
while(true)
{
Cpos = MotorRotationCount(OUT_C);
err = Cpos - ref[OUT_C];
P = KP*err;
I = err + KI*I*(100-DAMP)/100;
D = KD*(err-Cold);
PID = (P + I + D)/SCALE;
PID = abs(PID)>100? sign(PID)*100 : PID;
OnRev(OUT_C,PID);
Cold = err;
}
}
void triped_init()
{
//SetSensorLowspeed(LEFT_EYE);
//SetSensorLowspeed(RIGHT_EYE);
SetSensorLowspeed(EYE);
OnRev(OUT_ABC,20);
Wait(80);
Float(OUT_ABC);
Wait(500);
start motorAcontroller;
start motorBcontroller;
start motorCcontroller;
//Set(MID+40,MID+40,MID+40);
//Wait(1000);
Set(MID,MID,MID);
Wait(1000);
/*
repeat(3)
{
Set(MID,MID+20,MID+20);
Wait(200);
Set(MID+20,MID+20,MID);
Wait(200);
Set(MID+20,MID,MID+20);
Wait(600);
}
Set(MID,MID,MID);
*/
}
void Jump( int times )
{
repeat (times)
{
Set(90,90,90);
Wait(1000);
for (int i=90; i >=30; i--)
{
Set(i,i,i);
Wait(1);
}
Wait(1000);
}
}
task main()
{
int count;
triped_init();
while (true)
{
if (ButtonPressed(BTNCENTER,true))
{
Set(MID+50,MID+50,MID+50);
while(ButtonPressed(BTNCENTER,true));
until(ButtonPressed(BTNCENTER,true));
}
if (SensorUS(EYE)>NEAR)
{
Walk(FRONT,1);
}
else
{
Walk(BACK,3);
count = 0;
while(SensorUS(EYE)<=NEAR && count<20)
{
Turn(CCW,3);
count++;
}
if (SensorUS(EYE)<=NEAR)
{
count = 0;
while(SensorUS(EYE)<NEAR && count<20)
{
Turn(CW,3);
count++;
}
Walk(LEFT,4);
}
else
{
Walk(RIGHT,4);
}
//Turn(CCW,5);
}
}
}
the error
