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11 years ago.
iostream issues
Whenever I include iostream to my code I get loads of compiler errors. Can anyone help me troubleshoot this issue? I'm trying to use iostream for ease of input error handling.
My Code
//AutoCalibrateModulo//
//Written by William Pedler 4/8/2013//
//This program is used to automatically calibrate and move the forcer linearly//
//Includes//
#include "mbed.h"
//#include <iostream> //When I take away these comment marks I get compiler errors.//
using namespace std;
//Define//
#define MAXI 1.0
#define MINI 0.0
#define BIG 100 //This times 4 controls how long the sensors read for each position//
#define three 3.0
#define seven 7
#define length 42
#define SPEED 0.150
#define medium 0.75
#define slow 0.5
//Declar global variables//
float left_min[length] = {0};
float left_max[length] = {0};
float right_min[length] = {0};
float right_max[length] = {0};
//Labeling the Local file system//
LocalFileSystem local("local"); // Create the local filesystem under the name "local"
//Labeling onboard LED's//
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
//Label linear coils//
DigitalOut linear0(p5); //coil 1
DigitalOut linear1(p6); //coil 2
DigitalOut linear2(p7); //coil 3
DigitalOut linear3(p8); //coil 4
DigitalOut linear4(p9); //coil 5
DigitalOut linear5(p10); //coil 6
DigitalOut linear6(p11); //coil 7
//Reduce noise by declaring all unused Analog pins as DigitalOut//
DigitalOut left15(p15);
DigitalOut left16(p16);
DigitalOut left17(p17);
DigitalOut left18(p18);
AnalogIn distanceR(p19); //Vout yellow GND black Vss red
AnalogIn distanceL(p20); //Vout yellow GND black Vss red
//Set USB//
Serial pc(USBTX, USBRX);
//Functions//
void move_all_left();
void move_all_right();
float get_Lsensor_min();
float get_Lsensor_max();
float get_Rsensor_min();
float get_Rsensor_max();
void move_one_right(int p);
void move_one_left(int p);
int get_position();
///////////////////////////////////////////////////////////////////////////////
/////////////////////////////Main Program//////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
/*//////////////////////Pseudo code for Main://////////////////////////////////
-Calibrate Motor
1. Move all the way to the LEFT side of the track.
2. Get max and mins from both distance sensors.
3. Store the max and mins in various arrays.
4. Move one position to the RIGHT and repeat for entire track.
5. Once the entire track has been recorded export to a txt file on the mbed.
Format for txt file:
Position # :Left Low :Left High :Right Low :Right High
0 :#### :#### :#### :####
1 (3 \t) :#### (2 \t)...
.
.
#EOF
-Operate Motor
1. Get current location
2. Get desired location
3. Move to location
4. Repeat
*//////////////////////////////////////////////////////////////////////////////
//////////////////////////////////MAIN/////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
int main() {
//Declarations & Initializations//
int current_location = 0;
int desired_location = 0;
int difference = 0;
led1 = 0;
led2 = 0;
led3 = 0;
led4 = 0;
//Speed Control//
wait(three);
//1.Move all the way to the LEFT side of the track//
move_all_left();
//2.Get Sensor Data//
for(int i=0;i<length;i++){
//3.Store in various arrays
left_min[i] = get_Lsensor_min();
left_max[i] = get_Lsensor_max();
right_min[i] = get_Rsensor_min();
right_max[i] = get_Rsensor_max();
led4 = !led4;
//4.Move to the right one//
move_one_right(i);
wait(slow);
}//End of for
//5. Export to a txt file on the mbed//
FILE *fp = fopen("/local/distance.txt", "w"); //Open "distance_data.txt" on the local file system for writing
fprintf(fp,"Position#\t Left Min\t Left Max\t Right Min\t Right Max\r\n");
for(int i=0;i<length;i++){
fprintf(fp,"%d\t %f\t %f\t %f\t %f\r\n",i,left_min[i],left_max[i],right_min[i],right_max[i]);
/*
//Example File Handeling Code//
FILE *fp = fopen("/local/out.txt", "w"); // Open "out.txt" on the local file system for writing
fprintf(fp, "Hello World!");
fclose(fp);
*/
}//End of for
fclose(fp);
//Set an LED high so we know calibration is complete//
led1 = 1;
move_all_left();
//move_all_right();
//move_all_left();
//////////////////////////////////////////////////////////////////////////////
////////////////////////////Operate Motor/////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////
//Now use calibration data to operate motor//
while(1){
//1.Find current location//
current_location = get_position();
//2.Take in desired location//
//I'll code this later... for now go to position 13//
desired_location = 13;
/*/////////////////////////////////////////////////////////////////////////////
/////////////////////////////User Interface////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
cout << "\n\n\rEnter a position number from 0 to 41: ";
cin >> desired_location;
while(std::cin.fail()){
cin.clear();
cin.ignore();
cout << "\n\n\r\t\tNot a number!\n\n\r\t\tPlease Try Again";
cout << "\n\rEnter a position number from 0 to 41: ";
cin >> desired_location;
}//End of while(std::cin.fail())//
cout << "\n\n\rGoing to position " << desired_location;
*/
//3.Move to desired position//
while(current_location != desired_location){
difference = current_location - desired_location;
while(difference > 0){
//Move LEFT//
led2 = 1;
wait(medium);
for(int i=0; i<difference;i++){
move_one_left(abs(current_location));
current_location--;
wait(SPEED);
}//End of for
current_location = get_position();
difference = current_location - desired_location;
pc.printf("\r\n\nMoving Left");
pc.printf("\r\nCurrent Location:\t%d",current_location);
pc.printf("\r\nDesired Location:\t%d",desired_location);
pc.printf("\r\nDifference:\t%d",difference);
led2 = 0;
}//End of while(greater than zero)//
while(difference < 0){
led3 = 1;
wait(medium);
for(int i=0; i<abs(difference);i++){
move_one_right(current_location);
current_location++;
wait(SPEED);
}//End of for
current_location = get_position();
difference = current_location - desired_location;
pc.printf("\r\n\nMoving Right");
pc.printf("\r\nCurrent Location:\t%d",current_location);
pc.printf("\r\nDesired Location:\t%d",desired_location);
pc.printf("\r\nDifference:\t%d",difference);
led3 = 0;
}//End of while(difference less than 0)//
}//End of while(current not desired)//
//4.Repeat//
}//End of while(1)//
}//End of main
///////////////////////////////////////////////////////////////////////////////
/////////////////////////////FUNCITONS/////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
////////////////////////////move_all_left//////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//moves the forcer all the way to the left of the track//
void move_all_left(){
//Declartions and initialization//
float lng = (SPEED);
linear0 = 1; //Coil1 Mod0
linear1 = 1; //Coil2 Mod1
linear2 = 1; //Coil3 Mod2
linear3 = 1; //Coil4 Mod3
linear4 = 1; //Coil5 Mod4
linear5 = 1; //Coil6 Mod5
linear6 = 1; //Coil7 Mod6
//LEFT//
for(int i=0;i<6;i++){
linear0 =! linear0; //Coil 1
wait(lng);
linear0 =! linear0;
linear1 =! linear1; //Coil 2
wait(lng);
linear1 =! linear1;
linear2 =! linear2; //Coil 3
wait(lng);
linear2 =! linear2;
linear3 =! linear3; //Coil 4
wait(lng);
linear3 =! linear3;
linear4 =! linear4; //Coil 5
wait(lng);
linear4 =! linear4;
linear5 =! linear5; //Coil 6
wait(lng);
linear5 =! linear5;
linear6 =! linear6; //Coil 7
wait(lng);
linear6 =! linear6;
}//End of For loop
return;
}//End of Funciton
///////////////////////////////////////////////////////////////////////////////
////////////////////////////move_all_right/////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//moves the forcer all the way to the left of the track//
void move_all_right(){
//Declartions and initialization//
float lng = (SPEED);
linear0 = 1; //Coil1 Mod0
linear1 = 1; //Coil2 Mod1
linear2 = 1; //Coil3 Mod2
linear3 = 1; //Coil4 Mod3
linear4 = 1; //Coil5 Mod4
linear5 = 1; //Coil6 Mod5
linear6 = 1; //Coil7 Mod6
//RIGHT//
for(int i=0;i<6;i++){
linear6 =! linear6; //Coil 7
wait(lng);
linear6 =! linear6;
linear5 =! linear5; //Coil 6
wait(lng);
linear5 =! linear5;
linear4 =! linear4; //Coil 5
wait(lng);
linear4 =! linear4;
linear3 =! linear3; //Coil 4
wait(lng);
linear3 =! linear3;
linear2 =! linear2; //Coil 3
wait(lng);
linear2 =! linear2;
linear1 =! linear1; //Coil 2
wait(lng);
linear1 =! linear1;
linear0 =! linear0; //Coil 1
wait(lng);
linear0 =! linear0;
}//End of For loop
return;
}//End of Funciton
///////////////////////////////////////////////////////////////////////////////
////////////////////////////get_Lsensor_min////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//returns the min distance value of left sensor when called//
float get_Lsensor_min(){
//Declarations and initializations//
float min = MAXI;
float read;
for(int i=0;i<BIG;i++){
wait(0.005);
read = distanceL.read();
if(read < min){
min = read;
}//End of if
else{
wait(MINI);
}//End of else
}//End of for
return(min);
}//End of Function
///////////////////////////////////////////////////////////////////////////////
//////////////////////////////get_Lsensor_max//////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//returns the max distance value of the left sensor when called//
float get_Lsensor_max(){
//Declarations and initializations//
float max = MINI;
float read;
for(int i=0;i<BIG;i++){
wait(0.005);
read = distanceL.read();
if(read > max){
max = read;
}//End of if
else{
wait(MINI);
}//End of else
}//End of for
return(max);
}//End of function
///////////////////////////////////////////////////////////////////////////////
/////////////////////////////get_Rsensor_min///////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//Function returns the min value of the right sensor when called//
float get_Rsensor_min(){
//Declarations and initializations//
float min = MAXI;
float read;
for(int i=0;i<BIG;i++){
wait(0.005);
read = distanceR.read();
if(read < min){
min = read;
}//End of if
else{
wait(MINI);
}//End of else
}//End of for
return(min);
}//End of function
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////get_Rsensor_max/////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
float get_Rsensor_max(){
//Declarations and initializations//
float max = MINI;
float read;
for(int i=0;i<BIG;i++){
wait(0.005);
read = distanceR.read();
if(read > max){
max = read;
}//End of if
else{
wait(MINI);
}//End of else
}//End of for
return(max);
}//End of function
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////move_one_right//////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//Function takes current position and moves one to the right
void move_one_right(int position){
//Declarations and initializations//
int current_coil = position % seven;
pc.printf("\r\nCurrent Coil:\t%d",current_coil);
switch(current_coil){
case 0:
linear6 = 1;
linear5 = 0; //Fire Coil 6//
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 1:
linear6 = 1;
linear5 = 1;
linear4 = 0; //Fire Coil 5//
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 2:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 0; //Fire Coil 4//
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 3:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 0; //Fire Coil 3//
linear1 = 1;
linear0 = 1;
break;
case 4:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 0; //Fire Coil 2//
linear0 = 1;
break;
case 5:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 0; //Fire Coil 1//
break;
case 6:
linear6 = 0; //Fire Coil 7//
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
default:
wait(MINI);
}//End of switch
}//End of function
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////move_one_left//////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//Function takes current position and moves one to the left
void move_one_left(int position){
//Declarations and initializations//
int current_coil = position % seven;
pc.printf("\r\nCurrent Coil:\t%d",current_coil);
switch(current_coil){
case 0:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 0; //Fire Coil 1//
break;
case 1:
linear6 = 0; //Fire Coil 7//
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 2:
linear6 = 1;
linear5 = 0; //Fire Coil 6//
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 3:
linear6 = 1;
linear5 = 1;
linear4 = 0; //Fire Coil 4//
linear3 = 1;
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 4:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 0; //Fire Coil 4//
linear2 = 1;
linear1 = 1;
linear0 = 1;
break;
case 5:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 0; //Fire Coil 3//
linear1 = 1;
linear0 = 1;
break;
case 6:
linear6 = 1;
linear5 = 1;
linear4 = 1;
linear3 = 1;
linear2 = 1;
linear1 = 0; //Fire Coil 2//
linear0 = 1;
break;
default:
wait(MINI);
}//End of switch
}//End of function
///////////////////////////////////////////////////////////////////////////////
/////////////////////////////get_position//////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//Function reads current position on track and returns the mod 7//
//Function uses calibration data to determin current position//
int get_position(){
//Declrations and Initializaitons//
int position = 0;
float left_sensor = distanceL.read();
float right_sensor = distanceR.read();
//Use closest sensor//
if(left_sensor > right_sensor){
//Look at Lsensor data//
for(int i=0;i<length;i++){
if(left_sensor < left_max[i] && left_sensor > left_min[i]){
position = i;
}//End of if//
}//End of for//
}//End of if//
else if(right_sensor >= left_sensor){
//Look at Rsensor data//
for(int i=0;i<length;i++){
if(right_sensor < right_max[i] && right_sensor > right_min[i]){
position = i;
}//End of if//
}//End of for//
}//End of else if//
return position;
}//End of function
Import programAutoCalibrateModulo
Code specific for Linear Rotary Motor 2013 Senior Design Project.
Last commit 09 Apr 2013 by 
William Pedler
1 Answer
11 years ago.
Well that took a bit of work to find out. How I did it, and that almost always works for such problems, simply start deleting sections of your code until it compiles again. Like usually of course pretty much the last thing I deleted was the issue: #define length 42 is the problem. I guess iostream internally also uses a length or something, for sure it doesn't like it. Change it to another name and it compiles.
Do note that iostream uses a ton of resources compared to printf, printf is generally the preferred method for microcontrollers.
Accepted Answer