RoboSavvy Forum

CPP

2007-09-06T07:28:10+01:00

No worries.
Thank you anyway for sharing... maybe i might try the one using example.c

cheers,

ryann2k1

Statistics: Posted by ryann2k1 — Thu Sep 06, 2007 7:28 am

C++ for bioloid

2007-09-05T19:31:49+01:00

Sorry, I have only the Comprehensive kit. The example that I have sent some messages ago works ok but it's based in the comprehensive example.c

Statistics: Posted by siempre.aprendiendo — Wed Sep 05, 2007 7:31 pm

CPP

2007-09-05T12:43:52+01:00

Hi,
We have an expert kit and it comes with two cds.All functions in the Example.c are declared in the dynamixel.h and dynamixel.lib which are available in the second cd of the expert kit.
That's why all warnings pop up. There are some features in the expert kit which does not exist in the Example.c, for example, zigbee and wireless camera.
Any suggestion?

cheers,

ryann2k1

Statistics: Posted by ryann2k1 — Wed Sep 05, 2007 12:43 pm

Re: Make file

2007-09-04T21:10:41+01:00

ryann2k1 wrote:
Hi acy.stapp,
It seems all the library from the company (dynamixel.h) need to be reworked.
Once I try to fix TxDstring, than all errors pop up... writebyte, writeword, all functions need to be fixed.
Which dynamixel library do you use?
I thought it was easy , just add several lines in the makefile...
any idea?
Thank you...

cheers,

ryann2k1

I don't have dynamixel.h, where did you find that? I've started with the example code from the CD that came with the bioloid and worked from that and the PDF manuals for the AX-12.

You can try fixing TxDString by making an inline wrapper that converts a const char* to a byte. Add this to your code (leave the existing TxDString).

void TxDString(char const * textLine) { TxDString((byte *)textLine); }

You can also try changing the makefile to alter the default char type to be unsigned.

Statistics: Posted by acy.stapp — Tue Sep 04, 2007 9:10 pm

Simple and dirty C++ example

2007-09-04T20:57:35+01:00

This simple and dirty c++ example works for me with the WinAVR

http://robosavvy.com/Builders/siempre.a ... o/cpp0.zip

Statistics: Posted by siempre.aprendiendo — Tue Sep 04, 2007 8:57 pm

Make file

2007-09-04T13:16:52+01:00

Hi acy.stapp,
It seems all the library from the company (dynamixel.h) need to be reworked.
Once I try to fix TxDstring, than all errors pop up... writebyte, writeword, all functions need to be fixed.
Which dynamixel library do you use?
I thought it was easy , just add several lines in the makefile...
any idea?
Thank you...

cheers,

ryann2k1

Statistics: Posted by ryann2k1 — Tue Sep 04, 2007 1:16 pm

Re: Makefile

2007-09-03T14:35:23+01:00

ryann2k1 wrote:
Hi,acy.stapp
After I compiled, the warning pops out about this line below

cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for C/ObjC but not for C++

and how do you implement timer128.c?

make.exe: *** No rule to make target `../../AVRLib/timer128.o', needed by `AngieGynoid.elf'. Stop.

Another error also

Gynoid.cpp: In function `int main()':
Gynoid.cpp:749: error: invalid conversion from `const char*' to `byte*'
Gynoid.cpp:749: error: initializing argument 1 of `void TxDString(byte*)'

looking forward to your respond.
Thank you.

cheers,

ryann2k1

The '-Wstrict-prototypes' error can be ignored or you can just find that line are remove it from the makefile. It is a C-only option but I haven't modfied the makefile yet to have different C and C++ options.

timer128.c is from the Procyon AVRLib (google it). I'll be migrating a lot of my stuff over to this later. Remove the file from your SRC= line.

TxDString needs to be changed to void TxDString(char const *) or TxDString(char const *) (same thing). You'll have to add some casts to bytes inside TxDString or rework the lower-level functions to take const parameters.

Statistics: Posted by acy.stapp — Mon Sep 03, 2007 2:35 pm

Makefile

2007-09-03T09:46:33+01:00

Hi,acy.stapp
After I compiled, the warning pops out about this line below

cc1plus.exe: warning: command line option "-Wstrict-prototypes" is valid for C/ObjC but not for C++

and how do you implement timer128.c?

make.exe: *** No rule to make target `../../AVRLib/timer128.o', needed by `AngieGynoid.elf'. Stop.

Another error also

Gynoid.cpp: In function `int main()':
Gynoid.cpp:749: error: invalid conversion from `const char*' to `byte*'
Gynoid.cpp:749: error: initializing argument 1 of `void TxDString(byte*)'

looking forward to your respond.
Thank you.

cheers,

ryann2k1

Statistics: Posted by ryann2k1 — Mon Sep 03, 2007 9:46 am

Re: Makefile

2007-09-03T04:43:38+01:00

ryann2k1 wrote:
Hi acy.stapp,

I have tried to use your makefile source code but there is an error warning.

# Compile: create object files from CPP source files.
%.o : %.cpp
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@

The warning comes from @echo line.
How did you overcome this?
Thank you.

Cheers

ryann2k1

Try out my makefile from
http://robosavvy.com/Builders/acy.stapp/

Statistics: Posted by acy.stapp — Mon Sep 03, 2007 4:43 am

Re: C++ Classes

2007-09-02T01:53:59+01:00

acy.stapp wrote:
Later tonight I'll set up a sourceforge project for my stuff. Right now I've just got two classes built: Servo and Fixed.

There's a project called "robosavvy" on sourceforge which will consolidate lots of the source code and 3D graphic files that show up here on the forum.

http://robosavvy.svn.sourceforge.net/vi ... vvy/trunk/

if you would like to use this project to upload your code, please let me know your sourceforge user name and i'll add you to the project.

Statistics: Posted by limor — Sun Sep 02, 2007 1:53 am

Makefile

2007-09-01T03:51:42+01:00

Hi acy.stapp,

I have tried to use your makefile source code but there is an error warning.

# Compile: create object files from CPP source files.
%.o : %.cpp
@echo
@echo $(MSG_COMPILING) $<
$(CC) -c $(ALL_CFLAGS) $< -o $@

The warning comes from @echo line.
How did you overcome this?
Thank you.

Cheers

ryann2k1

Statistics: Posted by ryann2k1 — Sat Sep 01, 2007 3:51 am

C++ Classes

2007-08-31T17:09:15+01:00

Later tonight I'll set up a sourceforge project for my stuff. Right now I've just got two classes built: Servo and Fixed.

class Fixed is a simple templatized math class that allows you to use fixed point numbers with standard math notation. This is much faster than floating point and has the same precision throughout its range which makes certain numerical solutions more stable. You can choose the number of fraction bits, the base storage type, and the storage type for intermediates. A Fixed<3> is a signed, two's complement fixed point number with 1 sign bit, 12 integral bits, and 3 bits of fraction. This lets us store and calculate with a servo position or velocity with 2 bits on top and 3 bits below.

Servo is an interface class to the AX-12+ and the sensor module. It handles reading and writing registers, pinging the servos, caching the device status, and has some nifty features like only writing changed values to the servo eeprom (since there is a write limit for those registers) and waiting the 5ms after writing an eeprom register. Functions are present to let you read fixed point speed, load, and position values, converting reads from the sign-bit representation of the AX-12 to a faster-calculating fixed-point representation. Fixed point values can also be written back to the AX-12+. Packets are constructed directly into the usart FIFO for efficiency. The generated code is very good.

The code is still in a hobbyist state while I write it. The communications stuff will be factored out next, it's still using the example communications setup.

Statistics: Posted by acy.stapp — Fri Aug 31, 2007 5:09 pm

C++ for bioloid

2007-08-29T14:32:10+01:00

acy.stapp , if you have some neat c++ classes you wish to share related to the bioloid and cm5, will be of much appreciated.

Statistics: Posted by limor — Wed Aug 29, 2007 2:32 pm

C++ for bioloid

2007-08-26T03:08:04+01:00

Thx acy.stapp it's really helpful.

Cheers,

ryann2k1

Statistics: Posted by ryann2k1 — Sun Aug 26, 2007 3:08 am

Re: C++ for bioloid

2007-08-25T22:08:50+01:00

ryann2k1 wrote:
Does anyone develop programming language for the bioloid with c++?hopefully you can help me since the robot only comes with c programming.
Thank you.

cheers

ryann2k1

I'm using C++ with WinAVR. I had to modify the default makefile but everything works fine. Here are the lines you need to change in your makefile. You'll need to find the correct lines and patch them manually:

Code:: # List C source files here. (C dependencies are automatically generated.) SRC = Example.cpp Servo.cpp ... # Define all object files. OBJ = $(addsuffix .o,$(basename $(SRC))) $(ASRC:.S=.o) # Define all listing files. LST = $(ASRC:.S=.lst) $(addsuffix .lst,$(basename $(SRC))) ... CFLAGS += -Wall -Wstrict-prototypes CFLAGS += -Wa,-adhlns=$(addsuffix .lst,$(basename $(<))) CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) ... # Compile: create object files from CPP source files. %.o : %.cpp @echo @echo $(MSG_COMPILING) $< $(CC) -c $(ALL_CFLAGS) $< -o $@ # Compile: create object files from CPP source files. %.o : %.c @echo @echo $(MSG_COMPILING) $< $(CC) -c $(ALL_CFLAGS) $< -o $@ # Compile: create assembler files from CPP source files. %.s : %.cpp $(CC) -S $(ALL_CFLAGS) $< -o $@ # Compile: create assembler files from CPP source files. %.s : %.c $(CC) -S $(ALL_CFLAGS) $< -o $@ ... clean_list : ... $(REMOVE) $(OBJ) $(REMOVE) $(LST) $(REMOVE) $(addsuffix .s,$(basename $(SRC))) $(REMOVE) $(addsuffix .d,$(basename $(SRC))) $(REMOVE) .dep/*

Statistics: Posted by acy.stapp — Sat Aug 25, 2007 10:08 pm