Why is this a compile time error?? I’ve added pointers to the error lines in the code. I’m using Basic Micro Studio rev #30.
[code]’
’ Program: Control Software for W.A.L.T.E.R. - the Wheeled Autonomous Learning Terrain Exploring Rover
’ Author: Dale Weber [email protected]
’ Date: 04-Jun-2010
’ Version: 2.10
’ Purpose: Original
’
’ Copyright © 2010 Dale Weber. Usage permitted under the BSD License
’
’ Processor: Basic Atom Pro on a BotBoard II
’ Hardware: Dimension Engineering Sabertooth 2X5 Motor Controller
’ GHM-04 Motors with QME-01 Shaft Encoders (2)
’ HS-485HB Servos (4 Steering, 1 Arm Pan)
’ HS-645MG Servos (2)
’ 7.2V @ 2800 mAH NiMH Battery Pack (Motors)
’ 7.2V @ 2800 mAH Battery Pack (Electronics)
’ 6.0V @ 2800 mAH Battery Pack (Servos)
’
’
’ Constants
’
StepsPerDegree con 133.3 ’ Counts per degree of servo movement.
TRUE con 1
FALSE con 0
’
’ Steering servo pins
’
RightFront con 0
LeftFront con 1
RightRear con 2
LeftRear con 3
’
’ Steering servo direction addustments
’
RFDir con 0
LFDir con 0
RRDir con 1
LRDir con -1
’
’ Steering positions in degrees
’
CurrRFAngle var sword
CurrLFAngle var sword
CurrRRAngle var sword
CurrLRAngle var sword
’ Actual steering servo positions
CurrRFPos var sword
CurrLFPos var sword
CurrRRPos var sword
CurrLRPos var sword
CurrSpeed var sword
’
’ Initialize variables
’
CurrRFAngle = 0
CurrLFAngle = 0
CurrRRAngle = 55
CurrLRAngle = -55
CurrSpeed = 0
enablehservo
’
’ Initialize
’
’ Tell everyone we are here
sound 9, [150\5000, 150\4400, 150\5000]
’ Calculate steering servo positions
'gosub CalculatePos [CurrRFAngle, CurrLFAngle, CurrRRAngle, CurrLRAngle]
gosub CalculatePos [0, 0, 55, -55]
’ Send servos to starting position
hservo [RightFront\CurrRFPos, LeftFront\CurrLFPos, RightRear\CurrRRPos, LeftRear\CurrLFPos]
’
’ Main Line
’
gosub Steering [CurrRFPos, CurrLFPos, CurrRRPos, CurrLRPos, 100]
goto ShutDown
’
'Set speed for the four motors - SaberTooth 2x5 motor controller, packet serial
’
speed var sword
SetSpeed [speed]
return
’
’ Steer the four wheels
’
rfangle var sword
lfangle var sword
rrangle var sword
lrangle var sword
spd var sword
Steering [rfangle, lfangle, rrangle, lrangle, spd]
gosub CalculatePos [rfangle, lfangle, rrangle, lrangle]
hservo [RightFront\rfangle * StepsPerDegree\spd, LeftFront\lfangle * StepsPerDegree\spd, RightRear\rrangle * StepsPerDegree\spd, LeftRear\lrangle * StepsPerDegree\spd]
return
’
’ Calculate new steering servo positions
’
rfangle var sword
lfangle var sword
rrangle var sword
lrangle var sword
CalculatePos
CurrRFAngle = rfangle ’ <--------------- Error
CurrLFAngle = lfangle ’ <--------------- Error
CurrRRAngle = rrangle ’ <--------------- Error
CurrLRAngle = lrangle ’ <--------------- Error
CurrRFPos = CurrRFAngle * StepsPerDegree
CurrLFPos = CurrLFAngle * StepsPerDegree
CurrRRPos = CurrRRAngle * StepsPerDegree
CurrLRPos = CurrLRAngle * StepsPerDegree
return
ShutDown
End[/code]
Error: FILE E:\DEVEL\PROJECTS\BASIC MICRO\WALTER\WALTER.BAS(LINE 105) : [TOKEN RFANGLE] : Redefining to Variable
Error: FILE E:\DEVEL\PROJECTS\BASIC MICRO\WALTER\WALTER.BAS(LINE 106) : [TOKEN LFANGLE] : Redefining to Variable
Error: FILE E:\DEVEL\PROJECTS\BASIC MICRO\WALTER\WALTER.BAS(LINE 107) : [TOKEN RRANGLE] : Redefining to Variable
Error: FILE E:\DEVEL\PROJECTS\BASIC MICRO\WALTER\WALTER.BAS(LINE 108) : [TOKEN LRANGLE] : Redefining to Variable
8-Dale
