The full process of calibration in WriteInstinct.ino is:
1. You don't know where the servos are pointing at before calibration. So you don't attach the legs.
2. Upload skills, which include one "calib" posture, it's a posture with all joints at zero position. There's also a "rest" posture. Of course, you won't see the postures because you haven't attached the legs. But you can imagine that the servos will rotate when switching between the two postures.
These postures are also shown in 6.4.3 of the instruction document.
You have to enter 'Y' for saving saving skills to EEPROM. Right after that, the program will read the rest posture and rotate all servos to rest position, then shut them down to avoid vibration. Still don't attach the legs.
4. The program will ask you whether to calibrate MPU. You can enter 'n' to skip if you have already did so. You can now understand why I put Nybble to rest state before calibrating MPU. It's much easier to lay Nybble level on the table, and it won't vibrate due to the shaking of servos.
5. Now if you enter 'c', the program will read the calib posture and execute. All the servos are supposed to rotate like crazy (but they are actually transforming from rest position) until they stop at calibrate position. Then you can attach the legs one joint by one joint, perpendicular to nearby references on frames. It's easier to attach knee joints before shoulder joints.
Even if you attach legs in the direction of calibrate posture before entering 'c', the servos are actually in rest posture. Once you enter 'c', the legs are going to move, but would probably hit something in the middle. In that case, the motor will be forced to stop, and becomes a pure resistor. It will pull large current, generate heat and cause a voltage drop on the chip. That will further disturb the signals, causing more abnormal behaviors.
6. After attaching all the joints, Nybble will stand on its knees as in the calibrate state. The directions of legs won't be perfect. Use the included L-shape tuner for fine tuning each joint. You can enter 's' after calibrating each servo in case of any interruption in the process.
7. The calibration values are saved to ATmega328P's onboard EEPROM. They won't change unless some voltage shock happen to cause "bit flip" when the processor is accessing the memory location. But it's very rare. Next time you want to calibrate, you don't need to take off the legs. You can also calibrate within Nybble.ino.
Hello,
I can't use 'c' command in WriteInstinct.ino , or other command (h, c9 4, d, ...).
After calibrate EEprom and MPU, I just have "Gotcha !" ...
I change the "V0_*" in "#define NyBoard_V0_2" in Instinct.h
But I have some warning before transfert to ardruino (IDE v1.8.9) :
In file included from C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino:31:0: sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] }; ^ sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] sketch\OpenCat.h:604:1: warning: narrowing conversion of '-4.5e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing] C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino: In function 'void setup()': C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino:231:34: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings] motion.loadBySkillName("rest"); ^ C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino: In function 'void loop()': C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino:327:36: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings] motion.loadBySkillName("rest"); ^ C:\temp\OpenCat-master.20190604\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino:360:41: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings] motion.loadBySkillName("calib"); ^ C:\Users\Documents\Arduino\libraries\Adafruit_PWM_Servo_Driver_Library\Adafruit_PWMServoDriver.cpp: In member function 'uint8_t Adafruit_PWMServoDriver::getPWM(uint8_t)': C:\Users\Documents\Arduino\libraries\Adafruit_PWM_Servo_Driver_Library\Adafruit_PWMServoDriver.cpp:167:71: warning: ISO C++ says that these are ambiguous, even though the worst conversion for the first is better than the worst conversion for the second: _i2c->requestFrom((uint8_t)_i2caddr, LED0_ON_L + 4 * num, (uint8_t)4); ^ In file included from C:\Users\Documents\Arduino\libraries\Adafruit_PWM_Servo_Driver_Library\Adafruit_PWMServoDriver.h:27:0, from C:\Users\Documents\Arduino\libraries\Adafruit_PWM_Servo_Driver_Library\Adafruit_PWMServoDriver.cpp:30: C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\src/Wire.h:65:13: note: candidate 1: uint8_t TwoWire::requestFrom(int, int, int) uint8_t requestFrom(int, int, int); ^ C:\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\Wire\src/Wire.h:62:13: note: candidate 2: uint8_t TwoWire::requestFrom(uint8_t, uint8_t, uint8_t) uint8_t requestFrom(uint8_t, uint8_t, uint8_t); ^The warnings are not related to the calibration. Try connect the jumper switch SW3 between BATT and V_S.
Thanks.
Nothing new.
I don't have any table with all offset ...
You can send me a video showing how you connect the cat and send commands. Make sure the information on the screen is clear to see.
Watch out, I did following mistake:
- First i noticed that the Joint Map in the instruction has changed for board v0_2
- So i made my own mapping table and reverted/switched PWM pins and Joint Indices (here i made the first mistake)
- Started calibration with 'c' and servos moved all to 0 position. Everything looks good so I mounted all servos.
- I didn't do a servo by servo 'c* *' calibration and moved on to deploy Nybble.ino. (here i made the second mistake)
- Started Nybble and in rest position everything looks fine. Started a skill and boom, crazy moves. So I spend a lot of time searching for batterie issues.
After all I noticed my mapping issue and sorted it out. You just have to change the numbers in the PWM Pin row with the printed numbers on the v0_2 board, then you will have a new encoding array.
@Rongzhong Li Maybe you could update the instruction to show the different Joint Maps between v0_1 and v0_2 board!?
You don’t need to define a new joint map yourself. It’s handled in OpenCat.h. The physical servo connection are also the same for two versions of boards. You just need to adjust the board version definition in Instinct.h, which can be considered as a configuration file.
Ok I need your help. I was try to programm it. Writieinstic file sends and is ok. All valibration done, but after that I have error for OpenCat file:
Arduino:1.8.12 (Mac OS X), Płytka:"Arduino Uno"
In file included from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:0:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h: In member function 'void Motion::loadDataFromI2cEeprom(unsigned int&)':
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:559:51: warning: ISO C++ says that these are ambiguous, even though the worst conversion for the first is better than the worst conversion for the second:
Wire.requestFrom(DEVICE_ADDRESS, skillHeader);
^
In file included from /Users/multimoto/Documents/Arduino/libraries/I2Cdev/I2Cdev.h:88:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:1:
/private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/libraries/Wire/src/Wire.h:64:13: note: candidate 1: uint8_t TwoWire::requestFrom(int, int)
uint8_t requestFrom(int, int);
^~~~~~~~~~~
/private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/libraries/Wire/src/Wire.h:61:13: note: candidate 2: uint8_t TwoWire::requestFrom(uint8_t, uint8_t)
uint8_t requestFrom(uint8_t, uint8_t);
^~~~~~~~~~~
In file included from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:0:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h: At global scope:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-9.0e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
};
^
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '2.25e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-9.0e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '2.25e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-9.0e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-2.25e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-9.0e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:753:1: warning: narrowing conversion of '-2.25e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:5:18: error: redefinition of 'const char bdF []'
const char bdF[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:5:12: note: 'const char bdF [124]' previously defined here
const char bdF[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:23:17: error: redefinition of 'const char bk []'
const char bk[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:23:12: note: 'const char bk [284]' previously defined here
const char bk[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:61:18: error: redefinition of 'const char bkL []'
const char bkL[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:61:12: note: 'const char bkL [212]' previously defined here
const char bkL[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:90:18: error: redefinition of 'const char bkR []'
const char bkR[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:90:12: note: 'const char bkR [212]' previously defined here
const char bkR[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:119:18: error: redefinition of 'const char crF []'
const char crF[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:119:12: note: 'const char crF [292]' previously defined here
const char crF[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:158:18: error: redefinition of 'const char crL []'
const char crL[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:158:12: note: 'const char crL [236]' previously defined here
const char crL[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:190:18: error: redefinition of 'const char crR []'
const char crR[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:190:12: note: 'const char crR [236]' previously defined here
const char crR[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:222:18: error: redefinition of 'const char rnF []'
const char rnF[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:222:12: note: 'const char rnF [172]' previously defined here
const char rnF[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:246:18: error: redefinition of 'const char rnL []'
const char rnL[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:246:12: note: 'const char rnL [156]' previously defined here
const char rnL[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:268:18: error: redefinition of 'const char rnR []'
const char rnR[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:268:12: note: 'const char rnR [156]' previously defined here
const char rnR[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:290:18: error: redefinition of 'const char trF []'
const char trF[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:290:12: note: 'const char trF [284]' previously defined here
const char trF[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:328:18: error: redefinition of 'const char trL []'
const char trL[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:328:12: note: 'const char trL [292]' previously defined here
const char trL[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:367:18: error: redefinition of 'const char trR []'
const char trR[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:367:12: note: 'const char trR [292]' previously defined here
const char trR[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:406:17: error: redefinition of 'const char vt []'
const char vt[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:406:12: note: 'const char vt [172]' previously defined here
const char vt[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:430:18: error: redefinition of 'const char wkF []'
const char wkF[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:430:12: note: 'const char wkF [460]' previously defined here
const char wkF[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:490:18: error: redefinition of 'const char wkL []'
const char wkL[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:490:12: note: 'const char wkL [340]' previously defined here
const char wkL[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:535:18: error: redefinition of 'const char wkR []'
const char wkR[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:535:12: note: 'const char wkR [340]' previously defined here
const char wkR[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:581:22: error: redefinition of 'const char balance []'
const char balance[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:581:12: note: 'const char balance [20]' previously defined here
const char balance[] PROGMEM = {
^~~~~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:585:21: error: redefinition of 'const char buttUp []'
const char buttUp[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:585:12: note: 'const char buttUp [20]' previously defined here
const char buttUp[] PROGMEM = {
^~~~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:589:20: error: redefinition of 'const char calib []'
const char calib[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:589:12: note: 'const char calib [20]' previously defined here
const char calib[] PROGMEM = {
^~~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:593:22: error: redefinition of 'const char dropped []'
const char dropped[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:593:12: note: 'const char dropped [20]' previously defined here
const char dropped[] PROGMEM = {
^~~~~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:597:21: error: redefinition of 'const char lifted []'
const char lifted[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:597:12: note: 'const char lifted [20]' previously defined here
const char lifted[] PROGMEM = {
^~~~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:601:19: error: redefinition of 'const char rest []'
const char rest[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:601:12: note: 'const char rest [20]' previously defined here
const char rest[] PROGMEM = {
^~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:605:18: error: redefinition of 'const char sit []'
const char sit[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:605:12: note: 'const char sit [20]' previously defined here
const char sit[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:609:18: error: redefinition of 'const char str []'
const char str[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:609:12: note: 'const char str [20]' previously defined here
const char str[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:613:19: error: redefinition of 'const char zero []'
const char zero[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:613:12: note: 'const char zero [20]' previously defined here
const char zero[] PROGMEM = {
^~~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:618:17: error: redefinition of 'const char bf []'
const char bf[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:618:12: note: 'const char bf [167]' previously defined here
const char bf[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:632:17: error: redefinition of 'const char ck []'
const char ck[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:632:12: note: 'const char ck [47]' previously defined here
const char ck[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:638:17: error: redefinition of 'const char hi []'
const char hi[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:638:12: note: 'const char hi [67]' previously defined here
const char hi[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:645:18: error: redefinition of 'const char pee []'
const char pee[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:645:12: note: 'const char pee [87]' previously defined here
const char pee[] PROGMEM = {
^~~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:653:17: error: redefinition of 'const char pu []'
const char pu[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:653:12: note: 'const char pu [167]' previously defined here
const char pu[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:665:17: error: redefinition of 'const char rc []'
const char rc[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:665:12: note: 'const char rc [67]' previously defined here
const char rc[] PROGMEM = {
^~
In file included from /private/var/folders/hs/jv0pt7rd0h79b7dg3z4r7t8c0000gn/T/AppTranslocation/962B1083-217B-438D-9664-736F2EED5059/d/Arduino.app/Contents/Java/hardware/arduino/avr/cores/arduino/Arduino.h:28:0,
from sketch/OpenCat.ino.cpp:1:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:672:18: error: redefinition of 'const char stp []'
const char stp[] PROGMEM = {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:672:12: note: 'const char stp [447]' previously defined here
const char stp[] PROGMEM = {
^~~
In file included from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:6:0:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:701:31: error: redefinition of 'const char* skillNameWithType []'
const char* skillNameWithType[] = {"bdFI", "bkI", "bkLI", "bkRI", "crFI", "crLI", "crRI", "rnFI", "rnLI", "rnRI", "trFI", "trLI", "trRI", "vtI", "wkFI", "wkLI", "wkRI", "balanceI", "buttUpI", "calibI", "droppedI", "liftedI", "restI", "sitI", "strI", "zeroN", "bfN", "ckI", "hiI", "peeI", "puI", "rcI", "stpI",};
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:701:13: note: 'const char* skillNameWithType [33]' previously defined here
const char* skillNameWithType[] = {"bdFI", "bkI", "bkLI", "bkRI", "crFI", "crLI", "crRI", "rnFI", "rnLI", "rnRI", "trFI", "trLI", "trRI", "vtI", "wkFI", "wkLI", "wkRI", "balanceI", "buttUpI", "calibI", "droppedI", "liftedI", "restI", "sitI", "strI", "zeroN", "bfN", "ckI", "hiI", "peeI", "puI", "rcI", "stpI",};
^~~~~~~~~~~~~~~~~
In file included from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:6:0:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:702:28: error: redefinition of 'const char* progmemPointer []'
const char* progmemPointer[] = {bdF, bk, bkL, bkR, crF, crL, crR, rnF, rnL, rnR, trF, trL, trR, vt, wkF, wkL, wkR, balance, buttUp, calib, dropped, lifted, rest, sit, str, zero, bf, ck, hi, pee, pu, rc, stp, };
^
In file included from /Users/multimoto/Documents/Arduino/libraries/WriteInstinct/OpenCat.h:71:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:5:
/Users/multimoto/Documents/Arduino/libraries/WriteInstinct/InstinctBittle.h:702:13: note: 'const char* progmemPointer [33]' previously defined here
const char* progmemPointer[] = {bdF, bk, bkL, bkR, crF, crL, crR, rnF, rnL, rnR, trF, trL, trR, vt, wkF, wkL, wkR, balance, buttUp, calib, dropped, lifted, rest, sit, str, zero, bf, ck, hi, pee, pu, rc, stp, };
^~~~~~~~~~~~~~
In file included from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:41:0:
/Users/multimoto/Documents/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h: In member function 'uint8_t MPU6050::dmpGetGravity(int16_t*, const uint8_t*)':
/Users/multimoto/Documents/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h:522:65: warning: integer overflow in expression [-Woverflow]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
~~^~~~~~~
/Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino: In function 'void loop()':
/Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:438:31: warning: 'bool IRrecv::decode(decode_results*)' is deprecated: Please use decode() without a parameter. [-Wdeprecated-declarations]
if (irrecv.decode(&results)) {
^
In file included from /Users/multimoto/Documents/Arduino/libraries/IRremote/src/IRremote.h:183:0,
from /Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:80:
/Users/multimoto/Documents/Arduino/libraries/IRremote/src/IRReceive.cpp.h:1354:6: note: declared here
bool IRrecv::decode(decode_results *aResults) {
^~~~~~
/Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:533:40: warning: invalid conversion from 'const char*' to 'char*' [-fpermissive]
char* list = inBuffer.c_str();
~~~~~~~~~~~~~~^~
/Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:596:49: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings]
motion.loadBySkillName("calib");
^
/Users/multimoto/Desktop/OpenCat-main/OpenCat/OpenCat.ino:728:47: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings]
skillByName("balance", 1, 2, false);
^
exit status 1
Błąd kompilacji dla płytki Arduino Uno.
Ten raport powinien zawierać więcej informacji jeśli w
File -> Preferencje zostanie włączona opcja "Pokaż
szczegółowe informacje podczas kompilacji"