The objective is to have the Robot SEARCH for a black line. When a black line is detected the robot will then FOLLOW the black line. If the line ends the robot will turn around and go back following the black line again. This will go on forever.

I have the code completed up to the point where I have no red errors

I NEAD YOU TO FIX THE COMPILING ERRORS POSTED IN THE IMAGE

The CODE IS IN C

I am USING THE chipKIT Pro MX4 : Embedded Systems Trainer Board. With The Microchip PIC32MX460F512L.

I am Programing in MPLAB X IDE V3.50

I am using 4 IR Proximity Sensors. When the Line is black, the reading is 0 and when it is white the sensor reads 1.

The motors are controlled using a PWM ISR operation and are controlled using the OC2 and OC3 registers.

Please comment all the code so I can follow along.

Please post the entire Code when finished.

Bellow is a picture of the course the robot will be running and the COMPILING ERROR

make -f nbproject/Makefile-default.mk SUBPROJECTS= .build-conf make[1]: Entering directory 'C:/Users/andri/MPLABXProjects/jazz.X' make -f nbproject/Makefile-default.mk dist/default/production/jazz.X.production.hex make[2]: Entering directory 'C:/Users/andri/MPLABXProjects/jazz.X' "C:\Program Files (x86)\Microchip\xc32\v1.42\bin\xc32-gcc.exe" -g -x c -c -mprocessor=32MX460F512L -MMD -MF build/default/production/jazz.o.d -o build/default/production/jazz.o jazz.c -DXPRJ_default=default -legacy-libc nbproject/Makefile-default.mk:111: recipe for target 'build/default/production/jazz.o' failed make[2]: Leaving directory 'C:/Users/andri/MPLABXProjects/jazz.X' nbproject/Makefile-default.mk:84: recipe for target '.build-conf' failed make[1]: Leaving directory 'C:/Users/andri/MPLABXProjects/jazz.X' nbproject/Makefile-impl.mk:39: recipe for target '.build-impl' failed jazz.c:54:6: error: 'TurnLeft' redeclared as different kind of symbol void TurnLeft(); ^ jazz.c:34:43: note: previous definition of 'TurnLeft' was here typedef enum{Forward, Backward, TurnRight,TurnLeft} Movement_Mode; ^ jazz.c:55:6: error: 'Stop' redeclared as different kind of symbol void Stop(); ^ jazz.c:32:39: note: previous definition of 'Stop' was here typedef enum{Line_Search, Line_Track, Stop} Operation_Mode; ^ jazz.c: In function 'T1Interrupt': jazz.c:293:18: warning: comparison between pointer and integer [enabled by default] if (mode == Stop) ^ jazz.c:390:34: error: incompatible types when assigning to type 'Operation_Mode' from type 'void (*)()' mode = Stop; ^ jazz.c:413:34: error: incompatible types when assigning to type 'Operation_Mode' from type 'void (*)()' mode = Stop; ^ jazz.c:437:34: error: incompatible types when assigning to type 'Operation_Mode' from type 'void (*)()' mode = Stop; ^ jazz.c:441:31: error: incompatible types when assigning to type 'Movement_Mode' from type 'void (*)()' mode2 = TurnLeft; ^ jazz.c:459:14: error: incompatible types when assigning to type 'Operation_Mode' from type 'void (*)()' mode = Stop; ^ make[2]: *** [build/default/production/jazz.o] Error 1 make[1]: *** [.build-conf] Error 2 make: *** [.build-impl] Error 2

BUILD FAILED (exit value 2, total time: 743ms)

****************************************************************

My Code:

***************************************

//main.c

#include /* contains Vector Name/Number Macros */ #include /* contains __ISR() Macros */ #include

/************************Oscillator Settings****************************/ #pragma config FNOSC = PRIPLL // Oscillator selection #pragma config POSCMOD = EC // Primary oscillator mode #pragma config FPLLIDIV = DIV_2 // PLL input divider #pragma config FPLLMUL = MUL_20 // PLL multiplier #pragma config FPLLODIV = DIV_1 // PLL output divider #pragma config FPBDIV = DIV_8 // Peripheral bus clock divider

#pragma config FSOSCEN = OFF // Secondary oscillator enable #pragma config IESO = OFF // Internal/external clock switchover #pragma config FCKSM = CSDCMD // Clock switching (CSx)/Clock monitor(CMx) #pragma config OSCIOFNC = OFF // Clock output on OSCO pin enable #pragma config UPLLEN = ON // USB PLL enable #pragma config UPLLIDIV = DIV_2 // USB PLL input divider

/******************Other Peripheral Device settings*********************/ #pragma config FWDTEN = OFF // Watchdog timer enable #pragma config WDTPS = PS1024 // Watchdog timer post-scaler

/*******************Code Protection settings******************************/ #pragma config CP = OFF // Code protection #pragma config BWP = OFF // Boot flash write protect #pragma config PWP = OFF // Program flash write protect

typedef enum{Line_Search, Line_Track, Stop} Operation_Mode; typedef enum{On, Off} Power_State_Mode; typedef enum{Forward, Backward, TurnRight,TurnLeft} Movement_Mode; Power_State_Mode Power = Off; // on or off state Operation_Mode mode = Stop; //operation state Movement_Mode mode2 = Backward; //movement state

/*********************LOCAL PROTOTYPES*******************************/ void InitializeSystem(); void Initialize_Timer1(); void Initialize_Timer2(); void Initialize_Timer3(); void Initialize_Timer4(); void Initialize_OC();// Initialize hardware and global variables void Initialize_IO(); void Initialize_IC(); void Interrupts_enable(); void Motor_Forward(); void Motor_Backward(); void centerRight(); void turnRight(); void centerLeft(); void TurnLeft(); void Stop(); void Power_On(); void Find_Line();

/** main() ********************************************************************/

unsigned int Timer3OV2 = 0; unsigned int Timer3OV3 = 0;

int main(void) { InitializeSystem(); Interrupts_enable(); while(1) { if (PORTAbits.RA6 == 1) { Power = On; } else if (PORTAbits.RA7 == 1) { Power = Off; } } }

void InitializeSystem() { Initialize_IO(); Initialize_OC(); Initialize_Timer1(); Initialize_Timer2(); Initialize_Timer3(); Initialize_Timer4(); Initialize_IC(); }

void Initialize_IC() { // Initialize IC2 TRISDbits.TRISD9 = 1; IC2CON= 0x0000; IC2CONbits.SIDL = 1; // halt in CPU Idle Mode IC2CONbits.C32 = 0; // 16bit timer; IC2CONbits.ICTMR = 0; // select Timer 3; IC2CONbits.ICI = 3; // interrupt every 4 events IC2CONbits.ICM = 5; // increment every 16 rising edge // Initialize IC3 TRISDbits.TRISD10 = 1; IC3CON= 0x0000; IC3CONbits.SIDL = 1; // halt in CPU Idle Mode IC3CONbits.C32 = 0; // 16bit timer; IC3CONbits.ICTMR = 0; // select Timer 3; IC3CONbits.ICI = 3; // interrupt every fourth event IC3CONbits.ICM = 5; // increment every 16 rising edge }

void Initialize_IO() { //buttons 1 & 2 = inputs TRISAbits.TRISA6 = 1; TRISAbits.TRISA7 = 1; //LEDs TRISBbits.TRISB10 = 0; TRISBbits.TRISB11 = 0; TRISBbits.TRISB12 = 0; TRISBbits.TRISB13 = 0; //LF Sensor ports TRISGbits.TRISG12 = 1; TRISGbits.TRISG13 = 1; TRISGbits.TRISG14 = 1; TRISGbits.TRISG15 = 1; //Motor Direction bits TRISDbits.TRISD6 =0; TRISDbits.TRISD7 =0; TRISDbits.TRISD1 =0; LATDbits.LATD1 = 0; TRISDbits.TRISD2 =0; LATDbits.LATD2 =0; }

void Initialize_OC() { // output compare OC2CONbits.OCM =6; OC2R = 0; OC2RS = 0; OC2CONbits.ON=1; OC3CONbits.OCM =6; OC3R = 0; OC3RS = 0; OC3CONbits.ON = 1; /* Set Interrupt Controller for multi-vector mode */ }

void Initialize_Timer1() { T1CONbits.TON = 0; T1CONbits.TCKPS = 3; PR1 = 250; TMR1 = 0; T1CONbits.ON =1; }

void Initialize_Timer2() { T2CONbits.TON = 0; T2CONbits.TCKPS = 7; PR2 = 2000; TMR2 = 0; T2CONbits.ON =1; }

void Initialize_Timer3() { T3CONbits.TON = 0; T3CONbits.TCKPS = 7; PR3 = 0xFFFF; TMR3 = 0; T3CONbits.ON =1; }

void Initialize_Timer4() { T4CON = 0x0; T4CONSET = 0x0070; PR4 = 0xFFFF; TMR4 = 0; T4CONSET = 0x8000; }

void Interrupts_enable() { // Timer one interrupt is enabled when it enters the Path search mode IPC1bits.T1IP = 7; IFS0bits.T1IF = 0; IEC0bits.T1IE = 0; // Interrupt for IC2 IFS0bits.IC2IF =0; IPC2bits.IC2IP = 7; IEC0bits.IC2IE = 1; //// Interrupt for IC3 IFS0bits.IC3IF =0; IPC3bits.IC3IP = 7; IEC0bits.IC3IE = 1; //turn ON IC2 & IC3 IC2CONbits.ON = 1; IC3CONbits.ON= 1; //Interrupt for Timer1 IFS0bits.T1IF =0; IPC1bits.T1IP = 7; IEC0bits.T1IE = 1; INTCONbits.MVEC = 1; __builtin_enable_interrupts(); }

void Motor_Forward() { LATDbits.LATD6 = 1; LATDbits.LATD7 = 0; OC2RS = 800; OC3RS = 800; }

void Stop() { OC2RS = 0; OC3RS = 0; }

void centerRight() { LATDbits.LATD6 = 1; LATDbits.LATD7 = 0; OC2RS = 700; //OC for right motor OC3RS = 400; //OC for left motor }

void turnRight() { LATDbits.LATD6 = 0; LATDbits.LATD7 = 0; OC2RS = 800; //Right motor speed OC3RS = 800; //Left motor speed }

void centerLeft() { LATDbits.LATD6 = 1; LATDbits.LATD7 = 0; OC2RS = 400; OC3RS = 700; }

void TurnLeft() { LATDbits.LATD6 = 1; LATDbits.LATD7 = 1; OC2RS = 800; OC3RS = 800; }

void Motor_Backward() { LATDbits.LATD6 = 0; LATDbits.LATD7 = 1; OC2RS = 800; OC3RS = 800; }

void __ISR (_TIMER_1_VECTOR, IPL7SOFT) T1Interrupt(void) { //Indexing Variable Declarations int index = 0; int rotate = 0; if (Power == On) { if (mode == Stop) { if (PORTGbits.RG15 == 0 || PORTGbits.RG14 == 0 || PORTGbits.RG13 == 0 || PORTGbits.RG12 == 0) // Picks up a line { mode = Line_Track; } else if(PORTGbits.RG15 == 1 && PORTGbits.RG14 == 1 && PORTGbits.RG13 == 1 && PORTGbits.RG12 == 1) // No line found { mode = Line_Search; } } else if (mode == Line_Track) //Found line { Motor_Forward(); //By default move forward if (PORTGbits.RG12 == 0 && PORTGbits.RG14 == 1 && PORTGbits.RG15 == 1) // { TurnLeft(); }

else if (PORTGbits.RG15 == 0 && PORTGbits.RG12 == 1 && PORTGbits.RG13 == 1) { turnRight(); } else if (PORTGbits.RG13 == 0 && PORTGbits.RG12 == 1 && PORTGbits.RG14 == 1 && PORTGbits.RG15 == 1) { centerLeft(); } else if (PORTGbits.RG14 == 0 && PORTGbits.RG12 == 1 && PORTGbits.RG13 == 1 && PORTGbits.RG15 == 1) { centerRight(); } else if (PORTGbits.RG15 == 0 && PORTGbits.RG14 == 0 && PORTGbits.RG13 == 0 && PORTGbits.RG12 == 1) { turnRight(); } else if (PORTGbits.RG12 == 0 && PORTGbits.RG13 == 0 && PORTGbits.RG14 == 0 && PORTGbits.RG15 == 1) { TurnLeft(); } else if (PORTGbits.RG12 == 0 && PORTGbits.RG13 == 0 && PORTGbits.RG14 == 0 && PORTGbits.RG15 == 0) { TMR4 = 0; index = 0; while (index

//Rotates 90 Degrees index = 0; while (index

if (rotate == 4) { Power = Off; }

end:; } } else if (Power == Off) { mode = Stop; Stop(); } IFS0bits.T1IF = 0; }