Conflict with WaveHC and Servo Libraries

[nordb732]

When I first added the WaveHC libraries I was getting this error:

"Arduino: 1.0.6 (Windows NT (unknown)), Board: "Arduino Uno"
In file included from C:\Program Files (x86)\Arduino\hardware\arduino\cores\arduino/Arduino.h:235,
from sketch_oct19a.ino:18:
C:\Program Files (x86)\Arduino\hardware\arduino\variants\standard/pins_arduino.h:40: error: expected unqualified-id before numeric constant
C:\Program Files (x86)\Arduino\hardware\arduino\variants\standard/pins_arduino.h:41: error: expected unqualified-id before numeric constant
C:\Program Files (x86)\Arduino\hardware\arduino\variants\standard/pins_arduino.h:42: error: expected unqualified-id before numeric constant
C:\Program Files (x86)\Arduino\hardware\arduino\variants\standard/pins_arduino.h:43: error: expected unqualified-id before numeric constant"

Then I went and comment out two of the WaveHC libraries and manage to clear this error but I want to make sure by not including these libraries it won't affect the sketch. These are the two libraries I've comment out:

#include <WavePinDefs.h>
#include <mcpDac.h>

After commenting those libraries out, I'm now getting this error message when I go to compile my sketch:

"WaveHC\WaveHC.cpp.o: In function `__vector_11':
C:\Users\Brandon\Documents\Arduino\libraries\WaveHC/WaveHC.cpp:41: multiple definition of `__vector_11'
Servo\Servo.cpp.o:C:\Program Files (x86)\Arduino\libraries\Servo/Servo.cpp:103: first defined here"

Is there a modified version of the WaveHC library that can work with the Servo Library? Or Can I combine the two libraries by putting Servo int WaveHC? Or something else that I can be step through to fix my issue?

I can be contacted by email at: [email protected]

[adafruit_support_bill]

WaveHC is not compatible with the Servo Lbrary. They both use the same timer, so there is a conflict over the timer interrupt vector.

There are software servo libraries out there that don't use the timer interrupts. Check over at the Arduino Playground. http://playground.arduino.cc/ComponentLib/Servo

[nordb732]

Thank you for the help.

[nordb732]

I'm still using a Uno R3 with a Wave shield, Parallax B.O.E. shield and a 1GB X Digital Media SD card. Libaries being used are the Servotimer2 and the WaveHC libraries. The issue is that I have all my servo being trigger while music is playing. What do I need to do to solve this issue? Would it make a difference if I use a Mega2560 instead of the Uno? Or is there a way to modify the libraries to use different timers? The code below is what I'm using for my project.

Code: Select all

#include <ServoTimer2.h>
#include <FatReader.h>
#include <SdReader.h>
#include <avr/pgmspace.h>
#include "WaveUtil.h"
#include "WaveHC.h"

ServoTimer2 HOIST;
ServoTimer2 CRANE;
ServoTimer2 LEFT;
ServoTimer2 RIGHT;

const int BB = 0;
const int PPB = 1;
const int FB = 11;

SdReader card;
FatVolume vol;
FatReader root;
uint8_t dirLevel;
dir_t dirBuf;
WaveHC wave;

void lsR(FatReader &d);
void play(FatReader &dir);

void setup()
{
  Serial.begin(9600);
  
  Serial.println (F("Hello World,"));
  //delay (500); 
  Serial.println (F("Welcome")); 
  delay (500);
  Serial.println (F("System is Booting Up!")); 
  delay (100);
 
  Serial.println (F("\nAttaching Servos NOW!"));
  delay (100);
  HOIST.attach (7);
  Serial.println (F("\tServo 1 Attached!"));
  delay (500);
  CRANE.attach (6);
  Serial.println (F("\tServo 2 Attached!"));
  delay (500);
  LEFT.attach (8);
  Serial.println (F("\tServo 3 Attached!"));
  delay (500);
  RIGHT.attach (9);
  Serial.println (F("\tServo 4 Attached!"));
  delay (500);

  Serial.println (F("Centering Servos NOW!"));
  delay (100);
  HOIST.write (1500);
  Serial.println (F("\tServo 1 Centered!"));
  delay (500);
  CRANE.write (1500);
  Serial.println (F("\tServo 2 Centered!"));
  delay (500);
  LEFT.write (1500);
  Serial.println (F("\tServo 3 Centered!"));
  delay (500);
  RIGHT.write (1500);
  Serial.println (F("\tServo 4 Centered!"));
  delay (500);
  
  Serial.println (F("Attaching Inputs NOW!"));
  delay (100);
  pinMode (A0, INPUT);
  Serial.println (F("\tInput 1 Attached!"));
  delay (500);
  pinMode (A1, INPUT);
  Serial.println (F("\tInput 2 Attached!"));
  delay (500);
  pinMode (A2, INPUT);
  Serial.println (F("\tInput 3 Attached!"));
  delay (500);
  pinMode (A3, INPUT);
  Serial.println (F("\tInput 4 Attached!"));
  delay (500);
  
  putstring_nl("\nWave test!"); 
  
  putstring ("Free RAM: "); 
  Serial.println (freeRam());  
 
  pinMode (BB, INPUT);
  pinMode (PPB, INPUT);
  pinMode (FB, INPUT);
 
  pinMode (2, OUTPUT);
  pinMode (3, OUTPUT);
  pinMode (4, OUTPUT);
  pinMode (5, OUTPUT);
 
  if (!card.init ()) 
  {           
    putstring_nl ("Card init. failed!");  
    sdErrorCheck ();
    return;
  }
  
  card.partialBlockRead(true);
  
  uint8_t part;
  for (part = 0; part < 5; part++) 
  {     
    if (vol.init (card, part) ) 
      break;                            
  }
  if (part == 5) 
  {                       
    putstring_nl ("No valid FAT partition!");
    sdErrorCheck ();      
    while (1);                    
  }
  
  putstring ("Using partition ");
  Serial.print (part, DEC);
  putstring (", type is FAT");
  Serial.println (vol.fatType(),DEC);
  
  if (!root.openRoot(vol)) 
  {
    putstring_nl ("Can't open root dir!"); 
    while (1);                            
  }
 
  putstring_nl ("Files found:");
  dirLevel = 0;
  lsR (root);

  skip:
  
  Serial.println (F("System is now Running!")); 
}

void loop()
{
  Serial.println (F("START OF LOOP\n"));
  
  int x = 1;

  int L_R_base = analogRead(A2);
  int U_D_base = analogRead(A3);
  int L_R_crane = analogRead(A0);
  int U_D_hoist = analogRead(A1);
    
  Serial.println (F("Starting Scan Joystick Values"));
  delay (1);
  Serial.print ("\n\tL_R_base: "); Serial.print (L_R_base);
  delay (1);
  Serial.print ("\n\tU_D_base: "); Serial.print (U_D_base); 
  delay (1);
  Serial.print ("\n\tL_R_crane: "); Serial.print (L_R_crane);
  delay (1);
  Serial.print ("\n\tU_D_hoist: "); Serial.print (U_D_hoist);
  delay (1);
  
//LOOP 1  
  while (L_R_base <= 255.0)
  {
    Serial.print (F("\n\nL_R_base:")); Serial.print (L_R_base);
    Serial.print (F("\nCrane is turning right NOW!\n"));
    LEFT.write (1600);
    delay (250);
    RIGHT.write (1600);
    delay (250);
    L_R_base = 511.0;
  }
  
//LOOP 2  
  while (L_R_base >= 767.0)
  {
    Serial.print (F("\n\nL_R_base:")); Serial.print (L_R_base);
    Serial.print (F("\nCrane is turning left NOW!\n"));
    LEFT.write (1400);
    delay (250);
    RIGHT.write (1400);
    delay (250);
    L_R_base = 511.0;
  }
  
//LOOP 3  
   while (U_D_base <= 5.0)
  {
    Serial.print (F("\n\nU_D_base:")); Serial.print (U_D_base);
    Serial.print (F("\nCrane is moving forwards NOW!\n"));
    LEFT.write (1600);
    delay (250);
    RIGHT.write (1400);
    delay (250);
    U_D_base = 15.0;
  }
  
//LOOP 4
  while (U_D_base >= 30.0)
  {
    Serial.print (F("\n\nU_D_base:")); Serial.print (U_D_base);
    Serial.print (F("\nCrane is moving backwards NOW!\n"));
    LEFT.write (1400);
    delay (250);
    RIGHT.write (1600);
    delay (250);
    U_D_base = 15.0;
  }
  
//LOOP 5  
  while (L_R_crane <= 255.0)
  {
    Serial.print (F("\n\nL_R_crane:")); Serial.print (L_R_crane); 
    Serial.print (F("\nCrane is rotating left NOW!\n"));
    CRANE.write (1520);
    delay (250);
    L_R_crane = 511.0;
  }
  
//LOOP 6  
  while (L_R_crane >= 767.0)
  {
    Serial.print (F("\n\nL_R_crane:")); Serial.print (L_R_crane); 
    Serial.print (F("\nCrane is rotating right NOW!\n"));
    CRANE.write (1480);
    delay (250);
    L_R_crane = 511.0;
  }
  
//LOOP 7
   while (U_D_hoist >= 767.0)
  {
    Serial.print (F("\n\nU_D_hoist:")); Serial.print (U_D_hoist);
    Serial.print (F("\nCrane is hoisting the hook NOW!\n"));
    HOIST.write (2000);
    delay (250);
    U_D_hoist = 511.0;
  }
  
//LOOP 8  
  while (U_D_hoist <= 255.0)
  {
    Serial.print (F("\n\nU_D_hoist:")); Serial.print (U_D_hoist);
    Serial.print (F("\nCrane is lowering the hook NOW!\n"));
    HOIST.write (1000);
    delay (250);
    U_D_hoist = 511.0;
  }
  
  if (PPB == HIGH)
  {
    root.rewind();
    play(root);
  }
  
  HOIST.write (1500);
  delay (1);
  CRANE.write (1500);
  delay (1);
  RIGHT.write (1500);
  delay (1);
  LEFT.write (1500);
  delay (1);
  
  Serial.println (F("\nEND OF LOOP\n"));
}

int freeRam(void)
{
  extern int  __bss_end; 
  extern int  *__brkval; 
  int free_memory; 
  if ((int)__brkval == 0) 
  {
    free_memory = ((int)&free_memory) - ((int)&__bss_end); 
  }
  else
  {
    free_memory = ((int)&free_memory) - ((int)__brkval); 
  }
  return free_memory; 
} 

void sdErrorCheck(void)
{
  if (!card.errorCode ()) return;
  putstring ("\n\rSD I/O error: ");
  Serial.print (card.errorCode (), HEX);
  putstring (", ");
  Serial.println (card.errorData (), HEX);
  return;
}
void printName (dir_t &dir)
{
  for (uint8_t i = 0; i < 11; i++)
  {    
    if (dir.name [i] == ' ')
        continue;       
    if (i == 8) 
        Serial.print ('.');         
    Serial.print (dir.name [i]);
  }
  if (DIR_IS_SUBDIR(dir)) 
    Serial.print ('/');       
}

void lsR (FatReader &d)
{
  int8_t r;                    
  
  while ((r = d.readDir (dirBuf)) > 0) 
  {    
    if (dirBuf.name [0] == '.') 
      continue;
    
    for (uint8_t i = 0; i < dirLevel; i++) 
      Serial.print (' ');
    printName (dirBuf);          
    Serial.println ();          
    
    if (DIR_IS_SUBDIR (dirBuf)) { 
      FatReader s;                 
      dirLevel += 2;              
      if (s.open (vol, dirBuf)) 
        lsR (s);                    
      dirLevel -=2;                
    }
  }
  sdErrorCheck ();                  
}

void play (FatReader &dir)
{
  FatReader file;
  while (dir.readDir (dirBuf) > 0) 
  {  
    if (dirBuf.name[0] == '.') 
      continue;
    
    Serial.println ();          
    
    for (uint8_t i = 0; i < dirLevel; i++) 
       Serial.print (' ');     

    if (!file.open (vol, dirBuf)) 
    {    
      Serial.println ("file.open failed");  
      while (1);                            
    }
    
    if (file.isDir ()) 
    {                    
      putstring ("Subdir: ");
      printName (dirBuf);
      dirLevel += 2;                      
      play (file);                         
      dirLevel -= 2;    
    }
    else 
    {
      putstring ("Playing "); printName (dirBuf);       
      if (!wave.create (file)) 
      {            
        putstring (" Not a valid WAV");     
      } 
      else 
      {
        Serial.println ();                  
        wave.play ();                      
       
        while (wave.isplaying) 
        {           
          putstring (".");
          delay (100);
        }
        sdErrorCheck ();                    
      }
    }
  }
}

[adafruit_support_bill]

The issue is that I have all my servo being trigger while music is playing.

WaveHC uses timer 1 on the UNO. I don't know why ServoTimer2 would be affected by Timer 1. There is also a Software Servo library out there. That uses no timers at all. http://playground.arduino.cc/ComponentLib/Servo

Would it make a difference if I use a Mega2560 instead of the Uno?

The Wave shield is not compatible with the Mega.