1.3.1 can not compile for Arduino Mega

[Stefan Shivarov]

Hello everybody!
First of all, thank you Juan, for your effort to create and maintain Linorobot opensource!

I downlowded the 1.3.1 tagged version. Compiling the 2WD base firmware as is (i.e. teensy 31) goes fine (on platformio Win10 computer). When i change the target in platformio.ini to:

[env:mega]
platform = atmelavr
framework = arduino
board = megaatmega2560
upload_port = COM8

I get the following errors:

Processing mega (platform: atmelavr; board: megaatmega2560; framework: arduino)
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
PLATFORM: Atmel AVR > Arduino Mega or Mega 2560 ATmega2560 (Mega 2560)
SYSTEM: ATMEGA2560 16MHz 8KB RAM (248KB Flash)
Converting firmware.ino
Library Dependency Finder -> http://bit.ly/configure-pio-ldf
LDF MODES: FINDER(chain) COMPATIBILITY(soft)
Collected 31 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <ros_lib>
|-- <config>
|-- <encoder>
|-- <imu>
| |-- <ros_lib>
| |-- <Wire> 1.0
|-- <Servo> 1.1.2
|-- <kinematics>
|-- <motor>
| |-- <Servo> 1.1.2
|-- <pid>
Compiling .pioenvs\mega\src\firmware.ino.cpp.o
Archiving .pioenvs\mega\libec9\libros_lib.a
Archiving .pioenvs\mega\libcf2\libencoder.a
Archiving .pioenvs\mega\lib982\libWire.a
In file included from D:/linorobot-1.3.1/firmware/src/firmware.ino:27:0:
Compiling .pioenvs\mega\lib2fd\imu\ITG3200.cpp.ol
ib\encoder/Encoder.h: In function 'void __vector_1()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:915:79: error: within this context
ISR(INT0_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(0)]); }
^
lib\encoder/Encoder.h: In function 'void __vector_2()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:918:79: error: within this context
ISR(INT1_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(1)]); }
^
lib\encoder/Encoder.h: In function 'void __vector_3()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:921:79: error: within this context
ISR(INT2_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(2)]); }
^
lib\encoder/Encoder.h: In function 'void __vector_4()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:924:79: error: within this context
ISR(INT3_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(3)]); }
^
lib\encoder/Encoder.h: In function 'void __vector_5()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:927:79: error: within this context
CIompiling .pioenvs\mega\lib2fd\imu\MPU6050.cpp.oSR(INT4_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(4)]); }

^
lib\encoder/Encoder.h: In function 'void __vector_6()':
lib\encoder/Encoder.h:185:14: error: 'static void Encoder::update(Encoder_internal_state_t*)' is private
static void update(Encoder_internal_state_t *arg) {
^
lib\encoder/Encoder.h:930:79: error: within this context
ISR(INT5_vect) { Encoder::update(Encoder::interruptArgs[SCRAMBLE_INT_ORDER(5)]); }
^
In file included from lib\ros_lib/ros.h:65:0,
from D:/linorobot-1.3.1/firmware/src/firmware.ino:9:
lib\ros_lib/ros/node_handle.h: In instantiation of 'int ros::NodeHandle_<Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE>::publish(int, const ros::Msg*) [with Hardware = ArduinoHardware; int MAX_SUBSCRIBERS = 5; int MAX_PUBLISHERS = 5; int INPUT_SIZE = 1024; int OUTPUT_SIZE = 1024]':
lib\ros_lib/ros/node_handle.h:297:39: required from 'void ros::NodeHandle_<Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE>::requestSyncTime() [with Hardware = ArduinoHardware; int MAX_SUBSCRIBERS = 5; int MAX_PUBLISHERS = 5; int INPUT_SIZE = 1024; int OUTPUT_SIZE = 1024]'
lib\ros_lib/ros/node_handle.h:227:35: required from 'int ros::NodeHandle_<Hardware, MAX_SUBSCRIBERS, MAX_PUBLISHERS, INPUT_SIZE, OUTPUT_SIZE>::spinOnce() [with Hardware = ArduinoHardware; int MAX_SUBSCRIBERS = 5; int MAX_PUBLISHERS = 5; int INPUT_SIZE = 1024; int OUTPUT_SIZE = 1024]'
D:/linorobot-1.3.1/firmware/src/firmware.ino:88:21: required from here
lib\ros_lib/ros/node_handle.h:441:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i =5; i<l+7; i++)
^
Compiling .pioenvs\mega\lib2fd\imu\MPU9150.cpp.o
Compiling .pioenvs\mega\libb18\Servo\avr\Servo.cpp.o
*** [.pioenvs\mega\src\firmware.ino.cpp.o] Error 1
====================================================================================================== [ERROR] Took 4.21 seconds ======================================================================================================
The terminal process terminated with exit code: 1

I've changed the pins numbers in lino_base_config.h to relevant ones for the 2WD part...
What I am missing?

[Juan Miguel Jimeno]

Hi Stefan,

Can you try commenting this line? https://github.com/linorobot/linorobot/blob/master/teensy/firmware/src/firmware.ino#L26

[Stefan Shivarov]

Thank's,

Sorry for wasting your time, I was assuming using teensy encoder optimisations is conditional, based on the board used, so I did not look at the code carefully...

It compiles now, 

got some warnings :

[soumitra dey]

Hii

Trying to use arduino mega, 2wd, Kinect now
Getting following compilation error,
Attaching the screenshot

[Juan Miguel Jimeno]

can you try:
platformio upgrade

and recompile

[soumitra dey]

Hiii
Thanks for your message.
Yes upgraded saying latest version 4.0.3
Also did pio upgrade...latest
Error still continues.

"Looking for Servo.h....as attached above.
Thanks
Regards

[Juan Miguel Jimeno]

I’m not sure why this is failing. Cant’t replicate the issue as I dont have access to my comp now.

Have you tried deleting your .pionenvs and recompiling again. Probably clashes with the prev env.

[arminf82]

Ooooh, I had the same problem but stupidly can´t exactly remember what the solution was.

The problem had nothing to do with the upload process itself. 

I think it was either 

1. something with the path to the Arduino library in the Arduino IDE: check the path in IDE.

or

2. with the servo library: maybe I had the servo library installed in the arduino/library directory.

sorry, I can´t remember exactly.

[arminf82]

Try this:

Put the servo library in the lib folder

linorobot/teensy/firmware/lib/PUTHERE

and change

firmware.ino
#include <Servo.h> --> #include "Servo.h"

[soumitra dey]

Thanks so much !!!!
Compiled now as you suggested ...success
Regards