为什么 ADK 的 demokit 程序无法在 Arduino 中编译？

Question

我对 Arduino 和 Java 有很好的了解，因此我决定尝试用我的 Samsung Galaxy 10.1 选项卡来控制我的 Arduino ATMega。我已经安装了带有 SDK 管理器的 API 12、Eclipse 的 ADT 插件，现在我正在按照 安装 Arduino 软件和必要的库（位于Android 开放配件开发套件）以安装 ADK 板的固件。当我点击编译时，它给了我两个错误：

demokit:146: 错误：“acc”未在此范围内声明

demokit:249: 错误：“touch_robot”未在此范围内声明

并表示

“AndroidAccessory”未命名类型。

代码如下所示：

#include <Wire.h>
#include <Servo.h>

#include <Max3421e.h>
#include <Usb.h>
#include <AndroidAccessory.h>

#include <CapSense.h>

#define  LED3_RED       2
#define  LED3_GREEN     4
#define  LED3_BLUE      3

#define  LED2_RED       5
#define  LED2_GREEN     7
#define  LED2_BLUE      6

#define  LED1_RED       8
#define  LED1_GREEN     10
#define  LED1_BLUE      9

#define  SERVO1         11
#define  SERVO2         12
#define  SERVO3         13

#define  TOUCH_RECV     14
#define  TOUCH_SEND     15

#define  RELAY1         A0
#define  RELAY2         A1

#define  LIGHT_SENSOR   A2
#define  TEMP_SENSOR    A3

#define  BUTTON1        A6
#define  BUTTON2        A7
#define  BUTTON3        A8

#define  JOY_SWITCH     A9      // pulls line down when pressed
#define  JOY_nINT       A10     // active low interrupt input
#define  JOY_nRESET     A11     // active low reset output

AndroidAccessory acc("Google, Inc.",
                     "DemoKit",
                     "DemoKit Arduino Board",
                     "1.0",
                     "http://www.android.com",
                     "0000000012345678");
Servo servos[3];

// 10 Mohm resistor on demo shield
CapSense   touch_robot = CapSense(TOUCH_SEND, TOUCH_RECV);

void setup();
void loop();

void init_buttons()
{
    pinMode(BUTTON1, INPUT);
    pinMode(BUTTON2, INPUT);
    pinMode(BUTTON3, INPUT);
    pinMode(JOY_SWITCH, INPUT);

    // enable the internal pullups
    digitalWrite(BUTTON1, HIGH);
    digitalWrite(BUTTON2, HIGH);
    digitalWrite(BUTTON3, HIGH);
    digitalWrite(JOY_SWITCH, HIGH);
}

void init_relays()
{
    pinMode(RELAY1, OUTPUT);
    pinMode(RELAY2, OUTPUT);
}

void init_LEDs()
{
    digitalWrite(LED1_RED, 1);
    digitalWrite(LED1_GREEN, 1);
    digitalWrite(LED1_BLUE, 1);

    pinMode(LED1_RED, OUTPUT);
    pinMode(LED1_GREEN, OUTPUT);
    pinMode(LED1_BLUE, OUTPUT);

    digitalWrite(LED2_RED, 1);
    digitalWrite(LED2_GREEN, 1);
    digitalWrite(LED2_BLUE, 1);

    pinMode(LED2_RED, OUTPUT);
    pinMode(LED2_GREEN, OUTPUT);
    pinMode(LED2_BLUE, OUTPUT);

    digitalWrite(LED3_RED, 1);
    digitalWrite(LED3_GREEN, 1);
    digitalWrite(LED3_BLUE, 1);

    pinMode(LED3_RED, OUTPUT);
    pinMode(LED3_GREEN, OUTPUT);
    pinMode(LED3_BLUE, OUTPUT);
}

void init_joystick(int threshold);

byte b1, b2, b3, b4, c;
void setup()
{
    Serial.begin(115200);
    Serial.print("\r\nStart");

    init_LEDs();
    init_relays();
    init_buttons();
    init_joystick( 5 );

    // autocalibrate OFF
    touch_robot.set_CS_AutocaL_Millis(0xFFFFFFFF);

    servos[0].attach(SERVO1);
    servos[0].write(90);
    servos[1].attach(SERVO2);
    servos[1].write(90);
    servos[2].attach(SERVO3);
    servos[2].write(90);

    b1 = digitalRead(BUTTON1);
    b2 = digitalRead(BUTTON2);
    b3 = digitalRead(BUTTON3);
    b4 = digitalRead(JOY_SWITCH);
    c = 0;

    acc.powerOn();
}

void loop()
{
    byte err;
    byte idle;
    static byte count = 0;
    byte msg[3];
    long touchcount;

    if (acc.isConnected()) {
        int len = acc.read(msg, sizeof(msg), 1);
        int i;
        byte b;
        uint16_t val;
        int x, y;
        char c0;

        if (len > 0) {
            // assumes only one command per packet
            if (msg[0] == 0x2) {
                if (msg[1] == 0x0)
                    analogWrite(LED1_RED, 255 - msg[2]);
                else if (msg[1] == 0x1)
                    analogWrite(LED1_GREEN, 255 - msg[2]);
                else if (msg[1] == 0x2)
                    analogWrite(LED1_BLUE, 255 - msg[2]);
                else if (msg[1] == 0x3)
                    analogWrite(LED2_RED, 255 - msg[2]);
                else if (msg[1] == 0x4)
                    analogWrite(LED2_GREEN, 255 - msg[2]);
                else if (msg[1] == 0x5)
                    analogWrite(LED2_BLUE, 255 - msg[2]);
                else if (msg[1] == 0x6)
                    analogWrite(LED3_RED, 255 - msg[2]);
                else if (msg[1] == 0x7)
                    analogWrite(LED3_GREEN, 255 - msg[2]);
                else if (msg[1] == 0x8)
                    analogWrite(LED3_BLUE, 255 - msg[2]);
                else if (msg[1] == 0x10)
                    servos[0].write(map(msg[2], 0, 255, 0, 180));
                else if (msg[1] == 0x11)
                    servos[1].write(map(msg[2], 0, 255, 0, 180));
                else if (msg[1] == 0x12)
                    servos[2].write(map(msg[2], 0, 255, 0, 180));
            } else if (msg[0] == 0x3) {
                if (msg[1] == 0x0)
                    digitalWrite(RELAY1, msg[2] ? HIGH : LOW);
                else if (msg[1] == 0x1)
                    digitalWrite(RELAY2, msg[2] ? HIGH : LOW);
            }
        }

        msg[0] = 0x1;

        b = digitalRead(BUTTON1);
        if (b != b1) {
            msg[1] = 0;
            msg[2] = b ? 0 : 1;
            acc.write(msg, 3);
            b1 = b;
        }

        b = digitalRead(BUTTON2);
        if (b != b2) {
            msg[1] = 1;
            msg[2] = b ? 0 : 1;
            acc.write(msg, 3);
            b2 = b;
        }

        b = digitalRead(BUTTON3);
        if (b != b3) {
            msg[1] = 2;
            msg[2] = b ? 0 : 1;
            acc.write(msg, 3);
            b3 = b;
        }

        b = digitalRead(JOY_SWITCH);
        if (b != b4) {
            msg[1] = 4;
            msg[2] = b ? 0 : 1;
            acc.write(msg, 3);
            b4 = b;
        }

        switch (count++ % 0x10) {
        case 0:
            val = analogRead(TEMP_SENSOR);
            msg[0] = 0x4;
            msg[1] = val >> 8;
            msg[2] = val & 0xff;
            acc.write(msg, 3);
            break;

        case 0x4:
            val = analogRead(LIGHT_SENSOR);
            msg[0] = 0x5;
            msg[1] = val >> 8;
            msg[2] = val & 0xff;
            acc.write(msg, 3);
            break;

        case 0x8:
            read_joystick(&x, &y);
            msg[0] = 0x6;
            msg[1] = constrain(x, -128, 127);
            msg[2] = constrain(y, -128, 127);
            acc.write(msg, 3);
            break;

        case 0xc:
            touchcount = touch_robot.capSense(5);

            c0 = touchcount > 750;

            if (c0 != c) {
                msg[0] = 0x1;
                msg[1] = 3;
                msg[2] = c0;
                acc.write(msg, 3);
                c = c0;
            }

            break;
        }
    }
    else {
        // reset outputs to default values on disconnect
        analogWrite(LED1_RED, 255);
        analogWrite(LED1_GREEN, 255);
        analogWrite(LED1_BLUE, 255);
        analogWrite(LED2_RED, 255);
        analogWrite(LED2_GREEN, 255);
        analogWrite(LED2_BLUE, 255);
        analogWrite(LED3_RED, 255);
        analogWrite(LED3_GREEN, 255);
        analogWrite(LED3_BLUE, 255);
        servos[0].write(90);
        servos[0].write(90);
        servos[0].write(90);
        digitalWrite(RELAY1, LOW);
        digitalWrite(RELAY2, LOW);
    }

    delay(10);
}

// ==============================================================================
// Austria Microsystems i2c Joystick
void init_joystick(int threshold)
{
    byte status = 0;

    pinMode(JOY_SWITCH, INPUT);
    digitalWrite(JOY_SWITCH, HIGH);

    pinMode(JOY_nINT, INPUT);
    digitalWrite(JOY_nINT, HIGH);

    pinMode(JOY_nRESET, OUTPUT);

    digitalWrite(JOY_nRESET, 1);
    delay(1);
    digitalWrite(JOY_nRESET, 0);
    delay(1);
    digitalWrite(JOY_nRESET, 1);

    Wire.begin();

    do {
        status = read_joy_reg(0x0f);
    } while ((status & 0xf0) != 0xf0);

    // invert magnet polarity setting, per datasheet
    write_joy_reg(0x2e, 0x86);

    calibrate_joystick(threshold);
}


int offset_X, offset_Y;

void calibrate_joystick(int dz)
{
    char iii;
    int x_cal = 0;
    int y_cal = 0;

    // Low Power Mode, 20ms auto wakeup
    // INTn output enabled
    // INTn active after each measurement
    // Normal (non-Reset) mode
    write_joy_reg(0x0f, 0x00);
    delay(1);

    // dummy read of Y_reg to reset interrupt
    read_joy_reg(0x11);

    for(iii = 0; iii != 16; iii++) {
        while(!joystick_interrupt()) {}

        x_cal += read_joy_reg(0x10);
        y_cal += read_joy_reg(0x11);
    }

    // Divide by 16 to get average
    offset_X = -(x_cal>>4);
    offset_Y = -(y_cal>>4);

    write_joy_reg(0x12, dz - offset_X);  // Xp, LEFT threshold for INTn
    write_joy_reg(0x13, -dz - offset_X);  // Xn, RIGHT threshold for INTn
    write_joy_reg(0x14, dz - offset_Y);  // Yp, UP threshold for INTn
    write_joy_reg(0x15, -dz - offset_Y);  // Yn, DOWN threshold for INTn

    // Dead zone threshold detect requested?
    if (dz)
        write_joy_reg(0x0f, 0x04);
}

void read_joystick(int *x, int *y)
{
    *x = read_joy_reg(0x10) + offset_X;
    *y = read_joy_reg(0x11) + offset_Y;  // reading Y clears the interrupt
}

char joystick_interrupt()
{
    return digitalRead(JOY_nINT) == 0;
}

#define  JOY_I2C_ADDR    0x40

char read_joy_reg(char reg_addr)
{
    char c;

    Wire.beginTransmission(JOY_I2C_ADDR);
    Wire.send(reg_addr);
    Wire.endTransmission();

    Wire.requestFrom(JOY_I2C_ADDR, 1);

    while(Wire.available())
        c = Wire.receive();

    return c;
}

void write_joy_reg(char reg_addr, char val)
{
    Wire.beginTransmission(JOY_I2C_ADDR);
    Wire.send(reg_addr);
    Wire.send(val);
    Wire.endTransmission();
}

顺便说一句，我什至尝试复制我的 arduino 目录中的 ADK_relsease_0512 文件夹，但仍然不起作用。提前致谢！

Answer 1

现在我在 Arduino 1.0 上取得了成功，我想分享解决方案：

1. 我使用了 CapSense04。 zip 库：
2. 我将以下文件中的类型从 void 更改为 size_t href="http://labs.arduino.cc/uploads/ADK/GettingStarted/arduino_bundle_ADK.zip" rel="noreferrer">arduino_bundle_ADK.zip：

AndroidAccessory.cpp 第 280 行：size_t AndroidAccessory::写（uint8_t b）
AndroidAccessory.h 第 71 行：size_t write(uint8_t b);

Max_LCD.cpp 第 257 行：内联 size_t Max_LCD::write(uint8_t value)
Max_LCD.h第101行：virtual size_t write(uint8_t);

我还将send更改为write，将receive更改为阅读，在 demokit.pde 中（您可以在 adk_release_0512.zip 中找到它）

Demokit.pde 第 377 行： Wire.write(reg_addr);
第 383 行：c = Wire.read();
第391行：Wire.write(reg_addr);
第 392 行：Wire.write(val);

Answer 2

也许尝试使用早期版本的 Arduino（即不是 arduino 1.0）——据我所知，最近的更新更改了一些类名称。

我遇到了此处详细说明的错误，因此这为我修复了它： http://www.jjoe64.com/2011/12/adk-arduino-wprogramh-not-found.html

Answer 3

Arduino 1.0 IDE 中没有 WProgram.h。 include 语句应该是：

#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

这将修复 Arduino 1.0 下找不到标头的问题。

Answer 4

更高版本的代码（arduino_bundle_ADK_02）不需要修补。

免责声明：除了 ADK 应用程序弹出之外，我仍然无法使这个动物园与 Nexus S 一起工作（初始连接后几秒钟后出现可怕的“设置数据包错误：D”），但我认为原因在其他地方。

Answer 5

我已将错误行“CapSense”更改为“CapacitiveSensor”
考虑到该类现在在 CapSense 库 v.04 中被命名为 (CapacitiveSensor)
该库现在也称为 CapacitiveSensor
然后按验证后，我必须将属性“touch_robot.capSense”更改为“touch_robot.capacitiveSensor”

Answer 6

只是为了分享信息，如果您使用 arduino uno (Mega328)，请查看此网站。 uno 的固件位于此处。注意它使用arduino IDE v0.22并且需要添加库。

快乐的微控制器编程...

最诚挚的问候，
朴

Answer 7

ADK 软件最近刚刚更新，与 Arduino 1.0 兼容。

检查developer.android.com 上的ADK 页面：
http://developer.android.com/guide/topics/usb/adk.html

新的下载链接是：
https://dl-ssl.google.com/android/adk/adk_release_20120606.zip