PhantomX MKIII Arbotix-M Phoenix Code

[kartyboy94]

Hi Everyone.

I'm hoping someone may be able to help me...

Have just got a got a PhantomX MKIII, built it up with the stock firmware quite successfully, and it ran great!

I then started to try and put Phoenix code on it, but with no success...

To start:
-Ive tried a bunch of different versions old and new
-Ive tried afew different sources of Phoenix Code.

I think my problem is just mismatching of versions of phoenix with the Arduino and drivers, but I've got to the end of things to try. have spend a couple of days on it so far.

Heres where I'm at:

-Stock PhantomX MKIII Hardware
-Arduino 1.8.3 Installed
-hardware folders copied from the following link:
--hardware: https://github.com/Interbotix/arbotix/tree/arduino-1-6
-Phoenix Source Code from here: https://github.com/KurtE/Phantom_Phoenix


The Arduino IDE is detecting the board fine as far as i can tell, so the hardware configuration side of things appears to be okay. however the code will not compile, I keep getting the following errors:

--------------------------------------------------------------------------------------------
In file included from C:\Users\Luke\Documents\Arduino\libraries\Phoenix\ PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Comma nder_AX12_Stock.ino:41:0:


C:\Users\Luke\Documents\Arduino\libraries\Phoenix/Phoenix_Code.h:405:0: warning: "cTravelDeadZone" redefined


#define cTravelDeadZone 4 //The deadzone for the analog input from the remote


^


In file included from C:\Users\Luke\Documents\Arduino\libraries\Phoenix\ PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Comma nder_AX12_Stock.ino:39:0:


C:\Users\Luke\Documents\Arduino\libraries\Phoenix_ Input_Commander/Phoenix_Input_Commander.h:91:0: note: this is the location of the previous definition


#define cTravelDeadZone 6 //The deadzone for the analog input from the remote


^


In file included from C:\Users\Luke\Documents\Arduino\libraries\Phoenix\ PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Comma nder_AX12_Stock.ino:40:0:


C:\Users\Luke\Documents\Arduino\libraries\Phoenix_ Driver_AX12/Phoenix_Driver_AX12.h: In function 'void MakeSureServosAreOn()':


C:\Users\Luke\Documents\Arduino\libraries\Phoenix_ Driver_AX12/Phoenix_Driver_AX12.h:730:9: error: 'g_awGoalAXPos' was not declared in this scope


g_awGoalAXPos[i] = ax12GetRegister(pgm_read_byte(&cPinTable[i]),AX_PRESENT_POSITION_L,2);


^


exit status 1
Error compiling for board ArbotiX Std.
---------------------------------------------------------------------------------------------------------

At thisd point... I'm pretty stuck. I guess i might just have the wrong version of something, but there seems to be that many revisions out that I'm a little lost as to waht I need to make this thing work.

Any help would be greatly appreciated!

Thanks team!
Luke

[KurtEck]

You might try going with straight my stuff...

That is you used my Phantom_Phoenix project from github: https://github.com/KurtE/Phantom_Phoenix
You might use my version of the hardware/libraries: https://github.com/KurtE/arbotix/tree/arduino-1-6

Where you need to copy the hardware/libraries to the appropriate places
<Arduino sketch folder>/hardware
<Arduino Sketch folder>/libraries

Originally Kyle of Trossen copied my 1.6 branch, but then he went through and renamed a bunch of stuff like API names:
Things that had names like AX where renamed to something like DXL. He put out a beta, which was great, but I was waiting to see where it would end up, before I would update mystuff to match theirs. But then he left and no one has picked it up since.

[kartyboy94]

Thanks Kurt.

Have copied your hardware and libraries into the correct locations.

Where abouts is your .ino source file for the Phoenix code put together for the PhantomX in your arduino-1-6 project file?

Or do I need to use the libraries and hardware from that file, and try and upload the complete source file from the Phantom_Phoenix Project?

Still a little confused... Thank you for your help!

We are using the PhantomX for the prototype phase of developing a robot for doing confined space inspections, so just want the extra capability of the Phoenix Code for prototype and confirmation of concept, without having to spend hours coding. I figured it woudl just be a "upload and go" solution, but it seems there is a bit more work involved!

Look forward to your reply,
Cheers,
Luke

[TooBarFoo]

I had the "error 'g_awGoalAXPos' was not declared in this scope" when building the code set linked from phoenix howto page this evening. Could not see the issue so I just re-declared the array within the MakeSureServosAreOn funtion by adding a line
"word g_awGoalAXPos[NUMBEROFSERVOS];" within the function. Seems to have no negative effects I can see. Everything else was fine. I'm still using the 1.06 code base.

[SuperDave42]

I'm having the same problem, no idea what to do. I'm still learning Arduino

In file included from C:\Users\super\Documents\Arduino\Arduino_Phoenix_Parts-master\Arduino_Phoenix_Parts-master\Phoenix\PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Commander_AX12_Stock.ino:41:0:


C:\Users\super\Documents\Arduino\libraries\Phoenix/Phoenix_Code.h:405:0: warning: "cTravelDeadZone" redefined


 #define cTravelDeadZone         4    //The deadzone for the analog input from the remote


 ^


In file included from C:\Users\super\Documents\Arduino\Arduino_Phoenix_Parts-master\Arduino_Phoenix_Parts-master\Phoenix\PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Commander_AX12_Stock.ino:39:0:


C:\Users\super\Documents\Arduino\libraries\Phoenix_Input_Commander/Phoenix_Input_Commander.h:91:0: note: this is the location of the previous definition


 #define cTravelDeadZone 6      //The deadzone for the analog input from the remote


 ^


In file included from C:\Users\super\Documents\Arduino\Arduino_Phoenix_Parts-master\Arduino_Phoenix_Parts-master\Phoenix\PhantomX_V2_Commander_AX12_Stock\PhantomX_V2_Commander_AX12_Stock.ino:40:0:


C:\Users\super\Documents\Arduino\libraries\Phoenix_Driver_AX12/Phoenix_Driver_AX12.h: In function 'void MakeSureServosAreOn()':


C:\Users\super\Documents\Arduino\libraries\Phoenix_Driver_AX12/Phoenix_Driver_AX12.h:730:9: error: 'g_awGoalAXPos' was not declared in this scope


         g_awGoalAXPos[i] = ax12GetRegister(pgm_read_byte(&cPinTable[i]),AX_PRESENT_POSITION_L,2);


         ^


exit status 1
Error compiling for board ArbotiX Std.

[KurtEck]

Sorry, I don't monitor this forum like I used to...

Looks like a merge in issue. I put in a quick fix for this up in the github project: https://github.com/KurtE/Arduino_Phoenix_Parts

Which if you grab the updated file(Phoenix_Driver_AX12.h) and copy it into the appropriate Arduino library folder....

But again if you are working with Phantom Phoenix... I would suggest using the easier to use version of all of this code,

which is in the github project: https://github.com/KurtE/Phantom_Phoenix

Also from your posting, I could not tell what version of Arduino you are using. If you are still using the really old instructions from Trossen to use the Arduino 1.0.6 or the like, I personally don't support (install) anything less than Arduino 1.8.x (i.e. the current release), I also do very little these days with AVR 8 bit boards....

[SuperDave42]

I got it all working, Then I decided to change the leg geometry and print new parts, now I need to adjust the code a little lol. fun stuff. also just got an Edison from ebay with the Arduino breakout. considering swapping out the A-M now lol