I'm trying to port some Arduino code that I'm been using to run a turret made from 2 x AX12As from a Arbotix board to an OpenCM 9.04. I'm using a Adruino 1.6.13 sketch with an include for the BioloidController.h. I'm using the bioloid command for the interpolation and readPose. It works fine with the Arbotix but fails to compile when I select the OpenCm9.04 Board. I've pasted the errors below.
Is there a special Bioloid library for the OpenCM9.04? I can't see any on the Robotis web site.

Also I'm also wanting to use I2C on the OpenCM 9.04 and see that there is a I2Cdev library for hardware support. Do I just include Wire.h and I2Cdev.h in the sketch and then use the usual Wire commands?




Arduino: 1.6.13 (Windows 10), Board: "OpenCM9.04 Board, OpenCM Bootloader"


C:\Program Files (x86)\Arduino\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\john\AppData\Local\Arduino15\packages -hardware E:\Documents\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\john\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries E:\Documents\Arduino\libraries -fqbn=OpenCM904:OpenCM904:OpenCM904:upload_method=U ploadMethod -ide-version=10613 -build-path D:\Arduino-Output -warnings=none -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencm_gcc.path=C:\Users\john\ AppData\Local\Arduino15\packages\OpenCM904\tools\o pencm_gcc\5.4.0-2016q2 -prefs=runtime.tools.opencm_tools.path=C:\Users\joh n\AppData\Local\Arduino15\packages\OpenCM904\tools \opencm_tools\0.0.2 -verbose E:\Documents\Arduino\ArbotiX Sketches\TurretScan_with_Lidar\TurretScan_Lidar_IM U_01\TurretScan_Lidar_IMU_01.ino
C:\Program Files (x86)\Arduino\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\Arduino\hardware -hardware C:\Users\john\AppData\Local\Arduino15\packages -hardware E:\Documents\Arduino\hardware -tools C:\Program Files (x86)\Arduino\tools-builder -tools C:\Program Files (x86)\Arduino\hardware\tools\avr -tools C:\Users\john\AppData\Local\Arduino15\packages -built-in-libraries C:\Program Files (x86)\Arduino\libraries -libraries E:\Documents\Arduino\libraries -fqbn=OpenCM904:OpenCM904:OpenCM904:upload_method=U ploadMethod -ide-version=10613 -build-path D:\Arduino-Output -warnings=none -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.opencm_gcc.path=C:\Users\john\ AppData\Local\Arduino15\packages\OpenCM904\tools\o pencm_gcc\5.4.0-2016q2 -prefs=runtime.tools.opencm_tools.path=C:\Users\joh n\AppData\Local\Arduino15\packages\OpenCM904\tools \opencm_tools\0.0.2 -verbose E:\Documents\Arduino\ArbotiX Sketches\TurretScan_with_Lidar\TurretScan_Lidar_IM U_01\TurretScan_Lidar_IMU_01.ino
Using board 'OpenCM904' from platform in folder: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2
Using core 'arduino' from platform in folder: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2
Build options changed, rebuilding all
Detecting libraries used...
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\BioloidCon troller.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\ax12.c pp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\I2Cdev\I2Cdev. cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Wire\SlowSoftI2CMa ster.cpp" -o "nul"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Wire\Wire.cpp" -o "nul"
Generating function prototypes...
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -Wall -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -w -x c++ -E -CC -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "D:\Arduino-Output\preproc\ctags_target_for_gcc_minus_e.cpp"
"C:\Program Files (x86)\Arduino\tools-builder\ctags\5.8-arduino10/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "D:\Arduino-Output\preproc\ctags_target_for_gcc_minus_e.cpp"
Compiling sketch...
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp" -o "D:\Arduino-Output\sketch\TurretScan_Lidar_IMU_01.ino.cpp.o"
Compiling libraries...
Compiling library "Bioloid"
"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\BioloidCon troller.cpp" -o "D:\Arduino-Output\libraries\Bioloid\BioloidController.cpp.o"
In file included from C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/Arduino.h:32:0,


from E:\Documents\Arduino\libraries\Bioloid\ax12.h:20,


from E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.h:29,


from E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:20:


E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp: In member function 'void BioloidController:laySeq(const transition_t*)':


C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:31:61: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]


#define pgm_read_word(addr) (*(const unsigned short *)(addr))


^


C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:36:34: note: in expansion of macro 'pgm_read_word'


#define pgm_read_word_near(addr) pgm_read_word(addr)


^


E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:233:46: note: in expansion of macro 'pgm_read_word_near'


loadPose((const unsigned int *)(uint16_t)pgm_read_word_near(&sequence->pose));


^


E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp: In member function 'void BioloidController:lay()':


C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:31:61: warning: cast to pointer from integer of different size [-Wint-to-pointer-cast]


#define pgm_read_word(addr) (*(const unsigned short *)(addr))


^


C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\cores\arduino/avr/pgmspace.h:36:34: note: in expansion of macro 'pgm_read_word'


#define pgm_read_word_near(addr) pgm_read_word(addr)


^


E:\Documents\Arduino\libraries\Bioloid\BioloidCont roller.cpp:247:44: note: in expansion of macro 'pgm_read_word_near'


loadPose((const unsigned int *)pgm_read_word_near(&sequence->pose));


^


"C:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\tools\opencm_gcc\5.4.0-2016q2/bin/arm-none-eabi-g++" -c -g -O2 -std=gnu++11 -Wno-write-strings -MMD -ffunction-sections -fdata-sections -fno-rtti -fno-exceptions -DARM_MATH_CM3 -DUSE_HAL_DRIVER -DBOARD_OpenCM904 -mcpu=cortex-m3 -DF_CPU=72000000L -DARDUINO=10613 -DARDUINO_OpenCM904 -DARDUINO_ARCH_OPENCM904 -mthumb -DSTM32F103xB -D__OPENCM904__ "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/bsp/opencm/include" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/driver" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/hw/usb_cdc" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/lib/STM32F1xx_HAL_Driver/Inc/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4/" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\cores\arduino" "-IC:\Users\john\AppData\Local\Arduino15\packages\Op enCM904\hardware\OpenCM904\1.4.2\variants\OpenCM90 4" "-IE:\Documents\Arduino\libraries\Bioloid" "-IE:\Documents\Arduino\libraries\I2Cdev" "-IE:\Documents\Arduino\libraries\Wire" "E:\Documents\Arduino\libraries\Bioloid\ax12.c pp" -o "D:\Arduino-Output\libraries\Bioloid\ax12.cpp.o"
E:\Documents\Arduino\libraries\Bioloid\ax12.cpp: In function 'void setTXall()':


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:11 0:9: error: 'UCSR1B' was not declared in this scope


UCSR1B = /*(1 << UDRIE1) |*/ (1 << TXEN1);


^


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:11 0:44: error: 'TXEN1' was not declared in this scope


UCSR1B = /*(1 << UDRIE1) |*/ (1 << TXEN1);


^


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp: In function 'void setRX(int)':


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:9: error: 'UCSR1B' was not declared in this scope


UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


^


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:25: error: 'RXCIE1' was not declared in this scope


UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


^


E:\Documents\Arduino\libraries\Bioloid\ax12.cpp:15 2:41: error: 'RXEN1' was not declared in this scope


UCSR1B = ((1 << RXCIE1) | (1 << RXEN1));


^


Multiple libraries were found for "I2Cdev.h"
Used: E:\Documents\Arduino\libraries\I2Cdev
Not used: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\libraries\I2Cdev
Multiple libraries were found for "Wire.h"
Used: E:\Documents\Arduino\libraries\Wire
Not used: E:\Documents\Arduino\libraries\Wire_old
Not used: C:\Users\john\AppData\Local\Arduino15\packages\Ope nCM904\hardware\OpenCM904\1.4.2\libraries\Wire
Using library Bioloid in folder: E:\Documents\Arduino\libraries\Bioloid (legacy)
Using library I2Cdev in folder: E:\Documents\Arduino\libraries\I2Cdev (legacy)
Using library Wire in folder: E:\Documents\Arduino\libraries\Wire (legacy)
exit status 1
Error compiling for board OpenCM9.04 Board.