User manual

RP6 ROBOT SYSTEM - APPENDIX
12. The robot fails to exactly turn a specific angle.
● This is normal behaviour and the manual already explained the reasons for
these deviations! Caterpillar drive units will always cause deviations by slip-
ping and sliding. Also the Encoders have to be calibrated in order to work as
intended. See appendix B for more details.
13. Why does even an extremely short program occupy 7 KB of memory?
● Each program always includes the RP6Library, which will occupy over 6.5KB
of program memory, so 7 KB must be considered as a standard program's
size. You will soon notice the program's size will not increase that much with
your source-code's length. Don't worry for your memory's size. The memory
provides you with ample room for your programs. And if your program's size
ever exceeds the memory's limits, you may consider the use of an expan-
sion-module with an additional Microcontroller.
14. My programs cannot be compiled – the compiler ends up with some
error-message!
● Check the error-message and try to understand what causes this. If you
have to contact the support, first copy the complete compiler report to a
text file. Then send the compiler messages and your source file to the sup-
port! The following overview lists common programming errors:
■ You forgot to include the RP6Library, or the pathnames in the Makefile
are incorrect. If you start a new project do not forget to alter the
pathnames in the Makefile! Otherwise the compiler will fail to find
these files!
■ Did you forget a semicolon anywhere in the program?
■ Is an accolade missing or superfluous in the program?
■ Did you respect the correct C syntax? Apart from comments and usual
formatting rules for spaces and tabulators any writing variant of the
symbols is relevant for the C compiler. If tHis manuAl contais erorS,,
the text's contnt may sill b cleary uderstoooD bi tha readr.! Compilers
do not allow any mistakes and may generate a hughe number of er-
rors for the smallest mistakes. Unfortunately the compiler does not
have an automatic error correction comparable to that of us
humans...
15. My programs are still not working and the robot does not obey to my
commands – what is going wrong?
● No idea! ;-) You will have to be more specific in describing your problems to
the support. We often receive questions like “Why is this program malfunc-
tioning?”. Dot. Of course, we need a bit more detailled description of what
the program is supposed to do at all and what is not working! Otherwise this
quickly turns out to be a quiz game...
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