NQC Compiler Errors using Arrays

[sparramc]

Hi All,

I'm having issues with NQC Compiler Errors with Arrays. I've dusted of my old RCX's for a local LEGO Expo next month. I decided to build Mario Ferrari's 'Learning Brick Sorter' from the Mindstorms Masterpieces book.

I built the same robot 6-8 years ago and was able to compile the code and run the robot. This time around I can't get the following code to compile, and producing without errors the "Error: RCX does not support arrays", on Lines 25, 26, 27.

Code: Select all

 /*

Learning brick sorter
=====================

Author: Mario Ferrari
Date:   January 2003

*/

#define BINS 3
#define RANGES 3
#define SWITCH_TIME 20
#define LITE_THRSHLD 98
#define OP_DELAY 75
#define RANGE_WIDTH 2
#define KB_YES 1
#define KB_NO -1
#define KB_UNKNOWN 0

int range;            // index of the selected range (0 based)
int top_range;        // highest used range index
int bin;              // index of the selected bin (0 based)
int pos;              // current arm position: -1=pick up station, 0=bin0, 1=bin1...
int min[RANGES];      // lower limits of the ranges
int max[RANGES];      // upper limits of the ranges
int kb[RANGES*BINS];  // the knowledge base

task main()
{

  SystemSetup();

  while (true)
  {
    // wait for button pressed
    while (SENSOR_1 < LITE_THRSHLD && SENSOR_2 == 0);
    PlaySound(SOUND_CLICK);
    
    // analyze knowledge base (set the range & bin variable)
    Analyze();
    
    // take the brick
    LowerArm();
    Wait(OP_DELAY);
    CloseHand();
    Wait(OP_DELAY);
    LiftArm();
    
    // go to bin and drop it
    Move(bin);
    OpenHand();
    
    // wait for user input
    while (SENSOR_1 <LITE_THRSHLD && SENSOR_2 == 0);
    
    // update knowledge base
    if (SENSOR_2 == 1)  // wrong
    {
      PlaySound(SOUND_LOW_BEEP);
      Wait(OP_DELAY);
      UpdateKnowledgeBase(false);
    }
    else  // right
    {
      PlaySound(SOUND_DOUBLE_BEEP);
      Wait(OP_DELAY);
      UpdateKnowledgeBase(true);
    };
    // go back to pick up station
    Move(-1);
  }
}

void SystemSetup()
{
  int i;

  SetSensor(SENSOR_1, SENSOR_LIGHT);
  SetSensor(SENSOR_2, SENSOR_TOUCH);
  SetSensor(SENSOR_3, SENSOR_TOUCH);

  pos = -1;        // initial position is pick-up station
  top_range = -1;  // means no range is yet defined
  
  // clear the knowledge base
  for (i=0;i<BINS*RANGES;i++) kb[i]=KB_UNKNOWN;
  SetUserDisplay(range*100+bin,2);
}

void Analyze()
{
  int light_value;

  // wait for coupled touch sensor released
  while (SENSOR_1>LITE_THRSHLD);
  light_value = SENSOR_1;

  // search if the light value is contained in one of the already defined ranges
  for(range=0;range<=top_range;range++) {
    if (light_value>=min[range] && light_value<=max[range]) break;
  }
  
  // if not, define a new range
  if (range>top_range) {
    top_range++;
    // if all ranges have been used, beep for error and terminate program
    if (top_range>=RANGES) {
      PlaySound(SOUND_DOWN);
      StopAllTasks();
    }
    range=top_range;
    min[range]=light_value-RANGE_WIDTH;
    max[range]=light_value+RANGE_WIDTH;
  }

  // look for a positive value in the knowledge base array
  for (bin=0;bin<BINS;bin++)
    if (kb[range*BINS+bin]==KB_YES) return;

  // otherwise, look for an "unknown" value in the knowledge base array
  for (bin=0;bin<BINS;bin++)
    if (kb[range*BINS+bin]==KB_UNKNOWN) return;

  // this point shouldn't ever be reached, unless the user provided some
  // inconsistent replies. If this happens, the program makes a random choice.
  bin=Random(BINS-1);

}

void UpdateKnowledgeBase(int ok)
{
  int r;

  // the user said OK
  if (ok)
  {
    // this bin is the right one for the given range...
    kb[range*3+bin]=KB_YES;
    // ...and the wrong one for the other ranges
    for(r=0;r<RANGES;r++)
      if (r!=range)
        kb[r*BINS+bin]=KB_NO;
  }
  
  // the user said NO
  else
    // the bin is the wrong one
    kb[range*BINS+bin]=KB_NO;
}

void Move(int dest)
{
  int dir;
  
  // if arm is already at proper position, exit
  if (dest == pos) return;
  
  // set direction according to the difference between
  // the current position and the required destination
  if (dest > pos)
  {
    dir = 1;
    OnRev(OUT_A);
  }
  else
  {
    dir = -1;
    OnFwd(OUT_A);
  }
  
  // move until destination is reached
  while (dest != pos)
  {
    while (SENSOR_3 == 1);  // wait for sensor open
    while (SENSOR_3 == 0);  // wait for sensor closed again
    pos += dir;
  }
  Off(OUT_A);
}

void OpenHand()
{
  OnFwd(OUT_C);
  Wait(SWITCH_TIME);
  Off(OUT_C);
}

void CloseHand()
{
  OnRev(OUT_C);
  Wait(SWITCH_TIME);
  Off(OUT_C);
}

void LiftArm()
{
  OnFwd(OUT_B);
  Wait(SWITCH_TIME);
  Off(OUT_B);
}

void LowerArm()
{
  OnRev(OUT_B);
  Wait(SWITCH_TIME);
  Off(OUT_B);
}

Any help would be much appreciated.

[afanofosc]

I think this is the trouble:

http://news.lugnet.com/robotics/rcx/nqc/?n=1879&t=f&v=a

Make sure that you select RCX2 as the brick type.

John Hansen

[sparramc]

Thanx John for your wisdom.

"If All Else Fails: Read the # Manual!"

I can compile and download the code from the command line: nqc -Trcx2 -Susb -d brick_sorter.nqc. I did have to double the IR Towers Timeout Values to be able to download via USB.

For some reason I can't get the file to compile from within BricxCC. I set the NQC Compiler Switch "-TRCX2", but with no luck. I still get the Array Errors.

I trust someone has the fix for this issue?

[afanofosc]

So when you use BricxCC and you choose a brick type when you try to connect to the RCX do you pick "RCX" or do you pick "RCX2"? You should not have to manually set this switch at all. But it is not impossible that I might have broken something in BricxCC that is making it not pass the correct brick type on the NQC command line. If I recall correctly, launching BricxCC with /debug on the command line will cause it to pop up a message which shows the compiler command line any time you try to compile some code. I'd be curious to see what it is passing to NQC in your situation, assuming that you are picking RCX2 as your brick type.

John Hansen