Why doesn't the demokit program for the ADK compile in Arduino?

Question

I have a pretty good understanding of Arduino and Java, and I decided to take a stab at trying to control my Arduino ATMega with my Samsung Galaxy 10.1 tab. I have installed API 12 with SDK manager, the ADT plugin for Eclipse, and now I am following the instructions from Installing the Arduino software and necessary libraries (at Android Open Accessory Development Kit) to install the firmware for the ADK board. When I hit compile it gives me two errors:

demokit:146: error: 'acc' was not declared in this scope

demokit:249: error: 'touch_robot' was not declared in this scope

and says

'AndroidAccessory' does not name a type.

The code looks like this:

#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();
}

By the way, I even tried to copy the ADK_relsease_0512 folder in my arduino directory at that still didn't work. Thanks in advance!

Answer 1

Now I reached sucess with Arduino 1.0 , and I want to share the solution:

1. I used the CapSense04.zip library:
2. I changed the type from void to size_t in following files from arduino_bundle_ADK.zip:

AndroidAccessory.cpp line 280: size_t AndroidAccessory::write(uint8_t b)
AndroidAccessory.h line 71: size_t write(uint8_t b);

Max_LCD.cpp line 257: inline size_t Max_LCD::write(uint8_t value)
Max_LCD.h line 101: virtual size_t write(uint8_t);

I also changed send to write and receive to read, in the demokit.pde (you will find it in adk_release_0512.zip)

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

Answer 2

Perhaps try using an earlier version of Arduino (i.e. not arduino 1.0) - a recent update has changed some class names as far as I can see.

I was experiencing the errors detailed here and so this fixed it for me: http://www.jjoe64.com/2011/12/adk-arduino-wprogramh-not-found.html

Answer 3

There is no WProgram.h in Arduino 1.0 IDE. The include statement should be:

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

This will fix the header not found problem under Arduino 1.0.