Trying to learn the basics of MRL

Hi again I have not been able to get anything to work in mrl so i went back to the basics 

on youtube i tried to follow the tutoral of greg perry tutoral #1 (overview) dated may,17, 2011 in it he is showing you how to make the audio say hello world using just the clock, log and speech you would think that would be easy right? whell when i try it  it will not allow me to do any thing but show the clock no speach it says annotation not available (what is that ) is this this the same program he he is using  it is just three steps why cant i get it to work when i start the clock it works but thats all no speach and i follow his steps one at a time.

P,S. how can i solve all of the worlds problems when i cant even make a clock speak  :-)

HELP!

 

Alessandruino's picture

Hi :) well 2011 is a bit

Hi :)

well 2011 is a bit outdated :) imagine that even a 6 months old version of mrl could be noworky ! :)

In that tutorial he was using the gui to connect sevices...well that way to use mrl is very weak cause not every service has a gui !

Best way is to learn using the POWERFULL python :) so to use the services using a small amount of code !

Set a goal and we are going to help you to reach it using a python script !

Alessandro

oldfarmhand's picture

basics

Hi  and thank you

all i want to do right now is to just make the clock speak the time every 60 seconds 
 I have an inmoov right hand and arm assembly with the arduino mega 2560 processor the break out boards from the inmoov website and all of the servos,  i have tried to make work but cant so for right now I just want the clock to tell me the time via MRL
thanks for the help
I've enjoyed your videos 
Alessandruino's picture

Well to make mrl speak every

Well to make mrl speak every 60 seconds is good to learn, but it's very different from moving the hand... 

i would start trying to move a servo using myrobotlab :) this will be very usefull for your future use of myrobotlab.. :)

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

https://www.youtube.com/watch?v=AJasOtkCbro

Enjoy!

Alessandro

 

oldfarmhand's picture

basic

again thank you for your help

I watched the video and i still dont understand where he got all the script from.when he starts the video there is a bunch of writing on the screen where did it come from? on windows when i open mrl i dont have a comand prompt  i only have a shortcut that opens mrl no comand prompt. do you have to write all of the script? 

 

 

oldfarmhand's picture

basic

Is there any where else that i can go to find out how to start in mrl i meen very very very basic tutoral on how to start and use it i know it is easy to use for someone that understands how to write script.  I can print and build the inmoov robot but i cant figure out how to make it work i know it should be simple but its not

im  kind a like the caveman that could build a car but dint know how to make the wheel

thanks again

Alessandruino's picture

Eheh... You missed the

Eheh... You missed the installation of services part..

Here is the very start :

http://myrobotlab.org/content/how-start-new-mrl

Once you have all the services installed (highlighted in green instead of grey) the command line tab will appear at the start

Alessandruino's picture

The think you see on the

The think you see on the screen is not a script but it's just the output of mrl...

Don t worry about that... But follow step by step what Kevin does

oldfarmhand's picture

removal of myrobotlab

Hi 

can someone tell me how to remove myrobotlab off of my pc

thanks for the help

GroG's picture

Very easy - go to the

Very easy - go to the directory its installed in .. and delete it :)

oldfarmhand's picture

still cant get arduino to work

can some one please help me to get my arduino to work with mrl  i have watched videos tried to follow step by step still cant get it to work all i ask is someone to tell me step by step what to do  like step one plug in board step 2 .... im just asking for a little bit of time for some help i have watched all of the videos but cant get it to work just tell me the steps on how to make ONE FINGER TO MOVE ON THE INMOOVE ROBOT when i follow one tutoral its not the same as another  just a little bit of time

PLEASE SOMEONE

GroG's picture

Don't worry oldfarmhand  ...

Don't worry oldfarmhand  ...  it just takes a little time & patience. 

Driving MRL is a little like flying .. and with flying the hardest part is the take-off.

So let's start with a flight pre-check.  I am assuming you are on Windows - correct me if I'm wrong.  

I can start you from the very beginning, but I don't know how far you got.

Did it start for you ?

This is a link to the "latest" -  http://mrl-bucket-01.s3.amazonaws.com/dist/myrobotlab.jar

Download it into a directory you can find later e.g. something like c:\myrobotlab

All of this assumes, you know how to download files, make directories, and do basic navigation with a computer.  If you don't know how to do some of these things, we can go over it ... but I don't want to waste your time if you already know how.

I'm working on the assumption that you got mrl (myrobotlab) started - and it looked something like this :

If you did not make it that far, DON'T PANIC .. we'll get you there... I just am trying to find the best place to start.   We are all blind to what you are doing, we can not see, and using a computer is primarily a visual experience .. so I have to get the information of how far you got without actually seeing what is going on.

Because its a visual experience its helpful if I can see or control your computer - if you are ok with this possibility there is an application called Chrome Remote Desktop.  If you install it I and share your screen I can "show" you what to do.

https://chrome.google.com/webstore/detail/chrome-remote-desktop/gbchcmhmhahfdphkhkmpfmihenigjmpp?hl=en

Either way, we'll figure it out.

Best Regards,

GroG

oldfarmhand's picture

basic

Hi Grog

yes i have mrl and it looks like the pic. Geil said to load version 1.0.117 which i did. ln system folder i clicked download all an then restart two items did not install ( plantoid and webgui )  i started my arduino mega 2560

it looks like this

oldfarmhand's picture

basic part 2

when i pasted it to my arduino it looked like this

void setup() {
  // put your setup code here, to run once:
 
}
 
void loop() {
  // put your main code here, to run repeatedly:
 
}/**
*
* @author GroG (at) myrobotlab.org
*
* This file is part of MyRobotLab.
*
* Enjoy !
*
* MRLComm.ino
* -----------------
* Purpose: support servos, sensors, analog & digital polling
* oscope, motors, range sensors, pingdar & steppers.
*
* Requirements: MyRobotLab running on a computer & a serial connection
*
*/
 
#include <Servo.h>
#define MRLCOMM_VERSION       21
 
// serial protocol functions
#define MAGIC_NUMBER            170 // 10101010
 
// ----- MRLCOMM FUNCTION GENERATED INTERFACE BEGIN -----------
///// INO GENERATED DEFINITION BEGIN //////
// {publishMRLCommError Integer}
#define PUBLISH_MRLCOMM_ERROR   1
 
... more stuff here ....
 
 
and i clicked upload and the i get 
copy of error message 
redefintion of void setup
oldfarmhand's picture

basic 3

I also have problems with mrl in that when i try to repete steps mrl will freeze up an i have to reboot my pc Im using version 1.8.0 _ 60 b27 

this is the full error message i get

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"
 
sketch_aug26a.ino: In function 'void setup()':
sketch_aug26a:425: error: redefinition of 'void setup()'
sketch_aug26a:1: error: 'void setup()' previously defined here
sketch_aug26a.ino: In function 'void loop()':
sketch_aug26a:617: error: redefinition of 'void loop()'
sketch_aug26a:6: error: 'void loop()' previously defined here
redefinition of 'void setup()'
 
  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.

 

 
oldfarmhand's picture

BASIC 4 WHEW!

Alessandro asked me to watch this video which i did

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

https://www.youtube.com/watch?v=AJasOtkCbro

and when he typed in the script in python i could not tell what he was typing can you tell me what to type there.

I know yall are busy and this is free help you are giving me, and i want to thank all of yall for what what you do without you inmoov would only still be a dream. I can only guess how many people it has inspired

( can you tell im from the south of usa ?) i like to think of it as redneck language :-)

oldfarmhand's picture

basic 4a.

Hi Grog

you wrote 

Because its a visual experience its helpful if I can see or control your computer - if you are ok with this possibility there is an application called Chrome Remote Desktop.  If you install it I and share your screen I can "show" you what to do.

https://chrome.google.com/webstore/detail/chrome-remote-desktop/gbchcmhmhahfdphkhkmpfmihenigjmpp?hl=en

Either way, we'll figure it out.

how do you do that?

GroG's picture

1. You install Chrome browser

1. You install Chrome browser if you don't already have it.

2. You install the application I sent a link to

3. We decide on what a good activity would be - e.g. move a servo with a slider

4. We coordinate on the time - you start the Remote Desktop Application and send me the IP address in email I remotely take control of your computer and you watch as we complete the task.

Alessandruino's picture

Clean the arduino sketch page

Clean the arduino sketch page before to paste the "mrl comm arduino file"

GroG's picture

Ok this one is easy  :) You

Ok this one is easy  :)

You added MRL to the bottom when you pasted.   DOH !!!

What you want to do is replace all the contents.

MRLComm.ino has its own setup & loop - but you can see at the top this part which should have been removed befor you pasted MRLComm.ino in

void setup() {
  // put your setup code here, to run once:
}
void loop() {
  // put your main code here, to run repeatedly:
}
 
Make sense?
oldfarmhand's picture

basics part 5

It does 

i took out the the top part and got this

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"
 
Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.
 
Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.
 
avrdude: ser_open(): can't set com-state for "\\.\COM4"
 
avrdude: ser_drain(): read error: The handle is invalid.
 
Problem uploading to board.  See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.
 
  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.
 I verified that i had com4 for my mega and i do now thats as far as i have gotten
oldfarmhand's picture

basic 5A

just to make sure this is what i put in my arduino

 

/**
*
* @author GroG (at) myrobotlab.org
*
* This file is part of MyRobotLab.
*
* Enjoy !
*
* MRLComm.ino
* -----------------
* Purpose: support servos, sensors, analog & digital polling
* oscope, motors, range sensors, pingdar & steppers.
*
* Requirements: MyRobotLab running on a computer & a serial connection
*
*/
 
#include <Servo.h>
#define MRLCOMM_VERSION 21
 
// serial protocol functions
#define MAGIC_NUMBER   170 // 10101010
 
// ----- MRLCOMM FUNCTION GENERATED INTERFACE BEGIN -----------
///// INO GENERATED DEFINITION BEGIN //////
// {publishMRLCommError Integer}
#define PUBLISH_MRLCOMM_ERROR 1
 
// {getVersion}
#define GET_VERSION 2
 
// {publishVersion Integer}
#define PUBLISH_VERSION 3
 
// {analogReadPollingStart Integer}
#define ANALOG_READ_POLLING_START 4
 
// {analogReadPollingStop Integer}
#define ANALOG_READ_POLLING_STOP 5
 
// {analogWrite Integer Integer}
#define ANALOG_WRITE 6
 
// {digitalReadPollingStart Integer}
#define DIGITAL_READ_POLLING_START 7
 
// {digitalReadPollingStop Integer}
#define DIGITAL_READ_POLLING_STOP 8
 
// {digitalWrite Integer Integer}
#define DIGITAL_WRITE 9
 
// {motorAttach String String Integer Integer Integer}
#define MOTOR_ATTACH 10
 
// {motorDetach String}
#define MOTOR_DETACH 11
 
// {motorMove String}
#define MOTOR_MOVE 12
 
// {motorMoveTo String double}
#define MOTOR_MOVE_TO 13
 
// {pinMode Integer Integer}
#define PIN_MODE 14
 
// {publishCustomMsg Integer}
#define PUBLISH_CUSTOM_MSG 15
 
// {publishLoadTimingEvent Long}
#define PUBLISH_LOAD_TIMING_EVENT 16
 
// {publishPin Pin}
#define PUBLISH_PIN 17
 
// {publishPulse Integer}
#define PUBLISH_PULSE 18
 
// {publishServoEvent Integer}
#define PUBLISH_SERVO_EVENT 19
 
// {publishSesorData SensorData}
#define PUBLISH_SESOR_DATA 20
 
// {publishStepperEvent StepperData}
#define PUBLISH_STEPPER_EVENT 21
 
// {publishTrigger Pin}
#define PUBLISH_TRIGGER 22
 
// {pulseIn int int int String}
#define PULSE_IN 23
 
// {sensorAttach UltrasonicSensor}
#define SENSOR_ATTACH 24
 
// {sensorPollingStart String int}
#define SENSOR_POLLING_START 25
 
// {sensorPollingStop String}
#define SENSOR_POLLING_STOP 26
 
// {servoAttach Servo Integer}
#define SERVO_ATTACH 27
 
// {servoDetach String}
#define SERVO_DETACH 28
 
// {servoSweepStart String int int int}
#define SERVO_SWEEP_START 29
 
// {servoSweepStop String}
#define SERVO_SWEEP_STOP 30
 
// {servoWrite String Integer}
#define SERVO_WRITE 31
 
// {servoWriteMicroseconds String Integer}
#define SERVO_WRITE_MICROSECONDS 32
 
// {setDebounce int}
#define SET_DEBOUNCE 33
 
// {setDigitalTriggerOnly Boolean}
#define SET_DIGITAL_TRIGGER_ONLY 34
 
// {setLoadTimingEnabled boolean}
#define SET_LOAD_TIMING_ENABLED 35
 
// {setPWMFrequency Integer Integer}
#define SET_PWMFREQUENCY 36
 
// {setSampleRate int}
#define SET_SAMPLE_RATE 37
 
// {setSerialRate int}
#define SET_SERIAL_RATE 38
 
// {setServoEventsEnabled String boolean}
#define SET_SERVO_EVENTS_ENABLED 39
 
// {setServoSpeed String Float}
#define SET_SERVO_SPEED 40
 
// {setStepperSpeed Integer}
#define SET_STEPPER_SPEED 41
 
// {setTrigger int int int}
#define SET_TRIGGER 42
 
// {softReset}
#define SOFT_RESET 43
 
// {stepperAttach StepperControl}
#define STEPPER_ATTACH 44
 
// {stepperDetach String}
#define STEPPER_DETACH 45
 
// {stepperMoveTo String Integer}
#define STEPPER_MOVE_TO 46
 
// {stepperReset String}
#define STEPPER_RESET 47
 
// {stepperStep String Integer Integer}
#define STEPPER_STEP 48
 
// {stepperStop String}
#define STEPPER_STOP 49
 
// {stopService}
#define STOP_SERVICE 50
 
///// INO GENERATED DEFINITION END //////
 
// ----- MRLCOMM FUNCTION GENERATED INTERFACE END -----------
 
#define STEPPER_TYPE_SIMPLE   1
 
// ------ event types ------
#define STEPPER_EVENT_STOP 1
#define STEPPER_EVENT_STEP 2
 
// servo event types
#define  SERVO_EVENT_STOPPED 1
#define  SERVO_EVENT_POSITION_UPDATE 2
 
// error types
#define ERROR_SERIAL 1
#define ERROR_UNKOWN_CMD 2
#define ERROR_ALREADY_EXISTS 3
#define ERROR_DOES_NOT_EXIST 4
 
// ------ error types ------
#define SENSOR_ULTRASONIC 1
 
#define CUSTOM_MSG 50
 
// need a method to identify type of board
// http://forum.arduino.cc/index.php?topic=100557.0
 
#define COMMUNICATION_RESET   252
#define SOFT_RESET   253
#define NOP     255
 
// ----------  MRLCOMM FUNCTION INTERFACE END -----------
 
// MAX definitions
// MAX_SERVOS defined by boardtype/library
#define PINGDARS_MAX 6
#define SENSORS_MAX 12
#define STEPPERS_MAX 6
 
#define MAX_MOTORS 10
 
#define ECHO_STATE_START 1
#define ECHO_STATE_TRIG_PULSE_BEGIN 2
#define ECHO_STATE_TRIG_PULSE_END 3
#define ECHO_STATE_MIN_PAUSE_PRE_LISTENING 4
#define ECHO_STATE_LISTENING 5
#define ECHO_STATE_GOOD_RANGE 6
#define ECHO_STATE_TIMEOUT 7
 
// --VENDOR DEFINE SECTION BEGIN--
// --VENDOR DEFINE SECTION END--
 
// FIXME FIXME FIXME
// -- FIXME - modified by board type BEGIN --
// Need Arduino to do a hardware abstraction layer
// https://code.google.com/p/arduino/issues/detail?id=59
// AHAAA !! - many defintions in - pins_arduino.h !!!
// Need a "board" identifier at least !!!
 
#define ANALOG_PIN_COUNT 16 // mega
#define DIGITAL_PIN_COUNT 54 // mega
// #define MAX_SERVOS 48 - is defined @ compile time !!
// -- FIXME - modified by board type END --
 
#define ARDUINO_TYPE_INT 16; // :) type identifier - not size - but what the hell ;)
 
/*
* TODO - CRC for last byte
* getCommand - retrieves a command message
* inbound and outbound messages are the same format, the following represents a basic message
* format
*
* MAGIC_NUMBER|NUM_BYTES|FUNCTION|DATA0|DATA1|....|DATA(N)
*              NUM_BYTES - is the number of bytes after NUM_BYTES to the end
*
*/
 
int msgSize = 0; // the NUM_BYTES of current message
 
unsigned int debounceDelay = 50; // in ms
long lastDebounceTime[DIGITAL_PIN_COUNT];
byte msgBuf[64];
 
typedef struct
  {
      int type;
      int trigPin;
      int echoPin;
      bool isRunning;
      int timeoutUS;
      unsigned long ts;
      unsigned long lastValue;
      int state;
      //NewPing* ping;
  }  sensor_type;
 
sensor_type sensors[SENSORS_MAX];
 
typedef struct
  {
   int ts;
      int type;
      int index; // is this redundant?
      int currentPos;
      int targetPos;
      int speed;
 
      int dirPin;
      int stepPin;
 
 // support up to 5 wire steppers
      int pin0;
      int pin1;
      int pin2;
      int pin3;
      int pin4;
 
  }  stepper_type;
 
stepper_type steppers[STEPPERS_MAX];
 
// Servos
typedef struct
{
    Servo* servo;
    int index; // index of this servo
    int speed;
    int targetPos;
    int currentPos;
    bool isMoving;
 
    int step; // affects speed usually 1
 
    // sweep related
    int min;
    int max;
    // int delay; - related to speed
    int increment;
    bool isSweeping;
 
    // event related
    bool eventsEnabled;
} servo_type;
 
 
servo_type servos[MAX_SERVOS];
 
// Motors
typedef struct
{
    int index; // index of this motor
    int speed;
    int targetPos;
    int currentPos;
    bool isMoving;
 
    int step; // affects speed usually 1
 
    // sweep related
    int min;
    int max;
    // int delay; - related to speed
    int increment;
    bool isSweeping;
 
    // event related
    bool eventsEnabled;
} motor_type;
 
motor_type motors[MAX_MOTORS];
 
unsigned long loopCount     = 0;
unsigned long lastMicros = 0;
int byteCount               = 0;
unsigned char newByte = 0;
unsigned char ioCmd[64];  // message buffer for all inbound messages
int readValue;
 
// FIXME - normalize with sampleRate ..
int loadTimingModulus = 1000;
 
boolean loadTimingEnabled = false;
unsigned long loadTime = 0;
// TODO - avg load time
 
unsigned int sampleRate = 1; // 1 - 65,535 modulus of the loopcount - allowing you to sample less
 
int digitalReadPin[DIGITAL_PIN_COUNT];        // array of pins to read from
int digitalReadPollingPinCount = 0;           // number of pins currently reading
int lastDigitalInputValue[DIGITAL_PIN_COUNT]; // array of last input values
bool digitalTriggerOnly = false;      // send data back only if its different
 
int analogReadPin[ANALOG_PIN_COUNT];          // array of pins to read from
int analogReadPollingPinCount = 0;            // number of pins currently reading
int lastAnalogInputValue[ANALOG_PIN_COUNT];   // array of last input values
bool analogTriggerOnly = false;         // send data back only if its different
 
//---- data record definitions begin -----
 
 
// TODO - all well and good .. but you dont control Servo's data (yet)
// should have a struct for it too - contains all the data info you'd want to have
// in a servo - same with stepper
 
typedef struct
  {
      int servoIndex; // id of servo in servos array
      //int servoPos; in servo
      int sensorIndex;
      int sweepMin;
      int sweepMax;
      int step;
      bool isRunning; // needed ? - is combo of two
  }  pingdar_type;
 
pingdar_type pingdars[PINGDARS_MAX];
//===custom msg interface begin===
byte customParams[256];
int paramBuffIndex;
int paramCnt;
//===custom msg interface end===
 
void sendServoEvent(servo_type& s, int eventType);
void sendStepperEvent(stepper_type& s, int eventType);
unsigned long getUltrasonicRange(sensor_type& sensor);
// void sendMsg ( int num, ... );
 
//---- data record definitions end -----
 
void append(const int& data) {
++paramCnt;
customParams[paramBuffIndex] = ARDUINO_TYPE_INT;
customParams[++paramBuffIndex] = (byte)(data >> 8);
customParams[++paramBuffIndex] = ((byte) data & 0xff);
++paramBuffIndex;
}
 
void startMsg() {
}
 
void setup() {
Serial.begin(57600);        // connect to the serial port
 
softReset();
 
// --VENDOR SETUP BEGIN--
// --VENDOR SETUP END--
}
 
 
void sendMsg(){
 
// unbox
Serial.write(MAGIC_NUMBER);
Serial.write(paramBuffIndex + 2); // = param buff size + FN + paramCnt
//Serial.write(2); // = param buff size + FN + paramCnt
Serial.write(CUSTOM_MSG);
Serial.write(paramCnt);
 
for (int i = 0; i < paramBuffIndex; ++i){
Serial.write(customParams[i]);
}
 
paramCnt = 0;
paramBuffIndex = 0;
}
 
 
 
void softReset()
{
for (int i = 0; i < MAX_SERVOS - 1; ++i)
{
                servo_type& s = servos[i];
s.speed = 100;
                if (s.servo != 0){
 s.servo->detach();
                }
}
 
for (int j = 0; j < DIGITAL_PIN_COUNT - 1; ++j)
{
pinMode(j, OUTPUT);
}
 
 
digitalReadPollingPinCount = 0;
analogReadPollingPinCount = 0;
loopCount = 0;
 
}
 
void setPWMFrequency (int address, int prescalar)
{
int clearBits = 0x07;
if (address == 0x25)
{
TCCR0B &= ~clearBits;
TCCR0B |= prescalar;
} else if (address == 0x2E)
{
TCCR1B &= ~clearBits;
TCCR1B |= prescalar;
} else if (address == 0xA1)
{
TCCR2B &= ~clearBits;
TCCR2B |= prescalar;
}
 
}
 
/**
 * checks the existance of the searched value in the array
 * - good for not adding to a dynamic list of values if it
 * already exists
 */
bool exists(int array[], int len, int searchValue){
for (int i = 0; i < len; ++i)
{
if (searchValue == array[i])
{
return true;
}
}
return false;
}
 
/**
 * adds new value to a pseudo dynamic array/list
 * if successful - if value already exists on list
 * sends back an error
 */
bool addNewValue(int array[], int& len, int addValue)
{
if (!exists(array, len, addValue)){
array[len] = addValue;
++len;
return true;
} else {
sendError(ERROR_ALREADY_EXISTS);
return false;
}
}
 
 
bool removeAndShift (int array [], int& len, int removeValue)
{
if (!exists(array, len, removeValue)){
sendError(ERROR_DOES_NOT_EXIST);
return false;
}
 
int pos = -1;
 
if (len == 0)
{
// "should" never happen
// would be calling remove on an empty list
// the error ERROR_DOES_NOT_EXIST - "should" be called
return true;
}
 
// find position of value
for (int i = 0; i < len; ++i)
{
if (removeValue == array[i])
{
pos = i;
break;
}
}
// if at the end just decrement size
if (pos == len - 1)
{
--len;
return true;
}
 
// if found somewhere else shift left
if (pos < len && pos > -1)
{
for (int j = pos; j < len - 1; ++j)
{
array[j] = array[j+1];
}
--len;
}
 
return true;
}
 
boolean getCommand ()
{
// handle serial data begin
if (Serial.available() > 0)
{
// read the incoming byte:
newByte = Serial.read();
++byteCount;
 
// checking first byte - beginning of message?
if (byteCount == 1 && newByte != MAGIC_NUMBER)
{
sendError(ERROR_SERIAL);
 
// reset - try again
byteCount = 0;
return false;
}
 
if (byteCount == 2)
{
  // get the size of message
  // todo check msg < 64 (MAX_MSG_SIZE)
  msgSize = newByte;
}
 
if (byteCount > 2) {
 // fill in msg data - (2) headbytes -1 (offset)
 ioCmd[byteCount - 3] = newByte;
}
 
// if received header + msg
if (byteCount == 2 + msgSize)
{
          return true;
}
} // if Serial.available
 
return false;
}
 
void loop () {
 
++loopCount;
 
if (getCommand())
{
switch (ioCmd[0])
{
 
case DIGITAL_WRITE:{
digitalWrite(ioCmd[1], ioCmd[2]);
break;
}
 
case ANALOG_WRITE:{
analogWrite(ioCmd[1], ioCmd[2]);
break;
}
 
case PIN_MODE:{
pinMode(ioCmd[1], ioCmd[2]);
break;
}
 
case SERVO_ATTACH:{
servo_type& s = servos[ioCmd[1]];
s.index = ioCmd[1];
if (s.servo == NULL){
s.servo = new Servo();
}
s.servo->attach(ioCmd[2]);
s.step = 1;
s.eventsEnabled = false;
break;
}
 
case SERVO_SWEEP_START:{
servo_type& s = servos[ioCmd[1]];
s.min = ioCmd[2];
s.max = ioCmd[3];
s.step = ioCmd[4];
s.isMoving = true;
s.isSweeping = true;
break;
}
 
case SERVO_SWEEP_STOP:{
servo_type& s = servos[ioCmd[1]];
s.isMoving = false;
s.isSweeping = false;
break;
}
 
case SERVO_WRITE:{
servo_type& s = servos[ioCmd[1]];
if (s.speed == 100 && s.servo != 0)// move at regular/full 100% speed
{
s.targetPos = ioCmd[2];
s.currentPos = ioCmd[2];
s.isMoving = false;
s.servo->write(ioCmd[2]);
if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_STOPPED);
} else if (s.speed < 100 && s.speed > 0) {
s.targetPos = ioCmd[2];
s.isMoving = true;
}
break;
}
 
case PUBLISH_SERVO_EVENT:{
servo_type& s = servos[ioCmd[1]];
s.eventsEnabled = ioCmd[2];
break;
}
 
case SET_LOAD_TIMING_ENABLED:{
loadTimingEnabled = ioCmd[1];
//loadTimingModulus = ioCmd[2];
loadTimingModulus = 1000;
break;
}
 
case SERVO_WRITE_MICROSECONDS:{
// TODO - incorporate into speed control etc
// normalize - currently by itself doesn't effect events
// nor is it involved in speed control
servo_type& s = servos[ioCmd[1]];
if (s.servo != 0) {
// 1500 midpoint
s.servo->writeMicroseconds(ioCmd[2]);
}
 
break;
}
 
case SET_SERVO_SPEED:{
// setting the speed of a servo
servo_type& servo = servos[ioCmd[1]];
servo.speed = ioCmd[2];
break;
}
 
case SERVO_DETACH:{
servo_type& s = servos[ioCmd[1]];
if (s.servo != 0){
 s.servo->detach();
}
break;
}
 
case SET_PWMFREQUENCY:{
setPWMFrequency (ioCmd[1], ioCmd[2]);
break;
}
 
case ANALOG_READ_POLLING_START:{
int pin = ioCmd[1];
addNewValue(analogReadPin, analogReadPollingPinCount, pin);
break;
}
 
case ANALOG_READ_POLLING_STOP:{
int pin = ioCmd[1];
removeAndShift(analogReadPin, analogReadPollingPinCount, pin);
break;
}
 
case DIGITAL_READ_POLLING_START:{
int pin = ioCmd[1];
addNewValue(digitalReadPin, digitalReadPollingPinCount, pin);
break;
}
 
case DIGITAL_READ_POLLING_STOP:{
int pin = ioCmd[1];
removeAndShift(digitalReadPin, digitalReadPollingPinCount, pin);
break;
}
 
case SET_TRIGGER:{
                        // FIXME !!! - you need 1. a complete pin list !!!   analog & digital should be defined by attribute not
                        // data structure !!!  if (pin.type == ??? if needed
// TODO - if POLLING ALREADY DON'T RE-ADD - MAKE RE-ENTRANT
analogReadPin[analogReadPollingPinCount] = ioCmd[1]; // put on polling read list
++analogReadPollingPinCount;
break;
}
 
case SET_DEBOUNCE:{
// default debounceDelay = 50;
debounceDelay = ((ioCmd[1]<<8) + ioCmd[2]);
break;
}
 
case SET_DIGITAL_TRIGGER_ONLY:{
digitalTriggerOnly = ioCmd[1];
break;
                }
 
case SET_SERIAL_RATE:
{
Serial.end();
delay(500);
Serial.begin(ioCmd[1]);
break;
}
 
case GET_VERSION:{
Serial.write(MAGIC_NUMBER);
Serial.write(2); // size
Serial.write(PUBLISH_VERSION);
Serial.write((byte)MRLCOMM_VERSION);
break;
}
 
case PULSE_IN: {
   // might need to hack the pulseIn lib - but would
   // like to do it without delay
// http://arduino.cc/en/Tutorial/BlinkWithoutDelay
int trigPin = ioCmd[1];
int echoPin = ioCmd[2];
// TODO - implement HI/LOW value & timeout & variable delay for trigger
 
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
 
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
 
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
 
digitalWrite(trigPin, LOW);
unsigned long duration = pulseIn(echoPin, HIGH);
 
//Calculate the distance (in cm) based on the speed of sound.
// distance = duration/58.2;
 
//sendMsg(4, ANALOG_VALUE, analogReadPin[i], readValue >> 8, readValue & 0xff);
  //sendMsg(5, PULSE_IN, duration >> 24, duration >> 16, duration >> 8, duration & 0xff);
  //sendMsg(6, SENSOR_DATA, 47, duration >> 24, duration >> 16, duration >> 8, duration & 0xff);
 
 
Serial.write(MAGIC_NUMBER);
Serial.write(5); // size 1 FN + 4 bytes of unsigned long
Serial.write(PULSE_IN);
            // write the long value out
Serial.write((byte)(duration >> 24));
Serial.write((byte)(duration >> 16));
Serial.write((byte)(duration >> 8));
Serial.write((byte)duration & 0xff);
 
 
break;
}
 
case SET_SAMPLE_RATE:{
// 2 byte int - valid range 1-65,535
sampleRate = (ioCmd[1]<<8) + ioCmd[2];
if (sampleRate == 0)
{ sampleRate = 1; } // avoid /0 error - FIXME - time estimate param
break;
}
 
case SOFT_RESET:{
softReset();
break;
}
 
case STEPPER_ATTACH:{
stepper_type& stepper = steppers[ioCmd[1]];
stepper.index = ioCmd[1];
stepper.type = ioCmd[2];
stepper.currentPos = 0;
stepper.targetPos = 0;
stepper.speed = 100;
 
if (stepper.type == STEPPER_TYPE_SIMPLE) {
stepper.dirPin = ioCmd[3]; // dir pin
stepper.stepPin = ioCmd[4]; // step pin
pinMode(stepper.dirPin, OUTPUT);
pinMode(stepper.stepPin, OUTPUT);
} else {
sendError(ERROR_UNKOWN_CMD);
}
break;
}
 
case STEPPER_RESET:{
stepper_type& stepper = steppers[ioCmd[1]];
stepper.currentPos = 0;
stepper.targetPos = 0;
stepper.speed = 100;
break;
}
 
/* absolute position - not relative */
case STEPPER_MOVE_TO:{
stepper_type& stepper = steppers[ioCmd[1]];
if (stepper.type == STEPPER_TYPE_SIMPLE) {
stepper.targetPos = stepper.currentPos + (ioCmd[2]<<8) + ioCmd[3];
// relative position & direction
if (stepper.targetPos < 0) {
// direction
digitalWrite(stepper.dirPin, 1);
} else {
digitalWrite(stepper.dirPin, 0);
}
} else {
sendError(ERROR_UNKOWN_CMD);
}
break;
}
 
case STEPPER_STOP:{
stepper_type& stepper = steppers[ioCmd[1]];
if (stepper.type == STEPPER_TYPE_SIMPLE) {
stepper.targetPos = stepper.currentPos;
sendStepperEvent(stepper, STEPPER_EVENT_STOP);
} else {
sendError(ERROR_UNKOWN_CMD);
}
break;
}
 
// --VENDOR CODE BEGIN--
// --VENDOR CODE END--
// not sure if its worth implementing - same info can be retrieved from publish servo event & publish pin
/*
 
case PINGDAR_ATTACH:{
int pingdarIndex = ioCmd[1];
pingdar_type& pingdar = pingdars[pingdarIndex];
pingdar.servoIndex = ioCmd[2];
pingdar.sensorIndex = ioCmd[3];
pingdar.step = 1;
break;
}
*/
// used by ultrasonic sensor
case SENSOR_ATTACH:{
int sensorIndex = ioCmd[1];
sensor_type& sensor = sensors[sensorIndex];
sensor.type = ioCmd[2];
 
 
 
// initialize based on sensor type
if (sensor.type == SENSOR_ULTRASONIC){
sensor.trigPin = ioCmd[3];
sensor.echoPin = ioCmd[4];
pinMode(sensor.trigPin, OUTPUT);
pinMode(sensor.echoPin, INPUT);
//sensor.ping = new NewPing(sensor.trigPin, sensor.echoPin, 100);
}
 
break;
}
 
case SENSOR_POLLING_START:{
int sensorIndex = ioCmd[1];
sensor_type& sensor = sensors[sensorIndex];
sensor.isRunning = true;
 
// I'm used to ms - and would need to change some
// interfaces if i was to support inbound longs
//sensor.timeoutUS = ioCmd[2] * 1000;
sensor.timeoutUS = 20000; // 20 ms
sensor.state = ECHO_STATE_START;
 
break;
}
 
case SENSOR_POLLING_STOP:{
int sensorIndex = ioCmd[1];
sensor_type& sensor = sensors[sensorIndex];
sensor.isRunning = false;
break;
}
 
case NOP:{
// No Operation
break;
}
 
default:{
   sendError(ERROR_UNKOWN_CMD);
break;
}
} // end switch
 
// reset buffer
memset(ioCmd,0,sizeof(ioCmd));
byteCount = 0;
 
} // if getCommand()
 
// all reads are affected by sample rate
if (loopCount%sampleRate == 0) {
// digital polling read - send data for pins which are currently in INPUT mode only AND whose state has changed
for (int i  = 0; i < digitalReadPollingPinCount; ++i)
{
if (debounceDelay)
{
 if (millis() - lastDebounceTime[digitalReadPin[i]] < debounceDelay)
 {
   continue;
 }
}
 
// FIXME !! - normalize with analog
// read the pin
readValue = digitalRead(digitalReadPin[i]);
 
// if my value is different from last time  && config - send it
if (lastDigitalInputValue[digitalReadPin[i]] != readValue  || !digitalTriggerOnly)
{
Serial.write(MAGIC_NUMBER);
Serial.write(4); // size
Serial.write(PUBLISH_PIN);
Serial.write(digitalReadPin[i]);// Pin#
Serial.write(0); // MSB
Serial.write(readValue); // LSB
 
   lastDebounceTime[digitalReadPin[i]] = millis();
}
 
// set the last input value of this pin
lastDigitalInputValue[digitalReadPin[i]] = readValue;
}
 
 
// analog polling read - send data for pins which are currently in INPUT mode only AND whose state has changed
for (int i  = 0; i < analogReadPollingPinCount; ++i)
{
// read the pin
readValue = analogRead(analogReadPin[i]);
 
// if my value is different from last time - send it
if (lastAnalogInputValue[analogReadPin[i]] != readValue   || !analogTriggerOnly) //TODO - SEND_DELTA_MIN_DIFF
{
//sendMsg(4, ANALOG_VALUE, analogReadPin[i], readValue >> 8, readValue & 0xff);
 
Serial.write(MAGIC_NUMBER);
Serial.write(4); //size
Serial.write(PUBLISH_PIN);
Serial.write(analogReadPin[i]);
Serial.write(readValue >> 8);   // MSB
Serial.write(readValue & 0xff); // LSB
 
       }
// set the last input value of this pin
lastAnalogInputValue[analogReadPin[i]] = readValue;
}
}
 
// update moving servos - send events if required
for (int i = 0; i < MAX_SERVOS; ++i)
{
servo_type& s = servos[i];
if (s.isMoving && s.servo != 0){
if (s.currentPos != s.targetPos)
{
// caclulate the appropriate modulus to drive
// the servo to the next position
// TODO - check for speed > 0 && speed < 100 - send ERROR back?
int speedModulus = (100 - s.speed) * 10;
if (loopCount % speedModulus == 0)
{
int increment = s.step * ((s.currentPos < s.targetPos)?1:-1);
// move the servo an increment
s.currentPos = s.currentPos + increment;
s.servo->write(s.currentPos);
if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_POSITION_UPDATE);
}
} else {
if (s.isSweeping) {
if (s.targetPos == s.min){
s.targetPos = s.max;
} else {
s.targetPos = s.min;
}
} else {
if (s.eventsEnabled) sendServoEvent(s, SERVO_EVENT_STOPPED);
s.isMoving = false;
}
}
}
}
 
unsigned long ts;
 
for (int i = 0; i < SENSORS_MAX; ++i) {
sensor_type& sensor = sensors[i];
if (sensor.isRunning == true){
if (sensor.type == SENSOR_ULTRASONIC){
 
// we are running & have an ultrasonic (ping) sensor
// check to see what state we  are in
 
if (sensor.state == ECHO_STATE_START){
// trigPin prepare - start low for an
// upcoming high pulse
pinMode(sensor.trigPin, OUTPUT);
digitalWrite(sensor.trigPin, LOW);
 
// put the echopin into a high state
// is this necessary ???
pinMode(sensor.echoPin, OUTPUT);
digitalWrite(sensor.echoPin, HIGH);
 
ts = micros();
if (ts - sensor.ts > 2){
sensor.ts = ts;
sensor.state = ECHO_STATE_TRIG_PULSE_BEGIN;
}
} else if (sensor.state == ECHO_STATE_TRIG_PULSE_BEGIN){
 
// begin high pulse for at least 10 us
pinMode(sensor.trigPin, OUTPUT);
digitalWrite(sensor.trigPin, HIGH);
 
ts = micros();
if (ts - sensor.ts > 10){
sensor.ts = ts;
sensor.state = ECHO_STATE_TRIG_PULSE_END;
}
} else if (sensor.state == ECHO_STATE_TRIG_PULSE_END){
// end of pulse
pinMode(sensor.trigPin, OUTPUT);
digitalWrite(sensor.trigPin, LOW);
 
sensor.state = ECHO_STATE_MIN_PAUSE_PRE_LISTENING;
sensor.ts = micros();
} else if (sensor.state == ECHO_STATE_MIN_PAUSE_PRE_LISTENING){
 
ts = micros();
if (ts - sensor.ts > 1500){
sensor.ts = ts;
 
// putting echo pin into listen mode
pinMode(sensor.echoPin, OUTPUT);
digitalWrite(sensor.echoPin, HIGH);
pinMode(sensor.echoPin, INPUT);
 
sensor.state = ECHO_STATE_LISTENING;
}
 
} else if (sensor.state == ECHO_STATE_LISTENING) {
// timeout or change states..
int value = digitalRead(sensor.echoPin);
ts = micros();
 
if (value == LOW) {
sensor.lastValue = ts - sensor.ts;
sensor.ts = ts;
sensor.state = ECHO_STATE_GOOD_RANGE;
} else if (ts - sensor.ts > sensor.timeoutUS) {
sensor.state = ECHO_STATE_TIMEOUT;
sensor.ts = ts;
sensor.lastValue = 0;
}
 
} else if (sensor.state == ECHO_STATE_GOOD_RANGE || sensor.state == ECHO_STATE_TIMEOUT) {
Serial.write(MAGIC_NUMBER);
Serial.write(6); // size 1 FN + 4 bytes of unsigned long
Serial.write(PUBLISH_SESOR_DATA);
Serial.write(i);
           // write the long value out
Serial.write((byte)(sensor.lastValue >> 24));
Serial.write((byte)(sensor.lastValue >> 16));
Serial.write((byte)(sensor.lastValue >> 8));
Serial.write((byte) sensor.lastValue & 0xff);
sensor.state = ECHO_STATE_START;
} // end else if
 
} // if (sensor.type == SENSOR_ULTRASONIC)
 
} // end isRunning
 
} // end for each sensor
 
// TODO - brake - speed - fractional stepping - other stepper types
for (int i = 0; i < STEPPERS_MAX; ++i) {
stepper_type& stepper = steppers[i];
if (stepper.currentPos != stepper.targetPos){
if (stepper.type == STEPPER_TYPE_SIMPLE){
 
// direction is already set in initial STEPPER_MOVE
 
if (stepper.currentPos < stepper.targetPos) {
digitalWrite(stepper.stepPin, 1);
delayMicroseconds(1); // :P should require another state? loop is ~106us min ?
digitalWrite(stepper.stepPin, 0);
stepper.currentPos++;
sendStepperEvent(stepper, STEPPER_EVENT_STEP);
 
} else if (stepper.currentPos > stepper.targetPos) {
digitalWrite(stepper.stepPin, 1);
delayMicroseconds(1); // :P should require another state? loop is ~106us min ?
digitalWrite(stepper.stepPin, 0);
stepper.currentPos--;
sendStepperEvent(stepper, STEPPER_EVENT_STEP);
}
 
if (stepper.currentPos == stepper.targetPos){
sendStepperEvent(stepper, STEPPER_EVENT_STOP);
}
 
}
}
}
 
// FIXME - fix overflow with getDiff() method !!!
unsigned long now = micros();
loadTime = now - lastMicros; // avg outside
  lastMicros = now;
 
// report load time
if (loadTimingEnabled && (loopCount%loadTimingModulus == 0)) {
 
  // send it
Serial.write(MAGIC_NUMBER);
Serial.write(5); // size 1 FN + 4 bytes of unsigned long
Serial.write(PUBLISH_LOAD_TIMING_EVENT);
        // write the long value out
Serial.write((byte)(loadTime >> 24));
Serial.write((byte)(loadTime >> 16));
Serial.write((byte)(loadTime >> 8));
Serial.write((byte) loadTime & 0xff);
}
 
 
} // end of big loop
 
unsigned long getUltrasonicRange(sensor_type& sensor){
 
// added for sensors which have single pin !
pinMode(sensor.trigPin, OUTPUT);
digitalWrite(sensor.trigPin, LOW);
delayMicroseconds(2);
 
digitalWrite(sensor.trigPin, HIGH);
delayMicroseconds(10);
 
digitalWrite(sensor.trigPin, LOW);
 
// added for sensors which have single pin !
pinMode(sensor.echoPin, INPUT);
// CHECKING return pulseIn(sensor.echoPin, HIGH, sensor.timeoutUS);
// TODO - adaptive timeout ? - start big - pull in until valid value - push out if range is coming close
return pulseIn(sensor.echoPin, HIGH);
}
 
void sendServoEvent(servo_type& s, int eventType){
  // check type of event - STOP vs CURRENT POS
 
Serial.write(MAGIC_NUMBER);
Serial.write(5); // size = 1 FN + 1 INDEX + 1 eventType + 1 curPos
Serial.write(PUBLISH_SERVO_EVENT);
Serial.write(s.index); // send my index
// write the long value out
Serial.write(eventType);
Serial.write(s.currentPos);
Serial.write(s.targetPos);
}
 
void sendStepperEvent(stepper_type& s, int eventType){
  // check type of event - STOP vs CURRENT POS
 
Serial.write(MAGIC_NUMBER);
Serial.write(5); // size = 1 FN + 1 INDEX + 1 eventType + 1 curPos
Serial.write(PUBLISH_STEPPER_EVENT);
Serial.write(s.index); // send my index
// write the long value out
Serial.write(eventType);
Serial.write(s.currentPos >> 8); // msb
Serial.write(s.currentPos & 0xff); // lsb
}
 
 
void sendError(int type){
Serial.write(MAGIC_NUMBER);
Serial.write(2); // size = 1 FN + 1 TYPE
Serial.write(PUBLISH_MRLCOMM_ERROR);
Serial.write(type);
}
 
/* SEEMED LIKE A GOOD IDEA NOT !!!!
void sendMsg ( int num, ... )
{
va_list arguments;
// Initializing arguments to store all values after num
va_start ( arguments, num );
 
// write header
msgBuf[0] = MAGIC_NUMBER;
msgBuf[1] = num;
 
// copies msg payload to buffer after header
for ( int x = 2; x < num+2; x++ )
{
msgBuf[x] = (byte) va_arg ( arguments, int );
}
va_end ( arguments );                  // Cleans up the list
Serial.write(msgBuf, num + 2);
return;
}
*/
 
oldfarmhand's picture

basic 5b

but i still get this

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"
 
Build options changed, rebuilding all
 
 
 
Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.
 
Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.
 
avrdude: ser_open(): can't set com-state for "\\.\COM4"
 
avrdude: ser_drain(): read error: The handle is invalid.
 
 
 
 
Problem uploading to board.  See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.
 
  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.

 

 
GroG's picture

You don't "still" get this

You don't "still" get this error - because the error has changed..

You previously got a different error.

Your previous error complained about duplicate methods defined.

It was a compile error.

The steps involved in uploading a sketch to an Arduino are as follows.

1. compile the sketch
2. upload the sketch

You were stuck on #1 .. now we are on #2  ...  which seems like it can't find the com port COM4 

have you experimented with Arduinos before?  Have you uploaded a basic blink script ?

GroG's picture

Read your previous comment ..

Read your previous comment .. Okay so you have a COM4 and a Mega - have you uploaded the blink sketch before ?  http://www.ladyada.net/learn/arduino/lesson1.html

oldfarmhand's picture

basic e

No i did what Alessandro to me to do see below

Follow this tutorial...it s very brand new and detailed ! Made by kevin watters :

https://www.youtube.com/watch?v=AJasOtkCbro

Enjoy!

Alessandro

do i need to do the blink?

oldfarmhand's picture

basic d

ok i did the blink test its blinking

GroG's picture

Great .. this is progress ...

Great .. this is progress ... cause ---> effect 

step ---> move .. not huge progress just a step .. but wise man said..
Journey of 1000 miles starts with 1 step :)

Ok, when you copy and paste then attempt to upload the sketch it gives you the same error ?

oldfarmhand's picture

basic e

this is the error message

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"
Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.
Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.
avrdude: ser_open(): can't open device "\\.\COM4": The system cannot find the file specified.
avrdude: ser_drain(): read error: The handle is invalid.
Problem uploading to board.  See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.
 
  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.
when i go back and do the blink test it works then i try to load mrl i get the above
 
 
GroG's picture

Wow ok .. that is strange

Wow ok .. that is strange !

I'm glad you did the blink test ...

Very strange ..

So the next thing I would try is to get the latest Arduino device drivers and install them - 
https://www.arduino.cc/en/Guide/Windows

If you have already installed these drivers .. then perhaps its a corrupted bootloader issue.. :(

I admire your persistence :)

oldfarmhand's picture

basics f

Yes ive done that and i have changed to my second arduino mega ( i have two for inmoov ) it works on com6 instead of com4  i have played with the servo knob example script to get the wrist servo to move with an external pot i can do that without any problem but i cant do it through MRL

oldfarmhand's picture

basic g

Hi again 

Im still trying to get MRL to work when i try to upload the sketch i get this error message

Arduino: 1.6.5 (Windows 7), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"
 
Sketch uses 10,352 bytes (4%) of program storage space. Maximum is 253,952 bytes.
 
Global variables use 2,331 bytes (28%) of dynamic memory, leaving 5,861 bytes for local variables. Maximum is 8,192 bytes.
 
avrdude: ser_open(): can't open device "\\.\COM4": Access is denied.
 
 
 
 
avrdude: ser_drain(): read error: The handle is invalid.
 
 
 
 
Problem uploading to board.  See http://www.arduino.cc/en/Guide/Troubleshooting#upload for suggestions.
 
  This report would have more information with
  "Show verbose output during compilation"
  enabled in File > Preferences.
can someone tell me what this means thank you
GroG's picture

That is rough ... I could see

That is rough ...

I could see why you are asking for help .. something does not seem right...

Would you be interested in trying to coordinate a Chrome Remote Desktop session ?

Like I said - using a computer is primarily a visual experience - a picture says 1000 words and a video feed is 1000 X 32 fps :)

oldfarmhand's picture

Basic H

Yes I would like the help via remote  i have removed everything from my pc ( trying to start over again ) just tell me when to set it up sometime mid week and what time to turn everything on im in central time zone usa ( i think you know that ) my goal will be to move the right hand wrist. Iknow it will be something simple that i have done wrong but i just dont know what

oldfarmhand's picture

Basic H.1

Hi again GroG

 Ok now when i download Chrome Remote Desktop  ( ive never done that ) how do you link up with my pc via Chrome Remote Desktop I know it will be next week but im trying to make sure that i know how it works

And you do want MRL  and arduino installed, anything else?d

And again thanks for the help

GroG's picture

This video explains basically

This video explains basically how it works.
Funny, but their software has changed since the making of the video too :D, but the basic concept is the same.