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안녕하세요.
self balancing robot에 대한 소스코드에 대해 궁금한 점이 있어서 질문 드립니다.
매우 간단한거 같은데 저는 도저히 문제점이 무엇인지 잘 모르겠습니다..
먼저 회로에 사용된 부품입니다.
아두이노 UNO
DC motor x2
L298N DC motor Driver
MPU6050 Gyro Sensor
다음은 사용된 회로입니다.
사용된 코드
#include <PID_v1.h>
#include <LMotorController.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
//------------------------------------------------------------
#define OUTPUT_TEAPOT 1 // Processing을 통해 MPU6050 센서를 Visualize 하고 싶은 경우 1, 아니면 0으로 선언합니다
#define MIN_ABS_SPEED 30 // 모터의 최저속도를 설정합니다. 0 ~ 255 값 중 선택
#define OUTPUT_READABLE_YAWPITCHROLL // Yaw, Pitch, Roll 값을 얻기 위해 선언합니다
#define INTERRUPT_PIN 2 // MPU6050 센서의 INT 핀이 꽂혀있는 번호를 설정합니다. 보통 2번
#define LED_PIN 13 // Arudino Uno의 13번핀 LED를 동작 중에 반짝거리게 하려고 선언합니다
//------------------------------------------------------------
//MPU 객체를 선언합니다
MPU6050 mpu;
// MPU control/status vars
bool blinkState = false; // LED를 반짝거리게 하기 위한 변수
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
//------------------------------------------------------------
// MPU6050 센서를 통해 쿼터니언과 오일러각, Yaw, Pitch, Roll 값을 얻기 위해 선언합니다
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
//------------------------------------------------------------
// Processing으로 MPU6050 센서를 Visualize 하기 위한 변수
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
//------------------------------------------------------------
// PID 제어용 변수 선언
double kp = 60.;
double ki = 200.;
double kd = 1.5;
// 기울일 각도 선택
// 제가 만든 밸런싱로봇에는 184.0도가 가장 최적의 평형각도였습니다
// 각도가 180도를 기준으로 +-를 설정해주시면 됩니다
double originalSetpoint = 184.0;
double setpoint = originalSetpoint;
double movingAngleOffset = 0.3;
// PID 제어용 input, output 변수를 선언합니다
double input, output;
// PID값을 설정해준다
PID pid(&input, &output, &setpoint, kp, ki, kd, DIRECT);
// 모터 제어용 변수 선언
// EnA, EnB는 속도제어용(pwm), IN1,2,3,4는 방향제어용 핀입니다
int ENA = 10;
int IN1 = 12;
int IN2 = 6;
int IN3 = 9;
int IN4 = 8;
int ENB = 11;
// motorController 객체 생성, 맨 끝 파라미터 1,1은 각각 좌측, 우측모터의 최대속도(%) 입니다.
LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, 1, 1);
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
void setup(){
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// 키입력을 기다리는 코드. 주석처리했습니다
// wait for ready
//Serial.println(F("\nSend any character to begin DMP programming and demo: "));
//while (Serial.available() && Serial.read()); // empty buffer
//while (!Serial.available()); // wait for data
//while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// devStatus 값이 0 이면 정상작동, 0이 아니면 오작동입니다
// make sure it worked (returns 0 if so)
if (devStatus == 0){
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
// MPU6050 센서가 정삭작동하면 PID 제어용 코드를 초기화합니다
pid.SetMode(AUTOMATIC);
pid.SetSampleTime(10);
pid.SetOutputLimits(-255, 255);
}
else{ // MPU6050 센서가 오작동한 경우
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// 로봇이 작동 중 13번 LED를 깜빡거리기 위해 OUTPUT으로 초기화합니다
pinMode(LED_PIN, OUTPUT);
}
void loop(){
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize){
//no mpu data - performing PID calculations and output to motors
pid.Compute(); // 루프를 돌면서 pid 값을 업데이트합니다
motorController.move(output, MIN_ABS_SPEED); // pid 연산으로 나온 output 값을 motorController로 전송합니다. (모터제어)
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// MPU6050 센서가 정상작동하는 경우에만 PID제어를 해야하므로 아래와 같이 if-else문을 작성합니다
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024){
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
}
// MPU6050 센서가 정상작동하는 경우
else if (mpuIntStatus & 0x02){
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
#ifdef OUTPUT_READABLE_YAWPITCHROLL // 센서를 통해 구한 Yaw, Pitch, Roll 값을 Serial Monitor에 표시합니다
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
// PID 제어를 하기 위해 input 변수에 Pitch 값을 넣습니다
input = ypr[1] * 180/M_PI + 180;
#ifdef OUTPUT_TEAPOT // Processing으로 MPU6050센서의 움직임을 Visualize 하기 위한 코드
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
}
}
실행 결과
In file included from C:\Users\dydtn\Documents\Arduino\sketch_dec24a\sketch_dec24a.ino:9:0:
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h: In member function 'uint8_t MPU6050::dmpGetAccel(int32_t*, const uint8_t*)':
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:580:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:580:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:581:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:581:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:582:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:582:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h: In member function 'uint8_t MPU6050::dmpGetQuaternion(int32_t*, const uint8_t*)':
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:604:30: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:604:50: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:605:30: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:605:50: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:606:30: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:606:50: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:607:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:607:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h: In member function 'uint8_t MPU6050::dmpGetGyro(int32_t*, const uint8_t*)':
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:637:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:637:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:638:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:638:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:639:31: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:639:52: warning: left shift count >= width of type [-Wshift-count-overflow]
data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);
^~
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: warning: type 'struct MPU6050' violates the C++ One Definition Rule [-Wodr]
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: a different type is defined in another translation unit
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:791:22: note: the first difference of corresponding definitions is field 'dmpPacketBuffer'
uint8_t *dmpPacketBuffer;
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:993:17: note: a field with different name is defined in another translation unit
uint8_t devAddr;
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:416:14: warning: 'initialize' violates the C++ One Definition Rule [-Wodr]
void initialize();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:63:6: note: implicit this pointer type mismatch
void MPU6050::initialize() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:63:6: note: 'initialize' was previously declared here
void MPU6050::initialize() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:63:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:417:14: warning: 'testConnection' violates the C++ One Definition Rule [-Wodr]
bool testConnection();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:74:6: note: implicit this pointer type mismatch
bool MPU6050::testConnection() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:74:6: note: 'testConnection' was previously declared here
bool MPU6050::testConnection() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:74:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:732:14: warning: 'setXGyroOffset' violates the C++ One Definition Rule [-Wodr]
void setXGyroOffset(int16_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2819:6: note: implicit this pointer type mismatch
void MPU6050::setXGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2819:6: note: 'setXGyroOffset' was previously declared here
void MPU6050::setXGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2819:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:736:14: warning: 'setYGyroOffset' violates the C++ One Definition Rule [-Wodr]
void setYGyroOffset(int16_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2829:6: note: implicit this pointer type mismatch
void MPU6050::setYGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2829:6: note: 'setYGyroOffset' was previously declared here
void MPU6050::setYGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2829:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:740:14: warning: 'setZGyroOffset' violates the C++ One Definition Rule [-Wodr]
void setZGyroOffset(int16_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2839:6: note: implicit this pointer type mismatch
void MPU6050::setZGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2839:6: note: 'setZGyroOffset' was previously declared here
void MPU6050::setZGyroOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2839:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:728:14: warning: 'setZAccelOffset' violates the C++ One Definition Rule [-Wodr]
void setZAccelOffset(int16_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2809:6: note: implicit this pointer type mismatch
void MPU6050::setZAccelOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2809:6: note: 'setZAccelOffset' was previously declared here
void MPU6050::setZAccelOffset(int16_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2809:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:652:14: warning: 'reset' violates the C++ One Definition Rule [-Wodr]
void reset();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2359:6: note: implicit this pointer type mismatch
void MPU6050::reset() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2359:6: note: 'reset' was previously declared here
void MPU6050::reset() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2359:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:654:14: warning: 'setSleepEnabled' violates the C++ One Definition Rule [-Wodr]
void setSleepEnabled(bool enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2383:6: note: implicit this pointer type mismatch
void MPU6050::setSleepEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2383:6: note: 'setSleepEnabled' was previously declared here
void MPU6050::setSleepEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2383:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:769:14: warning: 'setMemoryStartAddress' violates the C++ One Definition Rule [-Wodr]
void setMemoryStartAddress(uint8_t address);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2922:6: note: implicit this pointer type mismatch
void MPU6050::setMemoryStartAddress(uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2922:6: note: 'setMemoryStartAddress' was previously declared here
void MPU6050::setMemoryStartAddress(uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2922:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:772:17: warning: 'readMemoryByte' violates the C++ One Definition Rule [-Wodr]
uint8_t readMemoryByte();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2928:9: note: implicit this pointer type mismatch
uint8_t MPU6050::readMemoryByte() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2928:9: note: 'readMemoryByte' was previously declared here
uint8_t MPU6050::readMemoryByte() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2928:9: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:766:14: warning: 'setMemoryBank' violates the C++ One Definition Rule [-Wodr]
void setMemoryBank(uint8_t bank, bool prefetchEnabled=false, bool userBank=false);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2913:6: note: implicit this pointer type mismatch
void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2913:6: note: 'setMemoryBank' was previously declared here
void MPU6050::setMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2913:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:693:17: warning: 'getOTPBankValid' violates the C++ One Definition Rule [-Wodr]
uint8_t getOTPBankValid();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2718:9: note: implicit this pointer type mismatch
uint8_t MPU6050::getOTPBankValid() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2718:9: note: 'getOTPBankValid' was previously declared here
uint8_t MPU6050::getOTPBankValid() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2718:9: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:695:16: warning: 'getXGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
int8_t getXGyroOffsetTC();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2725:8: note: implicit this pointer type mismatch
int8_t MPU6050::getXGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2725:8: note: 'getXGyroOffsetTC' was previously declared here
int8_t MPU6050::getXGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2725:8: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:699:16: warning: 'getYGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
int8_t getYGyroOffsetTC();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2735:8: note: implicit this pointer type mismatch
int8_t MPU6050::getYGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2735:8: note: 'getYGyroOffsetTC' was previously declared here
int8_t MPU6050::getYGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2735:8: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:703:16: warning: 'getZGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
int8_t getZGyroOffsetTC();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2745:8: note: implicit this pointer type mismatch
int8_t MPU6050::getZGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2745:8: note: 'getZGyroOffsetTC' was previously declared here
int8_t MPU6050::getZGyroOffsetTC() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2745:8: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:645:14: warning: 'setI2CMasterModeEnabled' violates the C++ One Definition Rule [-Wodr]
void setI2CMasterModeEnabled(bool enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2308:6: note: implicit this pointer type mismatch
void MPU6050::setI2CMasterModeEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2308:6: note: 'setI2CMasterModeEnabled' was previously declared here
void MPU6050::setI2CMasterModeEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2308:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:505:14: warning: 'setSlaveAddress' violates the C++ One Definition Rule [-Wodr]
void setSlaveAddress(uint8_t num, uint8_t address);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:912:6: note: implicit this pointer type mismatch
void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:912:6: note: 'setSlaveAddress' was previously declared here
void MPU6050::setSlaveAddress(uint8_t num, uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:912:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:648:14: warning: 'resetI2CMaster' violates the C++ One Definition Rule [-Wodr]
void resetI2CMaster();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2333:6: note: implicit this pointer type mismatch
void MPU6050::resetI2CMaster() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2333:6: note: 'resetI2CMaster' was previously declared here
void MPU6050::resetI2CMaster() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2333:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:776:14: warning: 'writeProgMemoryBlock' violates the C++ One Definition Rule [-Wodr]
bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3042:6: note: implicit this pointer type mismatch
bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3042:6: note: 'writeProgMemoryBlock' was previously declared here
bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3042:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:779:14: warning: 'writeProgDMPConfigurationSet' violates the C++ One Definition Rule [-Wodr]
bool writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3120:6: note: implicit this pointer type mismatch
bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3120:6: note: 'writeProgDMPConfigurationSet' was previously declared here
bool MPU6050::writeProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3120:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:660:14: warning: 'setClockSource' violates the C++ One Definition Rule [-Wodr]
void setClockSource(uint8_t source);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2476:6: note: implicit this pointer type mismatch
void MPU6050::setClockSource(uint8_t source) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2476:6: note: 'setClockSource' was previously declared here
void MPU6050::setClockSource(uint8_t source) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2476:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:565:14: warning: 'setIntEnabled' violates the C++ One Definition Rule [-Wodr]
void setIntEnabled(uint8_t enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1499:6: note: implicit this pointer type mismatch
void MPU6050::setIntEnabled(uint8_t enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1499:6: note: 'setIntEnabled' was previously declared here
void MPU6050::setIntEnabled(uint8_t enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1499:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:425:14: warning: 'setRate' violates the C++ One Definition Rule [-Wodr]
void setRate(uint8_t rate);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:132:6: note: implicit this pointer type mismatch
void MPU6050::setRate(uint8_t rate) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:132:6: note: 'setRate' was previously declared here
void MPU6050::setRate(uint8_t rate) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:132:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:429:14: warning: 'setExternalFrameSync' violates the C++ One Definition Rule [-Wodr]
void setExternalFrameSync(uint8_t sync);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:174:6: note: implicit this pointer type mismatch
void MPU6050::setExternalFrameSync(uint8_t sync) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:174:6: note: 'setExternalFrameSync' was previously declared here
void MPU6050::setExternalFrameSync(uint8_t sync) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:174:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:431:14: warning: 'setDLPFMode' violates the C++ One Definition Rule [-Wodr]
void setDLPFMode(uint8_t bandwidth);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:217:6: note: implicit this pointer type mismatch
void MPU6050::setDLPFMode(uint8_t mode) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:217:6: note: 'setDLPFMode' was previously declared here
void MPU6050::setDLPFMode(uint8_t mode) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:217:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:435:14: warning: 'setFullScaleGyroRange' violates the C++ One Definition Rule [-Wodr]
void setFullScaleGyroRange(uint8_t range);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:252:6: note: implicit this pointer type mismatch
void MPU6050::setFullScaleGyroRange(uint8_t range) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:252:6: note: 'setFullScaleGyroRange' was previously declared here
void MPU6050::setFullScaleGyroRange(uint8_t range) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:252:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:783:14: warning: 'setDMPConfig1' violates the C++ One Definition Rule [-Wodr]
void setDMPConfig1(uint8_t config);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3130:6: note: implicit this pointer type mismatch
void MPU6050::setDMPConfig1(uint8_t config) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3130:6: note: 'setDMPConfig1' was previously declared here
void MPU6050::setDMPConfig1(uint8_t config) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3130:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:787:14: warning: 'setDMPConfig2' violates the C++ One Definition Rule [-Wodr]
void setDMPConfig2(uint8_t config);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3140:6: note: implicit this pointer type mismatch
void MPU6050::setDMPConfig2(uint8_t config) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3140:6: note: 'setDMPConfig2' was previously declared here
void MPU6050::setDMPConfig2(uint8_t config) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:3140:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:694:14: warning: 'setOTPBankValid' violates the C++ One Definition Rule [-Wodr]
void setOTPBankValid(bool enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2722:6: note: implicit this pointer type mismatch
void MPU6050::setOTPBankValid(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2722:6: note: 'setOTPBankValid' was previously declared here
void MPU6050::setOTPBankValid(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2722:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:696:14: warning: 'setXGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
void setXGyroOffsetTC(int8_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2729:6: note: implicit this pointer type mismatch
void MPU6050::setXGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2729:6: note: 'setXGyroOffsetTC' was previously declared here
void MPU6050::setXGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2729:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:700:14: warning: 'setYGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
void setYGyroOffsetTC(int8_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2739:6: note: implicit this pointer type mismatch
void MPU6050::setYGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2739:6: note: 'setYGyroOffsetTC' was previously declared here
void MPU6050::setYGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2739:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:704:14: warning: 'setZGyroOffsetTC' violates the C++ One Definition Rule [-Wodr]
void setZGyroOffsetTC(int8_t offset);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2749:6: note: implicit this pointer type mismatch
void MPU6050::setZGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2749:6: note: 'setZGyroOffsetTC' was previously declared here
void MPU6050::setZGyroOffsetTC(int8_t offset) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2749:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:459:14: warning: 'setMotionDetectionThreshold' violates the C++ One Definition Rule [-Wodr]
void setMotionDetectionThreshold(uint8_t threshold);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:472:6: note: implicit this pointer type mismatch
void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:472:6: note: 'setMotionDetectionThreshold' was previously declared here
void MPU6050::setMotionDetectionThreshold(uint8_t threshold) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:472:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:467:14: warning: 'setZeroMotionDetectionThreshold' violates the C++ One Definition Rule [-Wodr]
void setZeroMotionDetectionThreshold(uint8_t threshold);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:542:6: note: implicit this pointer type mismatch
void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:542:6: note: 'setZeroMotionDetectionThreshold' was previously declared here
void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:542:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:463:14: warning: 'setMotionDetectionDuration' violates the C++ One Definition Rule [-Wodr]
void setMotionDetectionDuration(uint8_t duration);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:502:6: note: implicit this pointer type mismatch
void MPU6050::setMotionDetectionDuration(uint8_t duration) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:502:6: note: 'setMotionDetectionDuration' was previously declared here
void MPU6050::setMotionDetectionDuration(uint8_t duration) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:502:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:471:14: warning: 'setZeroMotionDetectionDuration' violates the C++ One Definition Rule [-Wodr]
void setZeroMotionDetectionDuration(uint8_t duration);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:573:6: note: implicit this pointer type mismatch
void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:573:6: note: 'setZeroMotionDetectionDuration' was previously declared here
void MPU6050::setZeroMotionDetectionDuration(uint8_t duration) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:573:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:643:14: warning: 'setFIFOEnabled' violates the C++ One Definition Rule [-Wodr]
void setFIFOEnabled(bool enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2284:6: note: implicit this pointer type mismatch
void MPU6050::setFIFOEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2284:6: note: 'setFIFOEnabled' was previously declared here
void MPU6050::setFIFOEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2284:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:763:14: warning: 'resetDMP' violates the C++ One Definition Rule [-Wodr]
void resetDMP();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2907:6: note: implicit this pointer type mismatch
void MPU6050::resetDMP() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2907:6: note: 'resetDMP' was previously declared here
void MPU6050::resetDMP() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2907:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:774:14: warning: 'readMemoryBlock' violates the C++ One Definition Rule [-Wodr]
void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2935:6: note: implicit this pointer type mismatch
void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2935:6: note: 'readMemoryBlock' was previously declared here
void MPU6050::readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2935:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:679:18: warning: 'getFIFOCount' violates the C++ One Definition Rule [-Wodr]
uint16_t getFIFOCount();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2641:10: note: implicit this pointer type mismatch
uint16_t MPU6050::getFIFOCount() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2641:10: note: 'getFIFOCount' was previously declared here
uint16_t MPU6050::getFIFOCount() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2641:10: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:684:14: warning: 'getFIFOBytes' violates the C++ One Definition Rule [-Wodr]
void getFIFOBytes(uint8_t *data, uint8_t length);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2677:6: note: implicit this pointer type mismatch
void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2677:6: note: 'getFIFOBytes' was previously declared here
void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2677:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:775:14: warning: 'writeMemoryBlock' violates the C++ One Definition Rule [-Wodr]
bool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2966:6: note: implicit this pointer type mismatch
bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2966:6: note: 'writeMemoryBlock' was previously declared here
bool MPU6050::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify, bool useProgMem) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2966:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:762:14: warning: 'setDMPEnabled' violates the C++ One Definition Rule [-Wodr]
void setDMPEnabled(bool enabled);
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2904:6: note: implicit this pointer type mismatch
void MPU6050::setDMPEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2904:6: note: 'setDMPEnabled' was previously declared here
void MPU6050::setDMPEnabled(bool enabled) {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2904:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:647:14: warning: 'resetFIFO' violates the C++ One Definition Rule [-Wodr]
void resetFIFO();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2324:6: note: implicit this pointer type mismatch
void MPU6050::resetFIFO() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2324:6: note: 'resetFIFO' was previously declared here
void MPU6050::resetFIFO() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:2324:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:580:17: warning: 'getIntStatus' violates the C++ One Definition Rule [-Wodr]
uint8_t getIntStatus();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1628:9: note: implicit this pointer type mismatch
uint8_t MPU6050::getIntStatus() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1628:9: note: 'getIntStatus' was previously declared here
uint8_t MPU6050::getIntStatus() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:1628:9: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:413:9: warning: '__comp_ctor ' violates the C++ One Definition Rule [-Wodr]
MPU6050();
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:42:1: note: implicit this pointer type mismatch
MPU6050::MPU6050() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.h:411:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050/MPU6050.h:411:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:42:1: note: '__comp_ctor ' was previously declared here
MPU6050::MPU6050() {
^
C:\Program Files (x86)\Arduino\libraries\MPU6050\MPU6050.cpp:42:1: note: code may be misoptimized unless -fno-strict-aliasing is used
스케치는 프로그램 저장 공간 17864 바이트(55%)를 사용. 최대 32256 바이트.
전역 변수는 동적 메모리 668바이트(32%)를 사용, 1380바이트의 지역변수가 남음. 최대는 2048 바이트.
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