c - “BMSerial”未命名类型

Question

这是我每次编译软件时看到的:

每次我尝试使用 Arduino IDE 编译此代码时，都会生成此错误。

此代码适用于 RTK1 履带式机器人。我正在尝试通过 PS3 Controller 来控制它。我对整个 Arduino 板和编译器以及 C++ 都很陌生。因此，任何帮助将不胜感激。

#include <BMSerial.h>
#include <BMPS2.h>

#define DEBUG

//#define LIPO

#define SWAPMOTORS

#define LTRIG 8
#define RTRIG 8

#define RATE 40

#define IN1 4
#define IN2 2
#define IN3 9
#define IN4 7
#define EN1 6
#define EN2 5

#define LEDA 8
#define LEDB 10

#define BUTTONA 18
#define BUTTONB 19

#define BATT 15
#define ISENA 16
#define ISENB 17

#define DEADZONE 20

int currentlpwm;
int currentrpwm;
int targetlpwm;
int targetrpwm;

long currentafilter;
long currentbfilter;
#define filter_update(filter,input,rate) (filter = filter - (filter >> rate) + input) >> rate;

BMSerial sensor(13,13);
BMPS2 ps2x(11,100);

long lastalarm;
long lastalarmcheck;
int lipolow;
int lipoverylow;
int lipocritical;

boolean autonomous;

void setup() {
#ifdef DEBUG  
  Serial.begin(625000);
#endif

  digitalWrite(LEDB,HIGH);

  lipolow = false;
  lipoverylow = false;
  lipocritical = false;

  lastalarm = millis();
  lastalarmcheck = millis();

  autonomous = false;

  sensor.begin(38400);

  // put your setup code here, to run once:
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);

  pinMode(EN1,OUTPUT);
  pinMode(EN2,OUTPUT);

  pinMode(LEDA,OUTPUT);
  pinMode(LEDB,OUTPUT);
  pinMode(BUTTONA,INPUT);
  pinMode(BUTTONB,INPUT);

  digitalWrite(IN1,LOW);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,LOW);

  tone(3,750,100);
  delay(100);
  tone(3,1000,100);
  delay(100);
  tone(3,1250,100);
  delay(100);
}

boolean CheckLipo()
{
  long time = millis() - lastalarm;
  if(lipocritical>=10){
    //Lipo protection
    tone(3,500,250);
    delay(250);
    tone(3,800,250);
    delay(250);
    return true;
  }
  else if(lipoverylow>=10){
    //Lipo protection
    if(time>1000){
      lastalarm=millis();
      tone(3,500,100);
      delay(100);
    }
  }
  else if(lipolow>=10){
    //Lipo protection
    if(time>3000){
      lastalarm=millis();
      tone(3,500,100);
      delay(100);
    }
  }

  if((millis()-lastalarmcheck)>100){
    lastalarmcheck=millis();

    int voltage = (long)analogRead(BATT)*1500/1024;
    if(voltage<700){
      lipolow++;
      if(lipolow>10)
        lipolow=10;
    }
    else
      lipolow=0;
    if(voltage<650){
      lipoverylow++;
      if(lipoverylow>10)
        lipoverylow=10;
    }
    else
      lipoverylow=0;
    if(voltage<620)         //Orion will auto cutoff servo use at this level but there is still approx 100ma draw from all electronics
      lipocritical++;       //once triggered always triggered
    else
        lipocritical=0;
  }

  return false;
}

void loop() {
#ifdef LIPO
  if(CheckLipo()){
    digitalWrite(IN1,LOW);
    digitalWrite(IN2,LOW);
    digitalWrite(IN3,LOW);
    digitalWrite(IN4,LOW);
    return; //Battery too low to do anything.
  }
#endif

  if(ps2x.isUpdated()){
    if(ps2x.buttonPressed(PSB_RED)){
      if(autonomous)
        autonomous=false;
      else
        autonomous=true;
    }

    int RY,LY;

    if(autonomous){
      sensor.listen();
      sensor.println("#AB");
      unsigned char rstate = sensor.readhex(10000);
      unsigned char lstate = sensor.readhex(10000);
    }
    else{
      delay(20);
      RY = ps2x.analog(PSS_RY);
      LY = ps2x.analog(PSS_LY);

      if(RY>-DEADZONE && RY<DEADZONE)
        RY=0;
      if(RY<-127)
        RY=-127;
      if(LY>-DEADZONE && LY<DEADZONE)
        LY=0;
      if(LY<-127)
        LY=-127;
    }

    setlpwm(LY);
    setrpwm(RY);
  }  
}

void setrpwm(int pwm)
{
  targetrpwm = pwm;
  if(currentrpwm<targetrpwm){
    currentrpwm+=RATE;
    if(currentrpwm>targetrpwm)
      currentrpwm=targetrpwm;
  }
  if(currentrpwm>targetrpwm){
    currentrpwm-=RATE;
    if(currentrpwm<targetrpwm)
      currentrpwm=targetrpwm;
  }

#ifdef SWAPMOTORS
  SetPWM2(currentrpwm);
#else
  SetPWM1(currentrpwm);
#endif

}

void setlpwm(int pwm)
{
  targetlpwm = pwm;
  if(currentlpwm<targetlpwm){
    currentlpwm+=RATE;
    if(currentlpwm>targetlpwm)
      currentlpwm=targetlpwm;
  }
  if(currentlpwm>targetlpwm){
    currentlpwm-=RATE;
    if(currentlpwm<targetlpwm)
      currentlpwm=targetlpwm;
  }

#ifdef SWAPMOTORS
  SetPWM1(currentlpwm);
#else
  SetPWM2(currentlpwm);
#endif

}

void SetPWM1(int pwm)
{
  if(pwm>0){
    digitalWrite(IN1,HIGH);
    digitalWrite(IN2,LOW);
  }
  if(pwm<0){
    digitalWrite(IN1,LOW);
    digitalWrite(IN2,HIGH);
  }
  if(pwm==0){
    digitalWrite(IN1,LOW);
    digitalWrite(IN2,LOW);
  }
  analogWrite(EN1,abs(pwm*2));
}

void SetPWM2(int pwm)
{
  if(pwm>0){
    digitalWrite(IN3,HIGH);
    digitalWrite(IN4,LOW);
  }
  if(pwm<0){
    digitalWrite(IN3,LOW);
    digitalWrite(IN4,HIGH);
  }
  if(pwm==0){
    digitalWrite(IN3,LOW);
    digitalWrite(IN4,LOW);
  }
  analogWrite(EN2,abs(pwm*2));
}

Answer 1

首先简单的事情:除非它最近发生了变化(或者在 Windows 上与 OSX 上不同)，否则您需要将库放在 Arduino -> Libraries 文件夹中(或者在您的 sketch 文件夹中，但这通常不是一个好的做法)第 3 方库)。

我无法从你的屏幕截图中确定，但看起来你那里没有它们。如果是这种情况，不确定为什么 #include 语句不会抛出错误。