'BMSerial' does not name a type - c

Question

This is what I see every time I compile the software:
Every time I try to compile this code with the Arduino IDE, it generates this error.
This code is for the RTK1 tracked robot. and I'm trying to control it by PS3 controller.
I'm pretty new tote whole Arduino board and compiler, as well as C++. so any help would be much appreciated.
#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

Simple things first: Unless it has changed recently (or is different on Windows than on OSX), you need to have your libraries in Arduino -> Libraries folder (or within your sketch folder but that is generally not a good practice with 3rd party libs).
I can't tell for sure from your screenshot but it doesn't look like you have them there. If that is the case, not sure why the #include statement doesn't throw and error.