so this is my code
#include <Servo.h>
#include "calibration.hh"
#include "controllerbase.hh"
// Humble Object connecting device to tested code Humble Object at XUnitPatterns.com
class Controller: public ControllerBase
{
public:
Controller(void) {}
void setup(void) {
for (int drive=0; drive<DRIVES; drive++)
m_servo[drive].attach(SERVOPIN[drive]);
}
int offset(int drive) { return OFFSET[drive]; }
float resolution(int drive) { return RESOLUTION[drive]; }
int lower(int drive) { return MIN[drive]; }
int upper(int drive) { return MAX[drive]; }
void reportInteger(int value) {
Serial.print(value);
Serial.write("\r\n");
}
void reportFloat(float value) {
Serial.print(value);
Serial.write("\r\n");
}
void reportTime(void) {
Serial.print(millis());
Serial.write("\r\n");
}
void reportReady(bool ready) {
reportInteger(ready ? 1 : 0);
}
void reportRequired(float time) {
reportFloat(time);
}
void reportAngle(float angle) {
reportFloat(angle);
}
void reportPWM(int pwm) {
reportInteger(pwm);
}
void reportConfiguration(float base, float shoulder, float elbow, float roll, float pitch, float wrist, float gripper) {
Serial.print(base);
Serial.write(" ");
Serial.print(shoulder);
Serial.write(" ");
Serial.print(elbow);
Serial.write(" ");
Serial.print(roll);
Serial.write(" ");
Serial.print(pitch);
Serial.write(" ");
Serial.print(wrist);
Serial.write(" ");
Serial.print(gripper);
Serial.write("\r\n");
}
void reportLower(float base, float shoulder, float elbow, float roll, float pitch, float wrist, float gripper) {
reportConfiguration(base, shoulder, elbow, roll, pitch, wrist, gripper);
}
void reportUpper(float base, float shoulder, float elbow, float roll, float pitch, float wrist, float gripper) {
reportConfiguration(base, shoulder, elbow, roll, pitch, wrist, gripper);
}
void reportTeachPoint(float base, float shoulder, float elbow, float roll, float pitch, float wrist, float gripper) {
reportConfiguration(base, shoulder, elbow, roll, pitch, wrist, gripper);
}
void writePWM(int drive, int pwm) {
m_servo[drive].writeMicroseconds(pwm);
}
protected:
Servo m_servo[DRIVES];
};
unsigned long t0;
Controller controller;
void setup() {
controller.setup();
Serial.begin(115200);
t0 = millis();
}
void loop() {
int dt = millis() - t0;
while (Serial.available())
controller.parseChar(Serial.read());
controller.update(dt * 0.001);
t0 += dt;
}
and i have calibration.hh and controllerbase.hh in the same folder as my .ino program but it still won't work...