Expected unqualified-id before <function, token, etc.>
I'm working on an autonomous robot that uses an Arduino microcontroller, and I need help with the code for it. I think that this forum can help, since the Arduino code is written in C++.
I actually found a code similar to what I needed, only it used both an IR sensor with a Ping))) Ultrasonic Rangefinder. I needed a code that only used the Ping))) instead of the IR sensor(s).
I had already tried to modify the code myself, but I kept on receiving errors such as "expected unqualified-id before <function, token, etc.>" when I tried to compile it.
This is my first time using C++, and I honestly have no idea whatsoever as to what I'm doing. Both of the codes are below. It may be easier to modify the code yourself, or simply fix mine. Either way, I need help, and I would greatly appreciate any that this forum has to offer. Thanks. 
Original Code
int micVal;
int cdsVal;
int irLval; // Left IR
int irCval; // Center IR
int irRval; // Right IR
int i; // Generic Counter
int x; // Generic Counter
int PLval; // Pulse Width for Left Servo
int PRval; // Pulse Width for Right Servo
int cntr; // Generic Counter Used for Determining amt. of Object Detections
int counter; // Generic Counter
int clrpth; // amt. of Milliseconds Of Unobstructed Path
int objdet; // Time an Object was Detected
int task; // Routine to Follow for Clearest Path
int pwm; // Pulse Width for Pan Servo
boolean add; // Whether to Increment or Decrement PW Value for Pan Servo
int distance; // Distance to Object Detected via Ultrasonic Ranger
int oldDistance; // Previous Distance Value Read from Ultrasonic Ranger
float scale = 1.9866666666666666666666666666667; // *Not Currently Used*
int LeftPin = 6; // Left Servo
int RightPin = 9; // Right Servo
int PiezoPin = 11; // Piezo
int PingServoPin = 5; // Pan Servo
int irLPin = 0; // Analog 0; Left IR
int irCPin = 1; // Analog 1; Center IR
int irRPin = 2; // Analog 2; Right IR
int ultraSoundSignal = 7; // Ultrasound signal pin
int val = 0; // Used for Ultrasonic Ranger
int ultrasoundValue = 0; // Raw Distance Val
int oldUltrasoundValue; // *Not used*
int pulseCount; // Generic Counter
int timecount = 0; // Echo counter
int ledPin = 13; // LED connected to digital pin 13
#define BAUD 9600
#define CmConstant 1/29.034
void setup() {
Serial.begin(9600);
pinMode(PiezoPin, OUTPUT);
pinMode(ledPin, OUTPUT);
pinMode(LeftPin, OUTPUT);
pinMode(RightPin, OUTPUT);
pinMode(PingServoPin, OUTPUT);
pinMode(irLPin, INPUT);
pinMode(irCPin, INPUT);
pinMode(irRPin, INPUT);
for(i = 0; i < 500; i++) {
digitalWrite(PiezoPin, HIGH);
delayMicroseconds(1000);
digitalWrite(PiezoPin, LOW);
delayMicroseconds(1000);
}
for(i = 0; i < 20; i++) {
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(655 * 2);
digitalWrite(PingServoPin, LOW);
delay(20);
}
ultrasoundValue = 600;
i = 0;
}
void loop()
{
//Scan();
Look();
Go();
}
void Look() {
irLval = analogRead(irLPin);
irCval = analogRead(irCPin);
irRval = analogRead(irRPin);
//if(counter > 10) {
//counter = 0;
//readPing();
//}
if(irLval > 200) {
PLval = 820;
PRval = 850;
x = 5;
cntr = cntr + 1;
clrpth = 0;
objdet = millis();
}
else if(irCval > 200) {
PLval = 820;
PRval = 850;
x = 10;
cntr = cntr + 1;
clrpth = 0;
objdet = millis();
}
else if(irRval > 200) {
PLval = 620;
PRval = 650;
x = 5;
cntr = cntr + 1;
clrpth = 0;
objdet = millis();
}
else {
x = 1;
PLval = 620;
PRval = 850;
counter = counter + 1;
clrpth = (millis() - objdet);
if(add == true) {
pwm = pwm + 50;
}
else if(add == false) {
pwm = pwm - 50;
}
if(pwm < 400) {
pwm = 400;
add = true;
}
if(pwm > 950) {
pwm = 950;
add = false;
}
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(pwm * 2);
digitalWrite(PingServoPin, LOW);
delay(20);
readPing();
if(ultrasoundValue < 500) {
cntr = cntr + 1;
switch(pwm) {
case 400:
x = 7;
PLval = 650;
PRval = 650;
Go();
break;
case 500:
x = 10;
PLval = 650;
PRval = 650;
Go();
break;
case 600:
x = 14;
PLval = 850;
PRval = 850;
Go();
break;
case 700:
x = 10;
PLval = 850;
PRval = 850;
Go();
break;
case 950:
x = 7;
PLval = 850;
PRval = 850;
Go();
break;
}
}
}
//Serial.print("clrpth: ");
//Serial.println(clrpth);
//Serial.print("objdet: ");
//Serial.println(objdet);
//Serial.print("cntr: ");
//Serial.println(cntr);
if(cntr > 25 && clrpth < 2000) {
clrpth = 0;
cntr = 0;
Scan();
}
}
void Go() {
for(i = 0; i < x; i++) {
digitalWrite(LeftPin, HIGH);
delayMicroseconds(PLval * 2);
digitalWrite(LeftPin, LOW);
digitalWrite(RightPin, HIGH);
delayMicroseconds(PRval * 2);
digitalWrite(RightPin, LOW);
delay(20);
}
}
void readPing() { // Get Distance from Ultrasonic Ranger
timecount = 0;
val = 0;
pinMode(ultraSoundSignal, OUTPUT); // Switch signalpin to output
/* Send low-high-low pulse to activate the trigger pulse of the sensor
* -------------------------------------------------------------------
*/
digitalWrite(ultraSoundSignal, LOW); // Send low pulse
delayMicroseconds(2); // Wait for 2 microseconds
digitalWrite(ultraSoundSignal, HIGH); // Send high pulse
delayMicroseconds(5); // Wait for 5 microseconds
digitalWrite(ultraSoundSignal, LOW); // Holdoff
/* Listening for echo pulse
* -------------------------------------------------------------------
*/
pinMode(ultraSoundSignal, INPUT); // Switch signalpin to input
val = digitalRead(ultraSoundSignal); // Append signal value to val
while(val == LOW) { // Loop until pin reads a high value
val = digitalRead(ultraSoundSignal);
}
while(val == HIGH) { // Loop until pin reads a high value
val = digitalRead(ultraSoundSignal);
timecount = timecount +1; // Count echo pulse time
}
/* Writing out values to the serial port
* -------------------------------------------------------------------
*/
ultrasoundValue = timecount; // Append echo pulse time to ultrasoundValue
//serialWrite('A'); // Example identifier for the sensor
//printInteger(ultrasoundValue);
//serialWrite(10);
//serialWrite(13);
/* Lite up LED if any value is passed by the echo pulse
* -------------------------------------------------------------------
*/
if(timecount > 0){
digitalWrite(ledPin, HIGH);
}
}
void Scan() { // Scan for the Clearest Path
oldDistance = 30;
task = 0;
for(i = 1; i < 5; i++) {
switch(i) {
case 1:
//Serial.println("Pos. 1");
pwm = 1125; /// incr. by 100 from 1085
break;
case 2:
//Serial.println("Pos. 2");
pwm = 850; //// increased by 100 from 850
break;
case 3:
//Serial.println("Pos. 3");
pwm = 400;
break;
case 4:
//Serial.println("Pos. 4");
pwm = 235;
break;
}
for(pulseCount = 0; pulseCount < 20; pulseCount++) { // Adjust Pan Servo and Read USR
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(pwm * 2);
digitalWrite(PingServoPin, LOW);
readPing();
delay(20);
}
distance = ((float)ultrasoundValue * CmConstant); // Calculate Distance in Cm
if(distance > oldDistance) { // If the Newest distance is longer, replace previous reading with it
oldDistance = distance;
task = i; // Set task equal to Pan Servo Position
}
}
//Serial.print("Task: ");
//Serial.println(task);
//Serial.print("distance: ");
//Serial.println(distance);
//Serial.print("oldDistance: ");
//Serial.println(oldDistance);
distance = 50; // Prevents Scan from Looping
switch(task) { // Determine which task should be carried out
case 0: // Center was clearest
x = 28;
PLval = (850);
PRval = (850);
Go();
break;
case 1: // 90 degrees Left was Clearest
x = 14;
PLval = (650);
PRval = (650);
Go();
break;
case 2: // 45 degrees left
x = 7;
PLval = (650);
PRval = (650);
Go();
break;
case 3: // 45 degrees right
x = 7;
PLval = (850);
PRval = (850);
Go();
break;
case 4: // 90 degrees right
x = 14;
PLval = (850);
PRval = (850);
Go();
break;
}
}
My Code
int i; // Generic Counter
int x; // Generic Counter
int PLval; // Pulse Width for Left Servo
int PRval; // Pulse Width for Right Servo
int cntr; // Generic Counter Used for Determining amt. of Object Detections
int counter; // Generic Counter
int clrpth; // amt. of Milliseconds Of Unobstructed Path
int objdet; // Time an Object was Detected
int task; // Routine to Follow for Clearest Path
int pwm; // Pulse Width for Pan Servo
boolean add; // Whether to Increment or Decrement PW Value for Pan Servo
int distance; // Distance to Object Detected via Ultrasonic Ranger
int oldDistance; // Previous Distance Value Read from Ultrasonic Ranger
float scale = 1.9866666666666666666666666666667; // *Not Currently Used*
int LeftPin = 6; // Left Servo
int RightPin = 9; // Right Servo
int PiezoPin = 11; // Piezo
int PingServoPin = 5; // Pan Servo
int ultraSoundSignal = 7; // Ultrasound signal pin
int val = 0; // Used for Ultrasonic Ranger
int ultrasoundValue = 0; // Raw Distance Val
int oldUltrasoundValue; // *Not used*
int pulseCount; // Generic Counter
int timecount = 0; // Echo counter
int ledPin = 13; // LED connected to digital pin 13
#define BAUD 9600
#define CmConstant 1/29.034
void setup() {
Serial.begin(9600);
pinMode(PiezoPin, OUTPUT);
pinMode(ledPin, OUTPUT);
pinMode(LeftPin, OUTPUT);
pinMode(RightPin, OUTPUT);
pinMode(PingServoPin, OUTPUT);
for(i = 0; i < 500; i++) {
digitalWrite(PiezoPin, HIGH);
delayMicroseconds(1000);
digitalWrite(PiezoPin, LOW);
delayMicroseconds(1000);
}
for(i = 0; i < 20; i++) {
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(655 * 2);
digitalWrite(PingServoPin, LOW);
delay(20);
}
ultrasoundValue = 600;
i = 0;
}
void loop()
{
//Scan();
Look();
Go();
}
void Look() {
x = 1;
PLval = 620;
PRval = 850;
counter = counter + 1;
clrpth = (millis() - objdet);
if(add == true) {
pwm = pwm + 50;
}
else if(add == false) {
pwm = pwm - 50;
}
if(pwm < 400) {
pwm = 400;
add = true;
}
if(pwm > 950) {
pwm = 950;
add = false;
}
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(pwm * 2);
digitalWrite(PingServoPin, LOW);
delay(20);
readPing();
if(ultrasoundValue < 500) {
cntr = cntr + 1;
switch(pwm) {
case 400:
x = 7;
PLval = 650;
PRval = 650;
Go();
break;
case 500:
x = 10;
PLval = 650;
PRval = 650;
Go();
break;
case 600:
x = 14;
PLval = 850;
PRval = 850;
Go();
break;
case 700:
x = 10;
PLval = 850;
PRval = 850;
Go();
break;
case 950:
x = 7;
PLval = 850;
PRval = 850;
Go();
break;
}
}
}
{
//Serial.print("clrpth: ");
//Serial.println(clrpth);
//Serial.print("objdet: ");
//Serial.println(objdet);
//Serial.print("cntr: ");
//Serial.println(cntr);
} {
if(cntr > 25 && clrpth < 2000) {
clrpth = 0;
cntr = 0;
Scan();
}
}
void Go() {
for(i = 0; i < x; i++) {
digitalWrite(LeftPin, HIGH);
delayMicroseconds(PLval * 2);
digitalWrite(LeftPin, LOW);
digitalWrite(RightPin, HIGH);
delayMicroseconds(PRval * 2);
digitalWrite(RightPin, LOW);
delay(20);
}
}
void readPing() { // Get Distance from Ultrasonic Ranger
timecount = 0;
val = 0;
pinMode(ultraSoundSignal, OUTPUT); // Switch signalpin to output
/* Send low-high-low pulse to activate the trigger pulse of the sensor
* -------------------------------------------------------------------
*/
digitalWrite(ultraSoundSignal, LOW); // Send low pulse
delayMicroseconds(2); // Wait for 2 microseconds
digitalWrite(ultraSoundSignal, HIGH); // Send high pulse
delayMicroseconds(5); // Wait for 5 microseconds
digitalWrite(ultraSoundSignal, LOW); // Holdoff
/* Listening for echo pulse
* -------------------------------------------------------------------
*/
pinMode(ultraSoundSignal, INPUT); // Switch signalpin to input
val = digitalRead(ultraSoundSignal); // Append signal value to val
while(val == LOW) { // Loop until pin reads a high value
val = digitalRead(ultraSoundSignal);
}
while(val == HIGH) { // Loop until pin reads a high value
val = digitalRead(ultraSoundSignal);
timecount = timecount +1; // Count echo pulse time
}
/* Writing out values to the serial port
* -------------------------------------------------------------------
*/
ultrasoundValue = timecount; // Append echo pulse time to ultrasoundValue
//serialWrite('A'); // Example identifier for the sensor
//printInteger(ultrasoundValue);
//serialWrite(10);
//serialWrite(13);
/* Lite up LED if any value is passed by the echo pulse
* -------------------------------------------------------------------
*/
if(timecount > 0){
digitalWrite(ledPin, HIGH);
}
}
void Scan() { // Scan for the Clearest Path
oldDistance = 30;
task = 0;
for(i = 1; i < 5; i++) {
switch(i) {
case 1:
//Serial.println("Pos. 1");
pwm = 1125; /// incr. by 100 from 1085
break;
case 2:
//Serial.println("Pos. 2");
pwm = 850; //// increased by 100 from 850
break;
case 3:
//Serial.println("Pos. 3");
pwm = 400;
break;
case 4:
//Serial.println("Pos. 4");
pwm = 235;
break;
}
for(pulseCount = 0; pulseCount < 20; pulseCount++) { // Adjust Pan Servo and Read USR
digitalWrite(PingServoPin, HIGH);
delayMicroseconds(pwm * 2);
digitalWrite(PingServoPin, LOW);
readPing();
delay(20);
}
distance = ((float)ultrasoundValue * CmConstant); // Calculate Distance in Cm
if(distance > oldDistance) { // If the Newest distance is longer, replace previous reading with it
oldDistance = distance;
task = i; // Set task equal to Pan Servo Position
}
}
//Serial.print("Task: ");
//Serial.println(task);
//Serial.print("distance: ");
//Serial.println(distance);
//Serial.print("oldDistance: ");
//Serial.println(oldDistance);
distance = 50; // Prevents Scan from Looping
switch(task) { // Determine which task should be carried out
case 0: // Center was clearest
x = 28;
PLval = (850);
PRval = (850);
Go();
break;
case 1: // 90 degrees Left was Clearest
x = 14;
PLval = (650);
PRval = (650);
Go();
break;
case 2: // 45 degrees left
x = 7;
PLval = (650);
PRval = (650);
Go();
break;
case 3: // 45 degrees right
x = 7;
PLval = (850);
PRval = (850);
Go();
break;
case 4: // 90 degrees right
x = 14;
PLval = (850);
PRval = (850);
Go();
break;
}
}
Last edited by LuciWiz : 25-Jan-2010 at 00:26.
Reason: Please insert your C++ code between [cpp] & [/cpp] tags
|
24-Jan-2010, 14:23
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