Errors on Line 36 Unexpected “;” and “=”
Error on line 68 Unexpected )
#pragma config(Sensor, in1, in6, sensorAnalog)
#pragma config(Sensor, dgtl1, ShooterEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl3, Limit, sensorTouch)
#pragma config(Sensor, dgtl4, LeftQuad, sensorQuadEncoder)
#pragma config(Sensor, dgtl6, RightQuad, sensorQuadEncoder)
#pragma config(Motor, port1, IntakeLeft, tmotorVex393_HBridge, openLoop)
#pragma config(Motor, port2, ShooterLeft, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor, port3, ShooterLeft2, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor, port4, RightBase, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port5, LiftLeft, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port6, LiftRight, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port7, LeftBase, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port8, ShooterRight, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor, port9, ShooterRight2, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor, port10, IntakeRight, tmotorVex393_HBridge, openLoop, reversed)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
//////////////////////////////////////////////////////////////////////////////////////
float currentEncoder ;
float currentRPM ;
float error ;
float percentError ;
float lastAdjustment ;
float currentAdjustment ;
float truePower;
int time ;
int buffer = 0;
//////////////////////////////////////////////////////////////////////////////////////
#define TIMER_MSEC
#define RPM 60*1000/TIMER_MSEC
void CONTROLL_LOOP(float Target, float motorPower)
{
currentEncoder = (SensorValue[ShooterEncoder]); // Poll Encoder
currentRPM = currentEncoder / 360*RPM; // RPM calc
error = (Target - currentRPM); // Error in RPM
percentError = (error/Target); // error in percent
////////////////////////////////////////////////////////////////////////
if(percentError < 1)
{
currentAdjustment = percentError * 127 * 0.0039;
}
else if (percentError >= 1)
{
motor[ShooterLeft] = motorPower;
motor[ShooterLeft2] = motorPower;
motor[ShooterRight] = motorPower;
motor[ShooterRight2] = motorPower;
}
if(buffer== 0)
{
truePower = motorPower;
lastAdjustment=currentAdjustment;
buffer = 1;
}
else if (buffer == 1)
{
truePower = (truePower + currentAdjustment);
}
clearAll(actOnSensors);
clearTimer(T1);
time = time1[T1];
if(time > TIMER_MSEC)
{
motor[ShooterRight] = (truePower);
motor[ShooterRight2] = (truePower);
motor[ShooterLeft] = (truePower);
motor[ShooterLeft2] = (truePower);
clearTimer(T1);
}
task main
{
while(true)
{
CONTROLL_LOOP(215, 50);
}
}