global variable issue

When compiling code, we get the following error:
Error:Task ‘usercontrol’ is not defined at global scope level


 #pragma config(Sensor, in6,    armPot,         sensorAnalog)
#pragma config(Sensor, dgtl1,  frontBumper,    sensorTouch)
#pragma config(Sensor, dgtl2,  backBumper,     sensorNone)
#pragma config(Sensor, dgtl3,  sonarSensor,    sensorSONAR_cm)
#pragma config(Sensor, dgtl5,  frontLimit,     sensorTouch)
#pragma config(Motor,  port1,           leftMotor,     tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port6,           clawMotor,     tmotorVex393, openLoop)
#pragma config(Motor,  port7,           armMotor,      tmotorVex393, openLoop)
#pragma config(Motor,  port10,          rightMotor,    tmotorVex393, openLoop)

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(30)
#pragma userControlDuration(120)

#include "Vex_Competition_Includes.c"   //Main competition background code...do not modify!

/////////////////////////////////////////////////////////////////////////////////////////
//
//                          Pre-Autonomous Functions
//
// You may want to perform some actions before the competition starts. Do them in the
// following function.
//
/////////////////////////////////////////////////////////////////////////////////////////

void pre_auton()
{
  // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between
  // Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false.
  bStopTasksBetweenModes = true;

	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 Autonomous Task
//
// This task is used to control your robot during the autonomous phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////

task autonomous()
{

	while (vexRT [Btn7D] == 0)

  	while (1==1)



		if (SensorValue(sonarSensor) > 20  || SensorValue(sonarSensor) == -1)		// Loop while robot's Ultrasonic sensor is further than 20 inches away from an object
	{                                                                         // || (or) it is '-1'.  (-1 is the value returned when nothing is in it's visable range)
		motor[rightMotor] = 63;			// Motor on port2 is run at half (63) power forward
		motor[leftMotor]  = 63;			// Motor on port3 is run at half (63) power forward
	}
else
{
	motor [rightMotor] = 0;
	motor [leftMotor] = 0;
	wait1Msec(1000);
	motor [rightMotor] = - 63;
	motor [leftMotor] = - 63;
	wait1Msec (1000);
	motor [rightMotor] = 63;
	motor [leftMotor] = -63;
	wait1Msec (1000);

	}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 User Control Task
//
// This task is used to control your robot during the user control phase of a VEX Competition.
// You must modify the code to add your own robot specific commands here.
//
/////////////////////////////////////////////////////////////////////////////////////////


task usercontrol()
{
	while (vexRT [Btn7D] == 0)
{
}
	// User control code here, inside the loop

	while (true)
	{
	  wait1Msec(1000);						// Robot waits for 1000 milliseconds before executing program

	  if(SensorValue(sonarSensor) > 5  || SensorValue(sonarSensor) < 0)		// Loop while robot's Ultrasonic sensor is further than 4 inches away from an object
	{                                                                         // || (or) it is '-1'.  (-1 is the value returned when nothing is in it's visable range)
		motor[rightMotor] = 127;			// Motor on port2 is run at half (63) power forward
		motor[leftMotor]  = 127;			// Motor on port3 is run at half (63) power forward


			if(SensorValue(sonarSensor) < 5)
		{
		motor[rightMotor] = 0;
  	motor[leftMotor] = 63;
  	wait1Msec(2000);
  }

}

	// Move forward at full power
	motor[leftMotor] = 127;		      // Motor on port1 is run at full (127) power forward
	motor[rightMotor]  = 127;		  // Motor on port10 is run at full (127) power forward
 wait1Msec(2000);

 while(1 == 1)
{

    //Driving Motor Control - joystick remote control
    motor[leftMotor] = vexRT[Ch3] ; 	  // Left Joystick Y value
    motor[rightMotor] = vexRT[Ch2] ;    // Right Joystick Y value


    //Arm Control
    if(vexRT[Btn6U] == 1 && SensorValue [armPot] <4092)
    {
      motor[armMotor] = 60;
    }
    else if(vexRT[Btn6D] == 1 && SensorValue[frontLimit] == 0)
    {
      motor[armMotor] = -60;
    }
    else
    {
      motor[armMotor] = 0;

       //Claw Control
    if(vexRT[Btn5U] == 1)
    {
      motor[clawMotor] = 30;
    }

    else if(vexRT[Btn5D] == 1)
    {
      motor[clawMotor] = -30;
    }
    else
    {
      motor[clawMotor] = 0;
    }
    }
  }

}
}
}

Please help! We compete this Saturday.

I apologize for the delay in my response, we have been very busy lately prepping for Worlds. For reference, this question has been answered on the ROBOTC forums, here.

The culprit was a missing brace { in the code. Once the brace was added and the code formatted using the ‘Format Whole File’ tool, the problem was resolved.

Thank you! The same code no longer runs the autonomous mode. It jumps right over it. There is no error when compiling and downloading the code. The user control part of it works.