Help with Function Definition not allowed here

Programming Support VEXcode Pro V5 Text Tech Support
1

Getting Errors with Function Definition not allowed here: Below is my code for my PID.cpp

#include "autons.h"
#include "robot-config.h"
#include "vex.h"
#include "functions.cpp"


using namespace vex;


void drivePID(double targetInches, double kP = 0.7, double kI = 0.7, double kD = 1.8) {

  double targetDegrees = inchesToDegrees(targetInches);

  setDTPosition(0); //reset encoders

  double error = targetDegrees;
  double integral = 0;
  double derivative = 0;
  double lastError = 0;
  double maxIntegral = 100;


  while (fabs(error) > 1.0) { //Keep running until you’re within 1° of your target
    double leftAvg = (LF.position(degrees) + LM.position(degrees) + LB.position(degrees)) / 3.0;
    double rightAvg = (RF.position(degrees) + RM.position(degrees) + RB.position(degrees)) / 3.0;
    double avgPos = (leftAvg + rightAvg) / 2.0;

    error = targetDegrees - avgPos;
    integral += error;

    // Anti-windup
    if (integral > maxIntegral) integral = maxIntegral;
    if (integral < -maxIntegral) integral = -maxIntegral;

    derivative = error - lastError;
    lastError = error;

    double power = (kP * error) + (kI * integral) + (kD * derivative);

    // Clamp output
    if (power > 100) power = 100;
    if (power < -100) power = -100;

    spinDT(power*0.7);

    task::sleep(20); // small loop delay
  }


  stopDT();
  Controller1.Screen.print("done");
  Controller1.Screen.print(targetDegrees);

}

//WARNING:kP, kI, and kD values are not correct, need to update yourself
void turnPID(double targetAngle, double kP = 0.1, double kI = 0, double kD = 0) {
  
  double dir =targetAngle/fabs(targetAngle);
  
 
  void turnPID(double targetAngle, double kP, double kI, double kD) {

    double dir = targetAngle/fabs(targetAngle);
    // Reset inertial and motor encoders
    InertialSensor.setRotation(0, degrees);

    // PID state
    double err = targetAngle;
    double integ = 0;
    double deriv = 0;
    double last = 0;
   const double maxI = 50.0;
    targetAngle=fabs(targetAngle);

   targetAngle = fabs(targetAngle);


    // loop til we’re close
    while (fabs(err) > 3.5) {
    while (fabs(err) > 1.0) {
    err = targetAngle - fabs(InertialSensor.rotation(degrees));
    integ += err;
    if (integ >  maxI) integ =  maxI;
    if (integ < -maxI) integ = -maxI;
    deriv = err - last;
    last  = err;

    Controller.Screen.clearScreen();
    Controller.Screen.setCursor(1, 1);
    Controller.Screen.print(InertialSensor.rotation(degrees));

    double power = kP*err + kI*integ + kD*deriv;
    if (power > 100) power = 100;
    if (power < -100) power = -100;

    spinLeftDT(dir*-power);
    spinRightDT(dir*power);

    vex::task::sleep(20);
    }
    }

    controller.Screen.print("done");
    controller.Screen.print(targetAngle);

    stopDT();
  }  
}

Errors are on line void turnPID…
Also getting errors on my functions.cpp:

#include "autons.h"
#include "robot-config.h"
#include "vex.h"
#include "functions.cpp"


using namespace vex;


void drivePID(double targetInches, double kP = 0.7, double kI = 0.7, double kD = 1.8) {

  double targetDegrees = inchesToDegrees(targetInches);

  setDTPosition(0); //reset encoders

  double error = targetDegrees;
  double integral = 0;
  double derivative = 0;
  double lastError = 0;
  double maxIntegral = 100;


  while (fabs(error) > 1.0) { //Keep running until you’re within 1° of your target
    double leftAvg = (LF.position(degrees) + LM.position(degrees) + LB.position(degrees)) / 3.0;
    double rightAvg = (RF.position(degrees) + RM.position(degrees) + RB.position(degrees)) / 3.0;
    double avgPos = (leftAvg + rightAvg) / 2.0;

    error = targetDegrees - avgPos;
    integral += error;

    // Anti-windup
    if (integral > maxIntegral) integral = maxIntegral;
    if (integral < -maxIntegral) integral = -maxIntegral;

    derivative = error - lastError;
    lastError = error;

    double power = (kP * error) + (kI * integral) + (kD * derivative);

    // Clamp output
    if (power > 100) power = 100;
    if (power < -100) power = -100;

    spinDT(power*0.7);

    task::sleep(20); // small loop delay
  }


  stopDT();
  Controller1.Screen.print("done");
  Controller1.Screen.print(targetDegrees);

}

//WARNING:kP, kI, and kD values are not correct, need to update yourself
void turnPID(double targetAngle, double kP = 0.1, double kI = 0, double kD = 0) {
  
  double dir =targetAngle/fabs(targetAngle);
  
 
  void turnPID(double targetAngle, double kP, double kI, double kD) {

    double dir = targetAngle/fabs(targetAngle);
    // Reset inertial and motor encoders
    InertialSensor.setRotation(0, degrees);

    // PID state
    double err = targetAngle;
    double integ = 0;
    double deriv = 0;
    double last = 0;
   const double maxI = 50.0;
    targetAngle=fabs(targetAngle);

   targetAngle = fabs(targetAngle);


    // loop til we’re close
    while (fabs(err) > 3.5) {
    while (fabs(err) > 1.0) {
    err = targetAngle - fabs(InertialSensor.rotation(degrees));
    integ += err;
    if (integ >  maxI) integ =  maxI;
    if (integ < -maxI) integ = -maxI;
    deriv = err - last;
    last  = err;

    Controller.Screen.clearScreen();
    Controller.Screen.setCursor(1, 1);
    Controller.Screen.print(InertialSensor.rotation(degrees));

    double power = kP*err + kI*integ + kD*deriv;
    if (power > 100) power = 100;
    if (power < -100) power = -100;

    spinLeftDT(dir*-power);
    spinRightDT(dir*power);

    vex::task::sleep(20);
    }
    }

    controller.Screen.print("done");
    controller.Screen.print(targetAngle);

    stopDT();
  }  
}

Errors are on 1) void turnForTime line 2) runBottomIntake 3) runTopIntake 4) stopIntake

2

The errors will usually tell you the line number, and clangd will probably show you where the error is.

Also, do note that you placed PID.cpp twice instead of functions.cpp