need help asap thanks

Programming Support ROBOTC Tech Support
1

please help asap we are in need of robot c help with our whole program it has many errors and cant figure out why mostly the pid loop i dont know how to state the sensorvalue in the code with a pid loop or if you even need one. if you can take a look and fix it ans send it to me that would be amazing thanks

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, dgtl2,  pistonleftshooter, sensorDigitalOut)
#pragma config(Sensor, dgtl3,  pistonrightshooter, sensorDigitalOut)
#pragma config(Sensor, dgtl4,  pistonshooterlevel, sensorDigitalOut)
#pragma config(Sensor, dgtl5,  liftleft,       sensorNone)
#pragma config(Sensor, dgtl6,  leftright,      sensorNone)
#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_3,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           beaterbar,     tmotorVex393TurboSpeed_HBridge, openLoop)
#pragma config(Motor,  port2,           Rightdrivemotor, tmotorVex393_MC29, openLoop, driveLeft)
#pragma config(Motor,  port3,           Leftdrivemotor, tmotorVex393_MC29, openLoop, reversed, driveRight)
#pragma config(Motor,  port4,           elevator,      tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor,  port5,           LefttopSMotor, tmotorVex393_MC29, openLoop, encoderPort, I2C_1)
#pragma config(Motor,  port6,           LeftmiddleSMotor, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port7,           LeftbottomSMotor, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           RighttopSMotor, tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_3)
#pragma config(Motor,  port9,           RightmiddleSMotor, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          RightbottomSMotor, tmotorVex393_HBridge, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#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()
{
motor[port1] = -127;
motor[port10] = 127;
wait1Msec(500);
motor[port1] = 0;
motor[port10] = 0;
wait1Msec(500);
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 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()
{
	// User control code here, inside the loop
		bLCDBacklight = true;                                    // Turn on LCD Backlight
string mainBattery, backupBattery;

while (true)
	{
		clearLCDLine(0);                                            // Clear line 1 (0) of the LCD
clearLCDLine(1);                                            // Clear line 2 (1) of the LCD

//Display the Primary Robot battery voltage
displayLCDString(0, 0, "Primary: ");
sprintf(mainBattery, "%1.2f%c", nImmediateBatteryLevel/1000.0,'V'); //Build the value to be displayed
displayNextLCDString(mainBattery);


//Display the Backup battery voltage
displayLCDString(1, 0, "Backup: ");
sprintf(backupBattery, "%1.2f%c", BackupBatteryLevel/1000.0, 'V');    //Build the value to be displayed
displayNextLCDString(backupBattery);

//Short delay for the LCD refresh rate
wait1Msec(100);

	  int speed;
	  int speedx;
    speed =66; //Shooter Speed
 		speedx = 70;



 	float kp = 1.3;
 	float ki = 0.1;
 	float kd = 0.2;

 	float currentL = 0;
 	float currentR = 0;
 	float circ = 5*3.14592653589;


 	float integralActiveZone = ((1*12/circ)*360);
 	float errorTl;
 	float errorTr;
 	float lastErrorL;
 	float lastErrorR;
 	float proportionL;
 	float proportionR;
 	float integralL;
 	float intagralR;
 	float derivativeL;
 	float derivativeR;


 	velocityL=sensorValue(LefttopSMotor);
 	velocityR=sensorValue(RighttopSMotor);

 	//proportional value for the speed control
 	//proportional control of the shooter
 	float errorL = ((power*12/circ)*360 ) - velocityL;
 	float errorR = ((power*12/circ)*360 ) - velocityR;



 	if(errorL <integralActiveZone && errorL != 0)
 	{
 		errorTl += errorL;
	}
	else
		{
		errorTl = 0;
		}

	if(errorR < ((integralActiveZone*12/circ)*360) && error != 0)
	{
		errorTr += errorR;
	}
	else{
		errorTr = 0;
	}
	if(errorTl > 50/ki)
	{
		errorTl = 50/ki
	}
	if (errorTr > 50/ki)
	{
		errorTr = 50/ki;
	}
 		if(errorL == 0)
 		{
 		derivativeL = 0;
 		}
 		if(errorR == 0)
 		{
 			derivativeR = 0;
 	}

proportionL  = 			errorL 										* kp;
proportionR  = 			error R 									* kp;
intergalL    = 			errorTl 									* ki;
IntegralR    =		 (errorL - lastErrorL) 			* ki;
derivativeR  = 		 (errorR - lastErrorR) 			* kd;

lastErrorR = errorL;
lastErrorR = errorR;


/////////////////////////////////////////////////////////////////////////////////////////////////
currentR = proportionR + IIntegralR + derivativeR;
currentL = pproportionL + integralL + derivativeL;

if (power n== 0) (
	 currentR = 0;
	 currentL = 0;
	}
if(currentL < 0) {
	currentL = 0;
	}
if(currentR < 0) {
	currentR = 0;
	}
	motor [LeftbottomSMotor] = motor [LeftmiddleSMotor] = motor [LefttopSMotor]=currentL;
	motor [RightbottomSMotor] = motor [RightmiddleSMotor] = motor [RighttopSMotor] =currentR;
	if (vexRT[Btn6DXmtr2] ==) {

motor[LeftbottomSMotor]=motor[LeftmiddleSMotor] = motor[LefttopSMotor] = motor[RightbottomSMotor] = motor [RightmiddleSMotor] = motor [RighttopSMotor] =0;

}
wait1Msec(20);

 		//Shooter Speed low shot
    //Right side of the robot is controlled by the right joystick, Y-axis
    motor[Rightdrivemotor] = vexRT[Ch3];
    //Left side of the robot is controlled by the left joystick, Y-axis
    motor[Leftdrivemotor] = vexRT[Ch2];


    if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[elevator] = (127);
    }
    else if(vexRT[Btn5UXmtr2] == 1)
    {
      motor[elevator] = (-127);
    }
    else
    {
      motor[elevator] = 0;
    }


     if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[beaterbar] = (127);

    }
    else if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[beaterbar] = (-127);

    }
    else
    {
      motor[beaterbar] = 0;
    }

  // Don't hog the cpu
  wait1Msec(25);
  				// end of task main

errors
Warning:Unreferenced function ‘UserControlCodePlaceholderForTesting’
Warning:Unreferenced function ‘AutonomousCodePlaceholderForTesting’
Warning:Unreferenced variable ‘intagralR’
Error:Undefined variable ‘velocityL’. ‘short’ assumed.
Warning:Substituting similar variable ‘SensorValue’ for ‘sensorValue’. Check spelling and letter case.
Error:Undefined variable ‘velocityR’. ‘short’ assumed.
Warning:Substituting similar variable ‘SensorValue’ for ‘sensorValue’. Check spelling and letter case.
Error:Undefined variable ‘power’. ‘short’ assumed.
Error:Undefined variable ‘error’. ‘short’ assumed.
Warning:‘;’ expected before ‘}’. Automatically inserted by compiler
Error:Expected->‘;’. Found ‘R’
Error:Undefined variable ‘R’. ‘short’ assumed.
Warning:Meaningless statement – no code generated
Error:Undefined variable ‘intergalL’. ‘short’ assumed.
Error:Undefined variable ‘IntegralR’. ‘short’ assumed.
Error:Undefined variable ‘IIntegralR’. ‘short’ assumed.
Error:Undefined variable ‘pproportionL’. ‘short’ assumed.
Error:‘)’ missing. Ummatched left parenthesis ‘(’
Error:Expected->‘)’. Found ‘n’
Error:Undefined variable ‘n’. ‘short’ assumed.
Error:Missing ‘;’ before ‘)’
Error:Unexpected ‘)’ during parsing
Warning:‘)’ exepected before ‘;’. Automatically inserted.
Warning:Meaningless statement. Did you mean ‘=’ instead of ‘==’?
Error:Undefined variable ‘currentL’. ‘short’ assumed.
Error:Undefined variable ‘currentR’. ‘short’ assumed.
Error:Unexpected ‘)’ during parsing
Error:Executable statements not valid in ‘main’ declaration block
Error:Executable statements not valid in ‘main’ declaration block
Error:Executable statements not valid in ‘main’ declaration block
Error:Executable statements not valid in ‘main’ declaration block
Error:Executable statements not valid in ‘main’ declaration block
Error:Executable statements not valid in ‘main’ declaration block

2

Double clicking on an error will take you to the line of code that has problems, there will be a big red X next to the error.

Most of your errors are caused by typos. For example, these three

Error*:Undefined variable ‘intergalL’. ‘short’ assumed.
Error*:Undefined variable ‘IntegralR’. ‘short’ assumed.
Error*:Undefined variable ‘IIntegralR’. ‘short’ assumed.

The compiler is complaining that the variables are undefined. You have IntegralR and IIntegralR, the variable you originally defined was spelt integralR (lower case i).

These errors
Error*:Expected->‘)’. Found ‘n’
Error*:Undefined variable ‘n’. ‘short’ assumed.

caused by this code.

if (power n== 0) (
	 currentR = 0;
	 currentL = 0;
	}

The two problems here are; 1. the space between power and n (neither of which are defined as variables) 2. The parenthesis “(” after the if statement should be a brace “{”.

So I have spent 5 minutes and cleaned up all the syntax errors, however, the code will probably not work and I will leave it to you to debug.

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, dgtl2,  pistonleftshooter, sensorDigitalOut)
#pragma config(Sensor, dgtl3,  pistonrightshooter, sensorDigitalOut)
#pragma config(Sensor, dgtl4,  pistonshooterlevel, sensorDigitalOut)
#pragma config(Sensor, dgtl5,  liftleft,       sensorNone)
#pragma config(Sensor, dgtl6,  leftright,      sensorNone)
#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_3,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           beaterbar,     tmotorVex393TurboSpeed_HBridge, openLoop)
#pragma config(Motor,  port2,           Rightdrivemotor, tmotorVex393_MC29, openLoop, driveLeft)
#pragma config(Motor,  port3,           Leftdrivemotor, tmotorVex393_MC29, openLoop, reversed, driveRight)
#pragma config(Motor,  port4,           elevator,      tmotorVex393TurboSpeed_MC29, openLoop)
#pragma config(Motor,  port5,           LefttopSMotor, tmotorVex393_MC29, openLoop, encoderPort, I2C_1)
#pragma config(Motor,  port6,           LeftmiddleSMotor, tmotorVex393_MC29, openLoop, reversed)
#pragma config(Motor,  port7,           LeftbottomSMotor, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port8,           RighttopSMotor, tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_3)
#pragma config(Motor,  port9,           RightmiddleSMotor, tmotorVex393_MC29, openLoop)
#pragma config(Motor,  port10,          RightbottomSMotor, tmotorVex393_HBridge, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#pragma platform(VEX)

//Competition Control and Duration Settings
#pragma competitionControl(Competition)
#pragma autonomousDuration(20)
#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()
{
  motor[port1] = -127;
  motor[port10] = 127;
  wait1Msec(500);
  motor[port1] = 0;
  motor[port10] = 0;
  wait1Msec(500);
}

/////////////////////////////////////////////////////////////////////////////////////////
//
//                                 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()
{
  // User control code here, inside the loop
  bLCDBacklight = true;                                    // Turn on LCD Backlight
  string mainBattery, backupBattery;

  while (true)
  {
    clearLCDLine(0);                                            // Clear line 1 (0) of the LCD
    clearLCDLine(1);                                            // Clear line 2 (1) of the LCD

    //Display the Primary Robot battery voltage
    displayLCDString(0, 0, "Primary: ");
    sprintf(mainBattery, "%1.2f%c", nImmediateBatteryLevel/1000.0,'V'); //Build the value to be displayed
    displayNextLCDString(mainBattery);


    //Display the Backup battery voltage
    displayLCDString(1, 0, "Backup: ");
    sprintf(backupBattery, "%1.2f%c", BackupBatteryLevel/1000.0, 'V');    //Build the value to be displayed
    displayNextLCDString(backupBattery);

    //Short delay for the LCD refresh rate
    wait1Msec(100);

    int speed;
    int speedx;
    speed =66; //Shooter Speed
    speedx = 70;



    float kp = 1.3;
    float ki = 0.1;
    float kd = 0.2;

    float currentL = 0;
    float currentR = 0;
    float circ = 5*3.14592653589;


    float integralActiveZone = ((1*12/circ)*360);
    float errorTl;
    float errorTr;
    float lastErrorL;
    float lastErrorR;
    float proportionL;
    float proportionR;
    float integralL;
    float integralR;
    float derivativeL;
    float derivativeR;


    int velocityL=SensorValue(LefttopSMotor);
    int velocityR=SensorValue(RighttopSMotor);
    
    // What is power, where does it come from ???
    int power;
    
    
    //proportional value for the speed control
    //proportional control of the shooter
    float errorL = ((power*12/circ)*360 ) - velocityL;
    float errorR = ((power*12/circ)*360 ) - velocityR;

    if(errorL <integralActiveZone && errorL != 0)
    {
      errorTl += errorL;
    }
    else
    {
      errorTl = 0;
    }

    if(errorR < ((integralActiveZone*12/circ)*360) && errorR != 0)
    {
      errorTr += errorR;
    }
    else{
      errorTr = 0;
    }
    if(errorTl > 50/ki)
    {
      errorTl = 50/ki;
    }
    if (errorTr > 50/ki)
    {
      errorTr = 50/ki;
    }
    if(errorL == 0)
    {
      derivativeL = 0;
    }
    if(errorR == 0)
    {
      derivativeR = 0;
    }

    proportionL  =      errorL                    * kp;
    proportionR  =      errorR                    * kp;
    integralL    =      errorTl                   * ki;
    integralR    =      errorTr                   * ki;
    derivativeL  =     (errorL - lastErrorL)      * kd;
    derivativeR  =     (errorR - lastErrorR)      * kd;

    lastErrorR = errorL;
    lastErrorR = errorR;


    /////////////////////////////////////////////////////////////////////////////////////////////////
    currentR = proportionR + integralR + derivativeR;
    currentL = proportionL + integralL + derivativeL;

    if (power == 0) {
      currentR = 0;
      currentL = 0;
    }
    if(currentL < 0) {
      currentL = 0;
    }
    if(currentR < 0) {
      currentR = 0;
    }
    motor [LeftbottomSMotor] = motor [LeftmiddleSMotor] = motor [LefttopSMotor]=currentL;
    motor [RightbottomSMotor] = motor [RightmiddleSMotor] = motor [RighttopSMotor] =currentR;
    if (vexRT[Btn6DXmtr2] == 1) {
      motor[LeftbottomSMotor]=motor[LeftmiddleSMotor] = motor[LefttopSMotor] = motor[RightbottomSMotor] = motor [RightmiddleSMotor] = motor [RighttopSMotor] =0;
    }
    wait1Msec(20);

    //Shooter Speed low shot
    //Right side of the robot is controlled by the right joystick, Y-axis
    motor[Rightdrivemotor] = vexRT[Ch3];
    //Left side of the robot is controlled by the left joystick, Y-axis
    motor[Leftdrivemotor] = vexRT[Ch2];


    if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[elevator] = (127);
    }
    else if(vexRT[Btn5UXmtr2] == 1)
    {
      motor[elevator] = (-127);
    }
    else
    {
      motor[elevator] = 0;
    }


    if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[beaterbar] = (127);
    }
    else if(vexRT[Btn6UXmtr2] == 1)
    {
      motor[beaterbar] = (-127);
    }
    else
    {
      motor[beaterbar] = 0;
    }

    // Don't hog the cpu
    wait1Msec(25);
  }
  
  if(false) {
    // never reached, stops warnings
    UserControlCodePlaceholderForTesting();
    AutonomousCodePlaceholderForTesting();
  }
}         // end of task main