I’m learning functions and get the error task main not defined at global scope level.
#pragma config(Sensor, in6, potentiometer, sensorPotentiometer)
#pragma config(Sensor, dgtl1, rightEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl3, leftEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl6, frontTouch, sensorTouch)
#pragma config(Sensor, dgtl8, sonarCM, sensorSONAR_cm)
#pragma config(Motor, port2, rightMotor, tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor, port3, leftMotor, tmotorServoContinuousRotation, openLoop)
#pragma config(Motor, port6, armMotor, tmotorServoContinuousRotation, openLoop)
//!!Code automatically generated by ‘ROBOTC’ configuration wizard !!//
/----------------------------------------------------------------------------------------------------
|* - Forward for Distance with Encoders - |
| ROBOTC on VEX 2.0 CORTEX |
| |
| This program instructs the robot to move forward for 5 rotations of the left shaft encoder. |
| |
| ROBOT CONFIGURATION |
| NOTES: |
| 1) Reversing ‘rightMotor’ (port 2) in the “Motors and Sensors Setup” is needed with the |
| “Squarebot” model, but may not be needed for all robot configurations. |
| 2) Whichever encoder is being used for feedback should be cleared just before it starts |
| counting by using the “SensorValue(encoder) = 0;”. This helps ensure consistancy. |
| |
| MOTORS & SENSORS: |
| * [Name] [Type] [Description] |
| Motor - Port 2 rightMotor VEX 3-wire module Right side motor |
| Motor - Port 3 leftMotor VEX 3-wire module Left side motor |
| Digital - Port 1,2 rightEncoder VEX Shaft Encoder Right side |
| Digital - Port 3,4 leftEncoder VEX Shaft Encoder Left side |
*----------------------------------------------------------------------------------------------------/
//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
void moveStraight ()
{
SensorValue[rightEncoder] = 0;
SensorValue[leftEncoder] = 0;
//First Forward Movement
while(SensorValue[leftEncoder] < 550) // While less than 550 for forward to 2’
{
//...Move Forward
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
}
task main()
{
wait1Msec(500); // .5 Second Delay
//Clear Encoders
SensorValue[rightEncoder] = 0;
SensorValue[leftEncoder] = 0;
while(SensorValue[leftEncoder] < 550) // While less than 550 for forward to 2’
{
//...Move Forward
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
wait1Msec(500); // .5 Second Delay
}
SensorValue[rightEncoder] = 0;
SensorValue[leftEncoder] = 0;
while(SensorValue[leftEncoder] > -550) // While greater than -550 for reverse to 2’
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
wait1Msec(500); // .5 Second Delay
SensorValue[rightEncoder] = 0;
SensorValue[leftEncoder] = 0;
while(SensorValue[leftEncoder] < 1350) // While less than 1800 for forward to 4’
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
wait1Msec(1000); // .5 Second Delay
SensorValue[rightEncoder] = 0;
SensorValue[leftEncoder] = 0;
while(SensorValue[leftEncoder] > -1650) // While less than 1800 for reverse to start
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
while(SensorValue[leftEncoder] < 1900) // While less than 1900 for forward to 6’
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = 127;
motor[leftMotor] = 127;
}
wait1Msec(1000); // .5 Second Delay
while(SensorValue[leftEncoder] > -1900) // While less than 1800 for reverse to start
if(SensorValue[leftEncoder]> SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[rightEncoder]> SensorValue[leftEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
if(SensorValue[leftEncoder]== SensorValue[rightEncoder])
{
motor[rightMotor] = -127;
motor[leftMotor] = -127;
}
}
}*
