Switch case problems

Programming Support ROBOTC Tech Support
#1

hey, my name is Marshall from team 11761B, and I am having problems in my program, where when I use a switch() case: it is giving me compiler errors. If anybody could tell me how to fix this it would be very helpful.

#pragma config(Sensor, dgtl1, rightencoder, sensorRotation)
#pragma config(Sensor, dgtl2, leftencoder, sensorRotation)
#pragma config(Motor, port1, rightmotor, tmotorVex393_HBridge, openLoop)
#pragma config(Motor, port2, leftmotor, tmotorVex393_MC29, openLoop)
//!!Code automatically generated by ‘ROBOTC’ configuration wizard !!//

void driveDirection(void ydirection, float inches, int power)
{
SensorValue[rightencoder] = 0;
SensorValue[leftencoder] = 0;
int dir = 0;

switch(ydirection)
{
case forward:
dir = 1;
break;

case backward:
dir = -1;
break;

default:
dir = 1;
break;

}
int drivegoal = (inches * 49.9109902106);

while(SensorValue[rightencoder] * dir < drivegoal || SensorValue[leftencoder] * dir < drivegoal)
{
	motor[rightmotor] = (dir * power);
	motor[leftmotor] = (dir * power);
}

{
	motor[rightmotor] = 0;
	motor[leftmotor] = 0;
}

}

//void driveBackward(float inches, int power) //New
//{
// SensorValue[rightencoder] = 0;
// SensorValue[leftencoder] = 0;
//
// float drivegoal = -(inches * 49.9109902106);
//
// while(SensorValue[rightencoder] > drivegoal || SensorValue[leftencoder] > drivegoal)
// {
// motor[rightmotor] = -power;
// motor[leftmotor] = -power;
// }
//
// {
// motor[rightmotor] = 0;
// motor[leftmotor] = 0;
// }
//}

void Turn(void direction, int degrees, int power)
{
SensorValue[rightencoder] = 0;
SensorValue[leftencoder] = 0;
int dir = 0;

switch(direction)
{
	case right:
		dir = 1;
	break;
	case left:
		dir = -1;
	break;
}

float turngoal = (degrees * 6.09777777778);

while(SensorValue[leftencoder] * dir < turngoal || SensorValue[rightencoder] * dir > -turngoal)
{
	motor[leftmotor] = dir * power;
	motor[rightmotor] = -dir * power;
}

{
	motor[leftmotor] = 0;
	motor[rightmotor] = 0;
}

}

// if(direction == Right)
// {
// while(abs(SensorValue[leftencoder] > turngoal || SensorValue[rightencoder] < -turngoal))
// {
// motor[rightmotor] = -power;
// motor[leftmotor] = power;
// }
//
// {
// motor[leftmotor] = 0;
// motor[rightmotor] = 0;
// }
// }
//
// if(direction == Left)
// {
// while(abs(SensorValue[rightencoder] > turngoal || SensorValue[leftencoder] < -turngoal))
// motor[rightmotor] = power;
// motor[leftmotor] = -power;
// }
//
// {
// motor[leftmotor] = 0;
// motor[rightmotor] = 0;
// }
// }
//}

void move(void xdirection, float amount, int power) //New
{
switch(xdirection)
{
case forward:
driveDirection(xdirection, amount, power);
break;
case left:
Turn(xdirection, amount, power);
break;
case right:
Turn(xdirection, amount, power);
break;
case backward:
driveDirection(xdirection, amount, power);
break;

}

}

task main() //Use move(direction, amountif direction = left/right degrees, if direction = forward/backward use inches)
{
//Put code in here
move(left, 90, 90);
}

#2

The issues with you code are:
“void” cannot be used as the type of a parameter (unless it’s a pointer to void). So xdirection etc. has no type, you could make it an “int” or, as I will show below, a new type.
“forward”, “left” etc. in the switch statements have no meaning, the compiler does not know what these are.

Here is one version of you code that defines a new type “tDirection” that can have predefined values. Behind the scenes these will be integers, directionForward will actually be 0, directionReverse will be 1, etc.

#pragma config(Sensor, dgtl1, rightencoder, sensorRotation)
#pragma config(Sensor, dgtl2, leftencoder, sensorRotation)
#pragma config(Motor, port1, rightmotor, tmotorVex393_HBridge, openLoop)
#pragma config(Motor, port2, leftmotor, tmotorVex393_MC29, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

typedef enum _tDirection {
   directionForward,
   directionReverse,
   directionRight,
   directionLeft
} tDirection;

void driveDirection(tDirection ydirection, float inches, int power)
{
  SensorValue[rightencoder] = 0;
  SensorValue[leftencoder] = 0;
  int dir = 0;

  switch(ydirection)
  {
  case directionForward:
    dir = 1;
    break;

  case directionReverse:
    dir = -1;
    break;

  default:
    dir = 1;
    break;
  }
  int drivegoal = (inches * 49.9109902106);

  while(SensorValue[rightencoder] * dir < drivegoal || SensorValue[leftencoder] * dir < drivegoal)
  {
    motor[rightmotor] = (dir * power);
    motor[leftmotor] = (dir * power);
  }

  {
    motor[rightmotor] = 0;
    motor[leftmotor] = 0;
  }
}

//void driveBackward(float inches, int power) //New
//{
//  SensorValue[rightencoder] = 0;
//  SensorValue[leftencoder] = 0;
//
//  float drivegoal = -(inches * 49.9109902106);
//
//  while(SensorValue[rightencoder] > drivegoal || SensorValue[leftencoder] > drivegoal)
//  {
//  motor[rightmotor] = -power;
//  motor[leftmotor] = -power;
//  }
//
//  {
//  motor[rightmotor] = 0;
//  motor[leftmotor] = 0;
//  }
//}

void Turn(tDirection direction, int degrees, int power)
{
  SensorValue[rightencoder] = 0;
  SensorValue[leftencoder] = 0;
  int dir = 0;

  switch(direction)
  {
  case directionRight:
    dir = 1;
    break;
  case directionLeft:
    dir = -1;
    break;
  }

  float turngoal = (degrees * 6.09777777778);

  while(SensorValue[leftencoder] * dir < turngoal || SensorValue[rightencoder] * dir > -turngoal)
  {
    motor[leftmotor] = dir * power;
    motor[rightmotor] = -dir * power;
  }

  {
    motor[leftmotor] = 0;
    motor[rightmotor] = 0;
  }
}

//  if(direction == Right)
//  {
//  while(abs(SensorValue[leftencoder] > turngoal || SensorValue[rightencoder] < -turngoal))
//  {
//  motor[rightmotor] = -power;
//  motor[leftmotor] = power;
//  }
//
//  {
//  motor[leftmotor] = 0;
//  motor[rightmotor] = 0;
//  }
//  }
//
//  if(direction == Left)
//  {
//  while(abs(SensorValue[rightencoder] > turngoal || SensorValue[leftencoder] < -turngoal))
//  motor[rightmotor] = power;
//  motor[leftmotor] = -power;
//  }
//
//  {
//  motor[leftmotor] = 0;
//  motor[rightmotor] = 0;
//  }
//  }
//}

void move(tDirection xdirection, float amount, int power) //New
{
  switch(xdirection)
  {
  case directionForward:
    driveDirection(xdirection, amount, power);
    break;
  case directionLeft:
    Turn(xdirection, amount, power);
    break;
  case directionRight:
    Turn(xdirection, amount, power);
    break;
  case directionReverse:
    driveDirection(xdirection, amount, power);
    break;

  }

}

task main() //Use move(direction, amount[if direction = left/right degrees, if direction = forward/backward use inches)
{
  //Put code in here
  move( directionLeft, 90, 90);
}
#3