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expected unqualified-id before numeric constant In function 'void Scan()'

This about says it all. I am new to the Arduino and New to the C language. But, I have written may other programs in other languages. I was trying to add some subroutines written in Pbasic on the BasicStampII to the LARS program when I got this message.  

Any ideas??? :-?
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Post the code and we'll take a look-see.
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OK, here is the code:

// Begin Robot Code
int micVal;
int cdsVal;
int irLval;  // Left IR
int irCval;  // Center IR
int irRval;  // Right IR
int irRRval; // Rear IR
int i;   // Generic Counter
int x;  // Generic Counter
int PLval;  // Pulse Width for Left Servo
int PRval;  // Pulse Width for Right Servo
int cntr;  // Generic Counter Used for Determining amt. of Object Detections
int counter; // Generic Counter
int clrpth;  // amt. of Milliseconds Of Unobstructed Path
int objdet;  // Time an Object was Detected
int task;  // Routine to Follow for Clearest Path
int pwm;  // Pulse Width for Pan Servo
boolean add;  // Whether to Increment or Decrement PW Value for Pan Servo
int distance;  // Distance to Object Detected via Ultrasonic Ranger
int oldDistance;  // Previous Distance Value Read from Ultrasonic Ranger

float scale = 1.9866666666666666666666666666667;  // *Not Currently Used*

int LeftPin = 6;  // Left Servo
int RightPin = 9;  // Right Servo
int PiezoPin = 11;  // Piezo
int PingServoPin = 5;  // Pan Servo
int irLPin = 0;            // Analog 0; Left IR
int irCPin = 1;            // Analog 1; Center IR
int irRPin = 2;            // Analog 2; Right IR
int irRRPin =3;           // Analog 3; Rear IR
int BrowservoPin = 4;         // Analog 4; Brow Servo
int ultraSoundSignal = 7; // Ultrasound signal pin
int val = 0;              // Used for Ultrasonic Ranger
int ultrasoundValue = 0;  // Raw Distance Val
int oldUltrasoundValue;  // *Not used*
int pulseCount;        // Generic Counter
int timecount = 0; // Echo counter
int ledPin = 13; // LED connected to digital pin 13

#define BAUD 9600
#define CmConstant 1/29.034

void setup() {
  Serial.begin(9600);
  pinMode(PiezoPin, OUTPUT);
  pinMode(ledPin, OUTPUT);
  pinMode(LeftPin, OUTPUT);
  pinMode(PingServoPin, OUTPUT);
  pinMode(BrowservoPin, OUTPUT);
  pinMode(irLPin, INPUT);
  pinMode(irCPin, INPUT);
  pinMode(irRPin, INPUT);
  pinMode(irRRPin, INPUT);
  
  for(i = 0; i < 500; i++) {
    digitalWrite(PiezoPin, HIGH);
    delayMicroseconds(1000);
    digitalWrite(PiezoPin, LOW);
    delayMicroseconds(1000);
  }
  for(i = 0; i < 20; i++) {
  digitalWrite(PingServoPin, HIGH);
  delayMicroseconds(655 * 2);
  digitalWrite(PingServoPin, LOW);
  delay(20);
  }
  ultrasoundValue = 600;
  i = 0;
 }
  //InitializeBrows();
  do while (i != 40); i++;
      PULSOUT BrowServoPin, 400
      delay (500)
{
  //Scan();
  Look();
  Go();
}
void Look() {
  irLval = analogRead(irLPin);
  irCval = analogRead(irCPin);
  irRval = analogRead(irRPin);
  irRRval = analogRead(irRRPin);
  //if(counter > 10) {
    //counter = 0;
    //readPing();
  //}
  if(irLval > 200) {
    PLval = 850;
    PRval = 820;
    x = 5;
    cntr = cntr + 1;
    clrpth = 0;
    objdet = millis();
  }
  else if(irCval > 200) {
    PLval = 850;
    PRval = 820;
    x = 10;
    cntr = cntr + 1;
    clrpth = 0;
    objdet = millis();
  }
  else if(irRval > 200) {
    PLval = 650;
    PRval = 620;
    x = 5;
    cntr = cntr + 1;
    clrpth = 0;
    objdet = millis();
  }
  else {
    x = 1;
    PLval = 850;
    PRval = 620;
    counter = counter + 1;
    clrpth = (millis() - objdet);
    if(add == true) {
      pwm = pwm + 50;
    }
    else if(add == false) {
      pwm = pwm - 50;
    }
    if(pwm < 400) {
      pwm = 400;
      add = true;
    }
    if(pwm > 950) {
      pwm = 950;
      add = false;
    }
    digitalWrite(PingServoPin, HIGH);
    delayMicroseconds(pwm * 2);
    digitalWrite(PingServoPin, LOW);
    delay(20);
    readPing();
    if(ultrasoundValue < 500) {
      cntr = cntr + 1;
      switch(pwm) {
        case 400:
          x = 7;
          PLval = 650;
          PRval = 650;
          Go();
          break;
        case 500:
          x = 10;
          PLval = 650;
          PRval = 650;
          Go();
          break;
        case 600:
          x = 14;
          PLval = 850;
          PRval = 850;
          Go();
          break;
        case 700:
          x = 10;
          PLval = 850;
          PRval = 850;
          Go();
          break;
        case 950:
          x = 7;
          PLval = 850;
          PRval = 850;
          Go();
          break;
      }
    }
  }
  //Serial.print("clrpth: ");
  //Serial.println(clrpth);
  //Serial.print("objdet: ");
  //Serial.println(objdet);
  //Serial.print("cntr: ");
  //Serial.println(cntr);
  if(cntr > 25 && clrpth < 2000) {
    clrpth = 0;
    cntr = 0;
    Scan();
  }
}
void Go() {
  for(i = 0; i < x; i++) {
    digitalWrite(LeftPin, HIGH);
    delayMicroseconds(PLval * 2);
    digitalWrite(LeftPin, LOW);
    digitalWrite(RightPin, HIGH);
    delayMicroseconds(PRval * 2);
    digitalWrite(RightPin, LOW);
    delay(20);
  }
}
void readPing() {  // Get Distance from Ultrasonic Ranger
 timecount = 0;
 val = 0;
 pinMode(ultraSoundSignal, OUTPUT); // Switch signalpin to output

/* Send low-high-low pulse to activate the trigger pulse of the sensor
 * -------------------------------------------------------------------
 */

digitalWrite(ultraSoundSignal, LOW); // Send low pulse
delayMicroseconds(2); // Wait for 2 microseconds
digitalWrite(ultraSoundSignal, HIGH); // Send high pulse
delayMicroseconds(5); // Wait for 5 microseconds
digitalWrite(ultraSoundSignal, LOW); // Holdoff

/* Listening for echo pulse
 * -------------------------------------------------------------------
 */

pinMode(ultraSoundSignal, INPUT); // Switch signalpin to input
val = digitalRead(ultraSoundSignal); // Append signal value to val
while(val == LOW) { // Loop until pin reads a high value
  val = digitalRead(ultraSoundSignal);
}

while(val == HIGH) { // Loop until pin reads a high value
  val = digitalRead(ultraSoundSignal);
  timecount = timecount +1;            // Count echo pulse time
}

/* Writing out values to the serial port
 * -------------------------------------------------------------------
 */

ultrasoundValue = timecount; // Append echo pulse time to ultrasoundValue

//serialWrite('A'); // Example identifier for the sensor
//printInteger(ultrasoundValue);
//serialWrite(10);
//serialWrite(13);

/* Lite up LED if any value is passed by the echo pulse
 * -------------------------------------------------------------------
 */

if(timecount > 0){
  digitalWrite(ledPin, HIGH);
}
}

void Scan() {   // Scan for the Clearest Path
  oldDistance = 30;
  task = 0;
  for(i = 1; i < 5; i++) {
    switch(i) {
      case 1:
        //Serial.println("Pos. 1");
        pwm = 1125;    ///  incr. by 100 from 1085
        break;
      case 2:
        //Serial.println("Pos. 2");
        pwm = 850; //// increased by 100 from 850
        break;
      case 3:
        //Serial.println("Pos. 3");
        pwm = 400;
        break;
      case 4:
        //Serial.println("Pos. 4");
        pwm = 235;
        break;
    }
    for(pulseCount = 0; pulseCount < 20; pulseCount++) {  // Adjust Pan Servo and Read USR
      digitalWrite(PingServoPin, HIGH);
      delayMicroseconds(pwm * 2);
      digitalWrite(PingServoPin, LOW);
      readPing();
      delay(20);
    }
    distance = ((float)ultrasoundValue * CmConstant);   // Calculate Distance in Cm
    if(distance > oldDistance) {  // If the Newest distance is longer, replace previous reading with it
      oldDistance = distance;
      task = i;   // Set task equal to Pan Servo Position
    }
  }
  //Serial.print("Task: ");
  //Serial.println(task);
  //Serial.print("distance: ");
  //Serial.println(distance);
  //Serial.print("oldDistance: ");
  //Serial.println(oldDistance);
  distance = 50;  // Prevents Scan from Looping
  switch(task) {   // Determine which task should be carried out
    case 0:  // Center was clearest
      x = 28;
      PLval = (850);
      PRval = (850);
      Go();
      break;
    case 1:  // 90 degrees Left was Clearest
      x = 14;
      PLval = (650);
      PRval = (650);
      Go();
      break;
    case 2:  // 45 degrees left
      x = 7;
      PLval = (650);
      PRval = (650);
      Go();
      break;
    case 3:  // 45 degrees right
      x = 7;
      PLval = (850);
      PRval = (850);
      Go();
      break;
    case 4:  // 90 degrees right
      x = 14;
      PLval = (850);
      PRval = (850);
      Go();
      break;
      
      // Brow Control
     /void InitializeBrows()
  switch(task) {   // Determine which task should be carried out
    case 0:  // Initialize Brows
     do while (i != 40); i++;
      PULSOUT BrowservoPin, 400
      delay (500)
      InitializeBrows();
      break;
    case 1:  // Raise Brows
    void RaiseBrows() {
      do while (i != 40); i++;
      PULSOUT BrowservoPin, 15
      delay (500)
     RaiseBrows();
      break;
    case 2:  // Lower Brows
    void LowerBrows(); {
    do while (i != 40); i++;
      PULSOUT BrowservoPin, 600
      delay (500)
      LowerBrows();
      break;

      
   }
}


// End Robot Code

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I think this should've been in the Syntax part of the board. Sorry :-[

I moved as much as I could to the Syntax part of the board. Follow me over there, please.

Thanks!
« Last Edit: August 01, 2009, 05:38:40 pm by J.Smith » Logged

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