Non ci riesco continua a darmi errore!!!
Exit status 1
'gira' was not declared in this scope
Non capisco eppure gli dò tutte le istruzioni... sono un principiante aiuto per favore 
#define trigPin 11
#define echoPin 10
#define PWMA 3
#define PWMB 9
#define AIN1 4
#define AIN2 7
#define BIN1 8
#define BIN2 12
#define STBY 2
void setup() {
Serial.begin (9600);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode( STBY,OUTPUT );
pinMode( PWMA,OUTPUT );
pinMode( PWMB,OUTPUT );
pinMode( AIN1,OUTPUT );
pinMode( AIN2,OUTPUT );
pinMode( BIN1,OUTPUT );
pinMode( BIN2,OUTPUT );
digitalWrite( STBY,HIGH );
}
void loop()
{
long duration, distance;
digitalWrite(trigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
digitalWrite(trigPin, HIGH);
// delayMicroseconds(1000); - Removed this line
delayMicroseconds(10); // Added this line
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
if (distance < 15)
{gira();
}
else
{ avanti();
}
if (distance >= 200 || distance <= 0){
Serial.println("Out of range");
}
else {
Serial.print(distance);
Serial.println(" cm");
}
void avanti()
{
digitalWrite( AIN1,HIGH );
digitalWrite( AIN2,LOW );
digitalWrite( BIN1,HIGH );
digitalWrite( BIN2,LOW );
analogWrite( PWMA,100 );
analogWrite( PWMB,100 );
}
void indietro()
{
digitalWrite( AIN1,LOW );
digitalWrite( AIN2,HIGH );
digitalWrite( BIN1,LOW );
digitalWrite( BIN2,HIGH );
analogWrite( PWMA,100 );
analogWrite( PWMB,100 );
}
void alt()
{
analogWrite( PWMA,50 );
analogWrite( PWMB,50 );
digitalWrite( AIN1,LOW );
digitalWrite( AIN2,LOW );
digitalWrite( BIN1,LOW );
digitalWrite( BIN2,LOW );
}
void gira()
{
// STOP x 1/2 sec
alt();
delay( 500 );
// INDIETRO x 1/2 secondo
indietro();
delay( 500 );
// STOP x 1/2 sec
alt();
delay( 500 );
// Gira
digitalWrite( AIN1,LOW );
digitalWrite( AIN2,HIGH );
digitalWrite( BIN1,HIGH );
digitalWrite( BIN2,LOW );
analogWrite( PWMA,100 );
analogWrite( PWMB,100 );
delay( 200 );
}