Error unqualified id before ´if´

Projects Programming
1

#include <Servo.h>

#define motorder 2
#define motorizq 3

Servo servo1;
Servo servo2;
Servo servo3;

// Define color sensor pins
#define S0 4
#define S1 5
#define S2 6
#define S3 7
#define sensorOut 8

// Calibration Values
// *Get these from Calibration Sketch
int redMin = 0; // Red minimum value
int redMax = 0; // Red maximum value
int greenMin = 0; // Green minimum value
int greenMax = 0; // Green maximum value
int blueMin = 0; // Blue minimum value
int blueMax = 0; // Blue maximum value

// Variables for Color Pulse Width Measurements
int redPW = 0;
int greenPW = 0;
int bluePW = 0;

// Variables for final Color values
int redValue;
int greenValue;
int blueValue;

int trigPin = 11; // Disparador (Trigger)
int echoPin = 12; // Eco (Echo)
long duration, cm;
const int DISTANCIA = 15;

void setup(){
pinMode(motorder, OUTPUT);
pinMode(motorizq, OUTPUT);

servo1.attach(4);
servo2.attach(5);
servo3.attach(6);

// Set S0 - S3 as outputs
pinMode(S0, OUTPUT);
pinMode(S1, OUTPUT);
pinMode(S2, OUTPUT);
pinMode(S3, OUTPUT);

// Set Sensor output as input
pinMode(sensorOut, INPUT);

// Set Frequency scaling to 20%
digitalWrite(S0,HIGH);
digitalWrite(S1,LOW);

// Setup Serial Monitor
Serial.begin(9600);

//Define entradas y salidas
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);

}

void loop(){

servo1.write(0);
servo2.write(0);
servo3.write(0);

// El sensor se activa con un pulso ALTO de 10 microsegundos o más
// Emite un breve pulso BAJO antes para asegurar un pulso ALTO limpio:
digitalWrite(trigPin, LOW);
delayMicroseconds(5);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

// Lee la señal del sensor: un pulso ALTO cuya duración
// es el tiempo (en microsegundos) desde el envío del
// ping hasta la recepción de su eco de un objeto.
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);

// Convierte el tiempo en distancia
cm = (duration/2) / 29.1; // Divide entre 29.1 o multiplica por 0.0343

Serial.print(cm);
Serial.print("cm");
Serial.println();

delay(250);

if (cm < DISTANCIA){
Serial.print(">OBJETO DETECTADO A ");
Serial.print(cm);
Serial.println("<");
digitalWrite(motorder, HIGH);
digitalWrite(motorizq, LOW);
delay(1500);
digitalWrite(motorder, LOW);
digitalWrite(motorizq, LOW);

}

// Read Red value
redPW = getRedPW();
// Map to value from 0-255
redValue = map(redPW, redMin,redMax,255,0);
// Delay to stabilize sensor
delay(200);

// Read Green value
greenPW = getGreenPW();
// Map to value from 0-255
greenValue = map(greenPW, greenMin,greenMax,255,0);
// Delay to stabilize sensor
delay(200);

// Read Blue value
bluePW = getBluePW();
// Map to value from 0-255
blueValue = map(bluePW, blueMin,blueMax,255,0);
// Delay to stabilize sensor
delay(200);

// Print output to Serial Monitor
Serial.print("Red = ");
Serial.print(redValue);
Serial.print(" - Green = ");
Serial.print(greenValue);
Serial.print(" - Blue = ");
Serial.println(blueValue);

}

// Function to read Red Pulse Widths
int getRedPW() {
// Set sensor to read Red only
digitalWrite(S2,LOW);
digitalWrite(S3,LOW);
// Define integer to represent Pulse Width
int PW;
// Read the output Pulse Width
PW = pulseIn(sensorOut, LOW);
// Return the value
return PW;
}

// Function to read Green Pulse Widths
int getGreenPW() {
// Set sensor to read Green only
digitalWrite(S2,HIGH);
digitalWrite(S3,HIGH);
// Define integer to represent Pulse Width
int PW;
// Read the output Pulse Width
PW = pulseIn(sensorOut, LOW);
// Return the value
return PW;
}

// Function to read Blue Pulse Widths
int getBluePW() {
// Set sensor to read Blue only
digitalWrite(S2,LOW);
digitalWrite(S3,HIGH);
// Define integer to represent Pulse Width
int PW;
// Read the output Pulse Width
PW = pulseIn(sensorOut, LOW);
// Return the value
return PW;
}
if (redValue >240 && redValue <250 && greenValue >240 && greenValue <250 && blueValue > 240 && blueValue < 250){
digitalWrite(motorder, HIGH);
digitalWrite(motorizq, LOW);
servo1.write(45);
delay(3000);
digitalWrite(motorder, LOW);
digitalWrite(motorizq, LOW);
servo1.write(0);

}
if (redValue >250 && redValue <260 && greenValue >250 && greenValue <260 && blueValue > 250 && blueValue < 260){
digitalWrite(motorder, HIGH);
digitalWrite(motorizq, LOW);
servo2.write(50);
delay(5000);
digitalWrite(motorder, LOW);
digitalWrite(motorizq, LOW);
servo2.write(0);

}
if (redValue >260 && redValue <270 && greenValue >260 && greenValue <270 && blueValue > 260 && blueValue < 270){
digitalWrite(motorder, HIGH);
digitalWrite(motorizq, LOW);
servo3.write(40);
delay(7000);
digitalWrite(motorder, LOW);
digitalWrite(motorizq, LOW);
servo3.write(0);

}

2

These need to be inside a function.

3

Could you please copy paste the code as code?
And add the full compiler message?
It would tell what 'if' causes the problem...
Also press ctrl-t before copy paste code...
That will align your code with indents for each pair of {}.
You could have one too little or too many...
You might want to make a function that returns true if all colors are in some range.. that will make your code more easy to read and maintain.
Something like:

bool colorsInRange(int min, int max.) {
    flag =true;
    for each colour {
            check if in range, if not: set flag to false
    }
    return flag;
}
4

Tools/Auto Format first, then Edit/Copy For Forum then paste into a reply.

Screenshot 2025-10-12 at 14.12.05
Screenshot 2025-10-12 at 14.12.051464×440 82.2 KB

Screenshot 2025-10-12 at 14.12.12
Screenshot 2025-10-12 at 14.12.12840×380 54.3 KB

5

Most likely you missed a parentheses or bracket somewhere. Or added an extra somewhere. If you post the code correctly then it would make it easier to find the mistake.