Insect Robot Error

Projects Programming
1

I have built an insect robot read in Arduino Bots and Gadget.

#include <Servo.h>

Servo frontServo;
Servo rearServo;

// Servo Motor Initiation

int centerPos = 90;
int frontRightUp = 72;
int frontLeftUp = 108;
int backRightForward = 75;
int backLeftForward = 105;
int walkSpeed = 150;
int centerTurnPos = 81;
int frontTurnRightUp = 63;
int frontTurnLeftUp = 117;
int backTurnRightForward = 66;
int backTurnLeftForward = 96;

//Ping Measurement

int pingPin = 4;
long int duration, distanceInches;
long distanceFront=0; //cm
int startAvoidanceDistance=20; //cm

long microsecondsToInches( long microseconds)
{
return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds)
{
return microseconds / 29 / 2;
}

long distanceCm(){
pinMode(pingPin, OUTPUT);
digitalWrite(pingPin, LOW);
delayMicroseconds(2);
digitalWrite(pingPin, HIGH);
delayMicroseconds(5);
digitalWrite(pingPin, LOW);

pinMode(pingPin, INPUT);
duration = pulseIn(pingPin, HIGH);

distanceInches = microsecondsToInches(duration);
return microsecondsToCentimeters(duration);
}

void center()
{
frontServo.write(centerPos);
rearServo.write(centerPos);
}

void moveForward()
{
frontServo.write(frontRightUp);
rearServo.write(backLeftForward);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);

frontServo.write(frontLeftUp);
rearServo.write(backRightForward);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}

void moveBackRight();
{
frontServo.write(frontRightUp);
rearServo.write(backRightForward-6);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos-6);
delay(65);

frontServo.write(frontLeftUp+9);
rearServo.write(backLeftForward-6);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}

void moveTurnLeft()
{
frontServo.write(frontTurnRightUp);
rearServo.write(backTurnLeftForward);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos-6);
delay(65);

frontServo.write(frontLeftUp+9);
rearServo.write(backLeftForward-6);
delay(125);

frontServo.write(centerPos);
rearServo.write(centerPos);
delay(65);
}

void setup()
{
frontServo.attach(2);
rearServo.attach(3);
pinMode(pingPin, OUTPUT);
}

void loop()
{
distanceFront=distanceCm();
if (distanceFront > 1){
if (distanceFront<startAvoidanceDistance) {
if(int i=0; i<=8; i++){
moveBackRight();
delay(walkSpeed);
}
for(int i=0; i<=19; i++) {
moveTurnLeft();
delay(walkSpeed);
}
} else {
moveForward();
delay(walkSpeed);
}
}
}

This is the error I get

This report would have more information with
"Show verbose output during compilation"
enabled in File > Preferences.
Arduino: 1.0.6 (Windows NT (unknown)), Board: "Arduino Duemilanove w/ ATmega328"
InsectRobot:82: error: expected unqualified-id before '{' token
InsectRobot.ino: In function 'void loop()':
InsectRobot:132: error: expected )' before ';' token InsectRobot:132: error: 'i' was not declared in this scope InsectRobot:132: error: expected ;' before ')' token

What am I doing wrong. I have written as the book says. I am using Arduino 1.0.6

2

If you wish, disregard this. I have solved the problem by slowly debugging.