Issue with omni wheel Robot Code

Other Hardware Motors, Mechanics, Power and CNC
1

I am having an issue with a code for an Arduino OmniWheel Robot. The code is giving me an "isn't declared in this scope" Error. Please Help
Code:
P.S. I am sorry that there are weird names.

#include <AFMotor.h>
#include <nRF24L01.h>
#include <printf.h>
#include <RF24.h>
#include <RF24_config.h>
#include <SPI.h>


#include <math.h>


AF_DCMotor m0(1);

AF_DCMotor m1(2);

AF_DCMotor m2(3);
int m0d = FORWARD;
int m1d = FORWARD;
int m2d = FORWARD;

float readX = 0.0;
float readY = 0.0;
float contEX = 511.0;
float contWHY = 511.0;
RF24 radio(7, 8);
const byte addresses[][6] = {"00001", "00002"};

void setup() {
  radio.begin();
  radio.openWritingPipe(addresses[1]); // 00002
  radio.openReadingPipe(1, addresses[0]); // 00001
  radio.setPALevel(RF24_PA_MIN);
  radio.stopListening();


  
  
}

  


void loop(){
//  forward(250, 1000);

  delay(5);
  radio.startListening();
  while (!radio.available());
  radio.read(&readX, sizeof(readX)); 
  contEX = readX;
  while (!radio.available());
  radio.read(&readY, sizeof(readY));
 
  contWHY = readY;
  if(contWHY < 100 || contWHY > 100 || contEX < 100 || contEX > 100){
    moveAtDirection(contEX, contWHY);
  }
  


    
  }
  
void moveAtDirection(int getContEX, int GetcontWHY) {
  m0.setSpeed(floor((getContEX - 511.0)/2));
  m1.setSpeed(floor((getcontWHY - 511.0)/2));
  m2.setSpeed(floor((getcontWHY - 511.0)/2));
  m0.run(FORWARD);
  m1.run(FORWARD);
  m2.run(FORWARD);
}

//void forward(int qspeed, int duration){
//  m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(RELEASE);
//  m1.run(BACKWARD);
//  m2.run(BACKWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  
//  }
//void backward(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(RELEASE);
//  m2.run(FORWARD);
//  m1.run(FORWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//
//    void go60deg(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(BACKWARD);
//  m2.run(BACKWARD);
//  m1.run(RELEASE);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//    void go120deg(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(BACKWARD);
//  m2.run(RELEASE);
//  m1.run(FORWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//
//    void go240deg(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(FORWARD);
//  m2.run(FORWARD);
//  m1.run(RELEASE);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//    void go300deg(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(FORWARD);
//  m2.run(RELEASE);
//  m1.run(BACKWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//
//void rotateLeft(int qspeed, int duration){
//    m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(FORWARD);
//  m1.run(FORWARD);
//  m2.run(BACKWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//void rotateRight(int qspeed, int duration){
//      m0.setSpeed(qspeed);
//  m1.setSpeed(qspeed);
//  m2.setSpeed(qspeed);
//  m0.run(BACKWARD);
//  m1.run(BACKWARD);
//  m2.run(FORWARD);
//  delay(duration);
//    m0.run(RELEASE);
//  m1.run(RELEASE);
//  m2.run(RELEASE);
//  }
//
2

Please don't make us go through it line-by-line - just post the error messages.

1 Like
3

'getContWHY was not declared in this scope'
that is the error message

4 
GetcontWHY

...is not the same thing as "getcontWhy".

Case matters

5

Thanks a Bunch, Merry Christmas and happy New Year. I will Post another comment if this doesn't work on the hardware.

6

In future, please post the code and the exact error message, because it contains important clues.

The IDE even has a control to simplify this, called "copy error messages" or something like that (I haven't seen it for a long time)

7

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