Problème robot autonome

Bonjour,

Je suis un novice et j’aimerais arriver au résultat du site (Arduino 4wd robot & Ping))) sensor | AK Eric) j’ai :

1-Arduino Uno
1-base à 4 roues avec moteurs DC
1-Motorshield Adafruit
1-Sonar+servo

Quand j’execute le code ci-dessous, j’obtiens l’erreur :
exit status 1
‘turnaroundtime’ was not declared in this scope

Quelqu’un peut-il m’aider ?

Merci à tous

#include <Servo.h>
//Declare Servos
Servo leftservo;     //Left wheel servo
Servo rightservo;    //Right wheel servo
Servo scanservo;     //Ping Sensor Servo
const int turntime = 500;  //Number of milliseconds to turn when turning
const int pingPin = 7;     //Pin that the Ping sensor is attached to.
const int leftservopin = 9; //Pin number for left servo
const int rightservopin = 10; // Pin number for right servo
const int scanservopin = 6;   // Pin number for scan servo
const int distancelimit = 10;   //If something gets this many inched from
                                 // the robot it stops and looks for where to go.
//Setup function. Runs once when Arduino is turned on or restarted
void setup()
{
  leftservo.attach(leftservopin); //Attach left servo to its pin.
  rightservo.attach(rightservopin); // Attch the right servo
  scanservo.attach(scanservopin); // Attach the scan servo
  delay(2000);        // wait two seconds
}
void loop(){
  go();  // if nothing is wrong the go forward using go() function below.
  int distance = ping(); // us the ping() function to see if anything is ahead.
  if (distance < distancelimit){
    stopmotors(); // If something is ahead, stop the motors.
    char turndirection = scan(); //Decide which direction to turn.
    switch (turndirection){
      case 'l':
        turnleft(turntime);
        break;
      case 'r':
        turnright(turntime);
        break;
      case 's':
        turnleft(turnaroundtime);
        break;
    }
  }
}
 
int ping(){
  long duration, inches, cm;
  //Send Pulse
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);
  //Read Echo
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);
  // convert the time into a distance
  inches = microsecondsToInches(duration);
  cm = microsecondsToCentimeters(duration);
  Serial.print("Ping:  ");
  Serial.println(inches);
  return round(inches);
}
void go(){
  leftservo.write(30);
  rightservo.write(150);
}
void turnleft(int t){
  leftservo.write(150);
  rightservo.write(150);
  delay(t);
}
   
void turnright(int t){
  leftservo.write(30);
  rightservo.write(30);
  delay(t);
}      
void forward(int t){
  leftservo.write(30);
  rightservo.write(150);
  delay(t);
}
void backward(int t){
  leftservo.write(150);
  rightservo.write(30);
  delay(t);
}
void stopmotors(){
  leftservo.write(90);
  rightservo.write(90);
}      
 
char scan(){
  int leftscanval, centerscanval, rightscanval;
  char choice;
  //Look left
  scanservo.write(30);
  delay(300);
  leftscanval = ping();
  //Look right
  scanservo.write(150);
  delay(1000);
  rightscanval = ping();
  //center scan servo
  scanservo.write(88);
 
  if (leftscanval>rightscanval && leftscanval>centerscanval){
    choice = 'l';
  }
  else if (rightscanval>leftscanval && rightscanval>centerscanval){
    choice = 'r';
  }
  else{
    choice = 's';
  }
  Serial.print("Choice:  ");
  Serial.println(choice);
  return choice;
}
long microsecondsToInches(long microseconds){
  return microseconds / 74 / 2;
}
long microsecondsToCentimeters(long microseconds){
  return microseconds / 29 / 2;
}

bonjour, le message est clair, turnaroundtime n'est pas déclaré comme const int turntime = 500; //Number of milliseconds to turn when turning

Comme je disais je suis un noob ;). Merci beaucoup pour ta réponse