Your digitalWrite's aren't written correctly.
e.g
digitalWrite(LfBk_Motor) = LOW;
should be
digitalWrite(LfBk_Motor, LOW);
Change all of them to that format.
Some of your variable names differ slightly which is why you get the 'not declared' errors. Fix the following
Survive function, second if statement. You use 'FtLf_Edge' but I think you mean 'FrLf_Edge'
Survive function, third if statement. You have 'BkRT_Edge' needs to be 'BkRt_Edge'. (Variable names are case sensitive)
Attack function, first if statement. You have 'sharp_Rt' which should be 'Sharp_Rt'.