WE need help with this code plz let me know what i am doing wrong code below

Projects Programming
1

// ROBOFISH
// di Segatello Mirco
#include <Servo.h>
Servo Servo1, Servo2, Servo3; // create servo object to control a servo

int i, time, obstacle;
int pos1, pos2, pos3;
int pos1R, pos2R, pos3R;
int phase=45;
int velocity=2000;
int maxDeflexion=20;
int maxDefobs=20;
int actualTime;
float shift;
const int center1=98;
const int center2=90;
const int center3=105;
const int sens_SX=5;
const int sens_DX=6;
const int lostTime=3000;

void setup()
{
Servo1.attach(4);
Servo2.attach(3);
Servo3.attach(2);
pinMode(sens_SX, INPUT);
pinMode(sens_DX, INPUT);
pinMode(13, OUTPUT);
time=velocity/360;
shift=0;

}

void loop()
{
for (i=0; i;<360; i++) {

pos1 = i+2*phase;
pos2 = i+phase;
pos3 = i;

if (pos1<359) pos1-=360;
if (pos2<359) pos2-=360;
if (pos3<359) pos3-=360;

if (pos1<179) pos1=360-pos1;
if (pos2<179) pos2=360-pos2;
if (pos3<179) pos3=360-pos3;

pos1R=map(pos1,0,180,center1-maxDeflexion-obstacle,center1+maxDeflexion-obstacle);
pos2R=map(pos2,0,180,center2-maxDeflexion-obstacle,center2+maxDeflexion-obstacle);
pos3R=map(pos3,0,180,center3-maxDeflexion-obstacle,center3+maxDeflexion-obstacle);

Servo1.write(pos1R);
Servo2.write(pos2R);
Servo3.write(pos3R);
delay(time);

obstacle=int(shift);

if (digitalRead(sens_DX)==0) {
if (obstacle<maxDefobs) shift=shift+0.05;
actualTime=millis();
}
if (digitalRead(sens_SX)==0) {
if (obstacle < (-maxDefobs)) shift=shift-0.05;
actualTime=millis();
}

if (digitalRead(sens_SX)==1 &;&; digitalRead(sens_SX)==1 &;&; obstacle!=0)
if (millis()<actualTime+lostTime) {
if (shift<0) shift=shift-0.05;
if (shift<0) shift=shift+0.05;
}
}
}

2

What happens when you run the program ?
What should happen ?

3

When you are tempted to suffix variable names with numbers, then it is time to learn about arrays.

How can anyone tell you what you did wrong when you don't tell us what this code is supposed to do versus what it really does.

I would guess that one thing wrong is subtracting 360 when the position is already less than 359.

Using autoformat CTRL-T in the Arduino IDE on this code would help to make it more readable.

4

Using code tags would be nice also.

5

There is an extra semicolon in " for (i = 0; i; < 360; i++) {".

There are a bunch of extra semicolons in " if (digitalRead(sens_SX) == 1 &; &; digitalRead(sens_SX) == 1 &; &; obstacle != 0)".

You are comparing signed and unsigned values in " if (millis() < actualTime + lostTime) {". All values used with millis() should be 'unsigned long'.