expected `;' before ')' token

#include<audrino.h>
int sr[5]={13,12,11,10,9};
int s[5]={0,0,0,0,0};
int m1=1;
int m2=2;
int m3=3;
int m4=4;
int error=0, errorpr=0, p=0, i=0, d=0, pid=0, etotal=0, t=100;
#define t 100;
#define kc 10;
#define ki 0.5;
#define kd 2;
#define countleft 4;
#define countright 5;

void setup()
{
  for (int i=1;i<=5;i++)
  {
  pinMode(s[i], INPUT);
  }
  pinMode(m1, OUTPUT);
  pinMode(m2, OUTPUT);
  pinMode(m3, OUTPUT);
  pinMode(m4, OUTPUT);
  Serial.begin(9600); /* ?????????? */
}

int finderror()
 {for (int i=0;i<=4;i++)
 {
   s[i]=analogRead(sr[i]);
 }
 if(s[0]>=204 && s[1]<=130 && s[2]==0 && s[3]==0 && s[4]==0)
 {error=-2;}
 if(s[0]==0 && s[1]==1 && s[2]==0 && s[3]==0 && s[4]==0)
 {error=-1;}
 if(s[0]==0 && s[1]==0 && s[2]==1 && s[3]==0 && s[4]==0)
 {error=0;}
 if(s[0]==0 && s[1]==0 && s[2]==0 && s[3]==1 && s[4]==0)
 {error=1;}
 if(s[0]==0 && s[1]==0 && s[2]==0 && s[3]==0 && s[4]==1)
 {error=2;}
 return(error);}
int proportional(int x)
 {
   int c=(kc)*(x);  
   return c;}

int derivative(int x)
{ d=kd*(x-errorpr)/t;
 errorpr=x;
 return d;
}
int integral(int x)
 {etotal + = x * (t);
 i=ki*etotal;
 return(i);}
   void loop()
{ 
int error;
error= finderror();
pid= proportional(error)+derivative(error)+integral(error);
if(pid>50)
{pid=50;}
else {
 if(pid<-50)
 {pid=-50}}
if(pid<0)
moveleft(pid);/*using the function moveleft */
else {
 if(pid>0)
  {moveright(pid);}
  else {
      if (pid=0)
      {movestraight(pid);}
    }
  }
}
 void movestraight(int pid)
 {
   analogWrite(countleft, 255);
   analogWrite(countright, 255);
   digitalWrite(m1, HIGH);
   digitalWrite(m2, HIGH);
   digitalWrite(m3, LOW);
   digitalWrite(m4, LOW);
   delay(t);
 }
 void moveright(int pid)
 {
   map(pid,0,50,0,255);
   analogWrite(countleft, 255);
   analogWrite(countright, pid);
  digitalWrite(m1, HIGH);
  digitalWrite(m2, LOW);
  digitalWrite(m3, LOW);
  digitalWrite(m4, LOW);
  delay(t);
 }
 void moveleft(int pid)
 {
  pid=abs(pid);
  map(pid,0,-50,0,255);
  analogWrite(countleft, pid);
  analogWrite(countright, 255);
  digitalWrite(m1, LOW);
  digitalWrite(m2, LOW);
  digitalWrite(m3, LOW);
  digitalWrite(m4 HIGH);
  delay(t);
 } 

/* errors::::

sketch_feb26a.cpp: In function 'int proportional(int)':
sketch_feb26a:47: error: expected `)' before ';' token
sketch_feb26a:47: error: expected primary-expression before ')' token
sketch_feb26a:47: error: expected `;' before ')' token
*/
Original issue reported on code.google.com by ayushgt...@gmail.com on 1 Mar 2014 at 12:15
ezieragabriel / arduino

expected `;' before ')' token #1135
