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**Error**:Undefined procedure 
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NeXT-Generation
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Joined: Wed Sep 28, 2011 10:13 pm
Posts: 510
Location: Totally not spying on Hassenplug to see what he has for the Brickworld Chicago 2013 sumo contest.
Post **Error**:Undefined procedure
I'm upgrading my Mazesolver with the MindSensors LineLeader. Before the program worked fine, but now I'm getting this error when it calls up functions:
Quote:
**Error**:Undefined procedure (insert name here)
It started doing this after I added the line following code from the example program in the driver suite. The code:
Code:
#pragma config(Sensor, S1, MoveStat, sensorCOLORFULL)
#pragma config(Sensor, S2, TrnStatLft, sensorLightInactive)
#pragma config(Sensor, S3, TrnStatRht, sensorLightInactive)
#pragma config(Sensor, S4, LineLead, sensorI2CMindsensorsLineFollow)
#pragma config(Motor, motorB, MotorB, tmotorNormal, openLoop, encoder)//Right motor.
#pragma config(Motor, motorC, MotorC, tmotorNormal, openLoop, encoder)//Left motor.

#include "drivers/MSLL-Driver.h";

bool NextTry=false;

bool TurnDone=false;

bool FollowLine=true;

int Optimized=0;

int MoveCount=0;

int Result;

int Params[4]={16,0,2,100};

char MazeSolution[150];//Large # of moves just in case.

string LineColor;

task FollowTheLine()
{
  int SpeedB;
  int SpeedC;
 
  bMotorReflected[MotorB]=true;
  bMotorReflected[MotorC]=true;
  byte steering = 0;

  motor[MotorB]=50;
  motor[MotorC]=50;

  while (FollowLine==true)
  {
    steering = LLreadSteering(LineLead);

    SpeedB = (Params[3] + steering*2);
    SpeedC = (Params[3] - steering*2);

    SpeedB = clip(SpeedB, -100, 100);
    SpeedC = clip(SpeedC, -100, 100);

    motor[motorB] = (byte)SpeedB;
    motor[motorC] = (byte)SpeedC;
  }
  motor[motorB] = 0;
  motor[motorC] = 0;
}
task main()
{
  LLinit(LineLead);
  LLsetKp(LineLead, Params[0], 32);
  LLsetKi(LineLead, Params[1], 32);
  LLsetKd(LineLead, Params[2], 32);

  SensorType[MoveStat]=sensorCOLORNONE;

  nxtDisplayCenteredBigTextLine(2, "%s", "Calbrate");
  nxtDisplayCenteredBigTextLine(4, "%s", "white.");

  wait1Msec(500);

  while(nNxtButtonPressed!=3);

  wait1Msec(500);
  LLcalWhite(LineLead);

  eraseDisplay();

  nxtDisplayCenteredBigTextLine(2, "%s", "Calbrate");
  nxtDisplayCenteredBigTextLine(4, "%s", "black.");

  while(nNxtButtonPressed!=3);
  wait1Msec(500);
  LLcalBlack(LineLead);

  eraseDisplay();

  nxtDisplayCenteredTextLine(1, "%s", "If white line");
  nxtDisplayCenteredTextLine(2, "%s", "left Button.");
  nxtDisplayCenteredTextLine(5, "%s", "If black line");
  nxtDisplayCenteredTextLine(6, "%s", "right Button.");

  wait1Msec(500);

  while(nNxtButtonPressed==-1);

  eraseDisplay();

  if(nNxtButtonPressed==2)//White line.
  {
    LineColor="White";
    eraseDisplay();
    nxtDisplayCenteredBigTextLine(2, "%s", "White");
    nxtDisplayCenteredBigTextLine(4, "%s", "line.");
    DeadEnd();
    while(nNxtButtonPressed!=3);
    TurnLeft();
    while(nNxtButtonPressed!=3);
    TurnRight();
  }
  else if(nNxtButtonPressed==1)//Black line.
  {
    LineColor="Black";
    eraseDisplay();
    nxtDisplayCenteredBigTextLine(2, "%s", "Black");
    nxtDisplayCenteredBigTextLine(4, "%s", "line.");
    DeadEnd();
    while(nNxtButtonPressed!=3);
    TurnLeft();
    while(nNxtButtonPressed!=3);
    TurnRight();
  }
}

int OptimizePath(void)
{
  for(int OptimizeCount=1; OptimizeCount<=MoveCount; OptimizeCount++)
  {
    if(MazeSolution[OptimizeCount]=='B')
    {
      if(MazeSolution[OptimizeCount-1]=='L' && MazeSolution[OptimizeCount+1]=='R')
      {
        MazeSolution[OptimizeCount-1]='B';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
      else if(MazeSolution[OptimizeCount-1]=='L' && MazeSolution[OptimizeCount+1]=='S')
      {
        MazeSolution[OptimizeCount-1]='R';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
      else if(MazeSolution[OptimizeCount-1]=='R' && MazeSolution[OptimizeCount+1]=='L')
      {
        MazeSolution[OptimizeCount-1]='B';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
      else if(MazeSolution[OptimizeCount-1]=='S' && MazeSolution[OptimizeCount+1]=='L')
      {
        MazeSolution[OptimizeCount-1]='R';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
      else if(MazeSolution[OptimizeCount-1]=='S' && MazeSolution[OptimizeCount+1]=='S')
      {
        MazeSolution[OptimizeCount-1]='B';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
      else if(MazeSolution[OptimizeCount-1]=='L' && MazeSolution[OptimizeCount+1]=='L')
      {
        MazeSolution[OptimizeCount-1]='S';
        while(OptimizeCount+1<=MoveCount)
        {
          MazeSolution[OptimizeCount]=MazeSolution[OptimizeCount+2];
          OptimizeCount++;
        }
        MoveCount=MoveCount-2;
        OptimizeCount=1;
      }
    }
  }
  Optimized=1;
  return Optimized;
}
void TurnRight()
{
  SensorType[TrnStatLft]=sensorLightActive;
  SensorType[MoveStat]=sensorCOLORBLUE;

  bMotorReflected[MotorB]=true;
  bMotorReflected[MotorC]=true;

  nMotorEncoder[MotorB]=0;
  nMotorEncoder[MotorC]=0;
  nMotorEncoderTarget[motorB]=60;
  nMotorEncoderTarget[motorC]=60;

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  while(nMotorRunState[MotorB]!=runStateIdle && nMotorRunState[MotorC]!=runStateIdle);

  bMotorReflected[MotorB]=true;
  bMotorReflected[MotorC]=false;

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  if(LineColor=="Black")
  {
    Result=LLreadResult(LineLead);
    while(Result!=0)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==0)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 1:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 3:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 7:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 15:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 14:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 30:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 28:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 60:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  else if(LineColor=="White")
  {
    Result=LLreadResult(LineLead);
    while(Result!=255)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==255)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 254:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 252:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 248:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 240:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 241:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 225:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 227:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 195:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  SensorType[TrnStatLft]=sensorLightInactive;
  SensorType[MoveStat]=sensorCOLORNONE;
}
void TurnLeft()
{
  SensorType[TrnStatRht]=sensorLightActive;
  SensorType[MoveStat]=sensorCOLORBLUE;

  bMotorReflected[MotorB]=true;
  bMotorReflected[MotorC]=true;

  nMotorEncoder[MotorB]=0;
  nMotorEncoder[MotorC]=0;
  nMotorEncoderTarget[motorB]=60;
  nMotorEncoderTarget[motorC]=60;

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  while(nMotorRunState[MotorB]!=runStateIdle && nMotorRunState[MotorC]!=runStateIdle);

  bMotorReflected[MotorB]=false;
  bMotorReflected[MotorC]=true;

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  if(LineColor=="Black")
  {
    Result=LLreadResult(LineLead);
    while(Result!=0)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==0)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 128:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 192:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 224:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 240:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 112:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 120:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 56:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 60:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  else if(LineColor=="White")
  {
    Result=LLreadResult(LineLead);
    while(Result!=255)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==255)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 127:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 63:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 31:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 15:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 143:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 135:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 199:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 195:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  SensorType[TrnStatRht]=sensorLightInactive;
  SensorType[MoveStat]=sensorCOLORNONE;
}
void DeadEnd()
{
  SensorType[MoveStat]=sensorCOLORRED;

  bMotorReflected[MotorB]=true;
  bMotorReflected[MotorC]=false;

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  wait1Msec(200);

  motor[MotorB]=Params[3];
  motor[MotorC]=Params[3];

  if(LineColor=="Black")
  {
    Result=LLreadResult(LineLead);
    while(Result!=0)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==0)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 128:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 192:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 224:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 240:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 112:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 120:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 56:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 60:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  else if(LineColor=="White")
  {
    Result=LLreadResult(LineLead);
    while(Result!=255)
    {
      Result=LLreadResult(LineLead);
    }
    while(Result==255)
    {
      Result=LLreadResult(LineLead);
    }
    while(TurnDone==false)
    {
      Result=LLreadResult(LineLead);

      switch(Result)
      {
        case 127:
        motor[MotorB]=35;
        motor[MotorC]=35;
        break;
        case 63:
        motor[MotorB]=30;
        motor[MotorC]=30;
        break;
        case 31:
        motor[MotorB]=25;
        motor[MotorC]=25;
        break;
        case 15:
        motor[MotorB]=20;
        motor[MotorC]=20;
        break;
        case 143:
        motor[MotorB]=15;
        motor[MotorC]=15;
        break;
        case 135:
        motor[MotorB]=10;
        motor[MotorC]=10;
        break;
        case 199:
        motor[MotorB]=5;
        motor[MotorC]=5;
        TurnDone=true;
        break;
        case 195:
        motor[MotorB]=0;
        motor[MotorC]=0;
        TurnDone=true;
        break;
      }
    }
    TurnDone=false;
  }
  SensorType[TrnStatRht]=sensorLightInactive;
  SensorType[MoveStat]=sensorCOLORNONE;
}
void MazeFinish()
{
  motor[MotorB]=0;
  motor[MotorC]=0;

  PlayTone(695, 14); while(bSoundActive);
  PlayTone(695, 14); while(bSoundActive);
  PlayTone(695, 14); while(bSoundActive);
  PlayTone(929, 83); while(bSoundActive);
  PlayTone(1401, 83); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1054, 14); while(bSoundActive);
  PlayTone(1841, 83); while(bSoundActive);
  PlayTone(1401, 41); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1054, 14); while(bSoundActive);
  PlayTone(1841, 83); while(bSoundActive);
  PlayTone(1401, 41); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1054, 55); while(bSoundActive);
  wait1Msec(280);
  PlayTone(695, 14); while(bSoundActive);
  PlayTone(695, 14); while(bSoundActive);
  PlayTone(695, 14); while(bSoundActive);
  PlayTone(929, 83); while(bSoundActive);
  PlayTone(1401, 83); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1054, 14); while(bSoundActive);
  PlayTone(1841, 83); while(bSoundActive);
  PlayTone(1401, 41); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1054, 14); while(bSoundActive);
  PlayTone(1841, 83); while(bSoundActive);
  PlayTone(1401, 41); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1188, 14); while(bSoundActive);
  PlayTone(1251, 14); while(bSoundActive);
  PlayTone(1054, 55); while(bSoundActive);
}
I can't figure out why it's doing that. And now, even when I remove that section, the error still appears. Any ideas?

_________________
A.K.A. inxt-generation
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mightor
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Joined: Wed Mar 05, 2008 8:14 am
Posts: 2864
Location: Rotterdam, The Netherlands
Post Re: **Error**:Undefined procedure
You need to define a function before you can use it. You are probably calling one before it appears in the file. Just change the order around until it works. Either that or learn about "function prototypes". If you look at my drivers, you'll see that on most of them I will have a list of all the functions that appear in the driver:
Code:
// These are my function prototypes
void function1();
void function2();
bool someotherFunction();

void function1() {
  // I can put this in there now even though it's not implememted
  // until later
  someotherFunction();
  function1();
}

void function2() {
  // do something
}

bool someotherFunction()
{
  return true;
}

If you do this, then your program should work.

- Xander

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Tue Nov 22, 2011 2:41 am
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NeXT-Generation
Senior Roboticist
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Joined: Wed Sep 28, 2011 10:13 pm
Posts: 510
Location: Totally not spying on Hassenplug to see what he has for the Brickworld Chicago 2013 sumo contest.
Post Re: **Error**:Undefined procedure
Thanks, that fixed it.

_________________
A.K.A. inxt-generation
Self-proclaimed genius, and future world dominator.
My Brickshelf Folder
"Don't they teach recreational mathematics anymore?" - The Tenth Doctor
Bow down to Nikola Tesla, King of the Geek Gods.
Wed Nov 23, 2011 11:05 pm
Profile WWW
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