global variable issue in competition code

robo · Wed Apr 03, 2013 6:04 pm

When compiling code, we get the following error:
**Error**:Task 'usercontrol' is not defined at global scope level


	Code: #pragma config(Sensor, in6, armPot, sensorAnalog) #pragma config(Sensor, dgtl1, frontBumper, sensorTouch) #pragma config(Sensor, dgtl2, backBumper, sensorNone) #pragma config(Sensor, dgtl3, sonarSensor, sensorSONAR_cm) #pragma config(Sensor, dgtl5, frontLimit, sensorTouch) #pragma config(Motor, port1, leftMotor, tmotorVex393, openLoop, reversed) #pragma config(Motor, port6, clawMotor, tmotorVex393, openLoop) #pragma config(Motor, port7, armMotor, tmotorVex393, openLoop) #pragma config(Motor, port10, rightMotor, tmotorVex393, openLoop) #pragma platform(VEX) //Competition Control and Duration Settings #pragma competitionControl(Competition) #pragma autonomousDuration(30) #pragma userControlDuration(120) #include "Vex_Competition_Includes.c" //Main competition background code...do not modify! ///////////////////////////////////////////////////////////////////////////////////////// // // Pre-Autonomous Functions // // You may want to perform some actions before the competition starts. Do them in the // following function. // ///////////////////////////////////////////////////////////////////////////////////////// void pre_auton() { // Set bStopTasksBetweenModes to false if you want to keep user created tasks running between // Autonomous and Tele-Op modes. You will need to manage all user created tasks if set to false. bStopTasksBetweenModes = true; // All activities that occur before the competition starts // Example: clearing encoders, setting servo positions, ... } ///////////////////////////////////////////////////////////////////////////////////////// // // Autonomous Task // // This task is used to control your robot during the autonomous phase of a VEX Competition. // You must modify the code to add your own robot specific commands here. // ///////////////////////////////////////////////////////////////////////////////////////// task autonomous() { while (vexRT [Btn7D] == 0) while (1==1) if (SensorValue(sonarSensor) > 20 \|\| SensorValue(sonarSensor) == -1) // Loop while robot's Ultrasonic sensor is further than 20 inches away from an object { // \|\| (or) it is '-1'. (-1 is the value returned when nothing is in it's visable range) motor[rightMotor] = 63; // Motor on port2 is run at half (63) power forward motor[leftMotor] = 63; // Motor on port3 is run at half (63) power forward } else { motor [rightMotor] = 0; motor [leftMotor] = 0; wait1Msec(1000); motor [rightMotor] = - 63; motor [leftMotor] = - 63; wait1Msec (1000); motor [rightMotor] = 63; motor [leftMotor] = -63; wait1Msec (1000); } ///////////////////////////////////////////////////////////////////////////////////////// // // User Control Task // // This task is used to control your robot during the user control phase of a VEX Competition. // You must modify the code to add your own robot specific commands here. // ///////////////////////////////////////////////////////////////////////////////////////// task usercontrol() { while (vexRT [Btn7D] == 0) { } // User control code here, inside the loop while (true) { wait1Msec(1000); // Robot waits for 1000 milliseconds before executing program if(SensorValue(sonarSensor) > 5 \|\| SensorValue(sonarSensor) < 0) // Loop while robot's Ultrasonic sensor is further than 4 inches away from an object { // \|\| (or) it is '-1'. (-1 is the value returned when nothing is in it's visable range) motor[rightMotor] = 127; // Motor on port2 is run at half (63) power forward motor[leftMotor] = 127; // Motor on port3 is run at half (63) power forward if(SensorValue(sonarSensor) < 5) { motor[rightMotor] = 0; motor[leftMotor] = 63; wait1Msec(2000); } } // Move forward at full power motor[leftMotor] = 127; // Motor on port1 is run at full (127) power forward motor[rightMotor] = 127; // Motor on port10 is run at full (127) power forward wait1Msec(2000); while(1 == 1) { //Driving Motor Control - joystick remote control motor[leftMotor] = vexRT[Ch3] ; // Left Joystick Y value motor[rightMotor] = vexRT[Ch2] ; // Right Joystick Y value //Arm Control if(vexRT[Btn6U] == 1 && SensorValue [armPot] <4092) { motor[armMotor] = 60; } else if(vexRT[Btn6D] == 1 && SensorValue[frontLimit] == 0) { motor[armMotor] = -60; } else { motor[armMotor] = 0; //Claw Control if(vexRT[Btn5U] == 1) { motor[clawMotor] = 30; } else if(vexRT[Btn5D] == 1) { motor[clawMotor] = -30; } else { motor[clawMotor] = 0; } } } } } }

Please help.

global variable issue in competition code

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