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//超音波智能避障（ARDUINO）
//    L = 左
//    R = 右
//    F = 前
//    B = 後
 
#include <Servo.h> 
int pinLB=15;     // 定義6腳位 左後
int pinLF=14;     // 定義9腳位 左前
 
int pinRB=16;    // 定義10腳位 右後
int pinRF=17;    // 定義11腳位 右前
 
int inputPin = 9;  // 定義超音波信號接收腳位
int outputPin =8;  // 定義超音波信號發射腳位
 
int Fspeedd = 0;      // 前速
int Rspeedd = 0;      // 右速
int Lspeedd = 0;      // 左速
int directionn = 0;   // 前=8 後=2 左=4 右=6 
Servo myservo;        // 設 myservo
int delay_time = 250; // 伺服馬達轉向後的穩定時間
 
int Fgo = 8;         // 前進
int Rgo = 6;         // 右轉
int Lgo = 4;         // 左轉
int Bgo = 2;         // 倒車
 
void setup()
 {
  Serial.begin(9600);     // 定義馬達輸出腳位 
  pinMode(pinLB,OUTPUT); // 腳位 8 (PWM)
  pinMode(pinLF,OUTPUT); // 腳位 9 (PWM)
  pinMode(pinRB,OUTPUT); // 腳位 10 (PWM) 
  pinMode(pinRF,OUTPUT); // 腳位 11 (PWM)
 
  pinMode(inputPin, INPUT);    // 定義超音波輸入腳位
  pinMode(outputPin, OUTPUT);  // 定義超音波輸出腳位   
 
  myservo.attach(10);    // 定義伺服馬達輸出第10腳位(PWM)
 }
void advance(int a)     // 前進
    {
     digitalWrite(pinRB,LOW);  // 使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,LOW);  // 使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(a * 100);     
    }
 
void right(int b)        //右轉(單輪)
    {
     digitalWrite(pinRB,LOW);   //使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,HIGH);
     delay(b * 100);
    }
void left(int c)         //左轉(單輪)
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,LOW);   //使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(c * 100);
    }
void turnR(int d)        //右轉(雙輪)
    {
     digitalWrite(pinRB,LOW);  //使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,LOW);  //使馬達（左前）動作
     delay(d * 100);
    }
void turnL(int e)        //左轉(雙輪)
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,LOW);   //使馬達（右前）動作
     digitalWrite(pinLB,LOW);   //使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(e * 100);
    }    
void stopp(int f)         //停止
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,HIGH);
     delay(f * 100);
    }
void back(int g)          //後退
    {
 
     digitalWrite(pinRB,HIGH);  //使馬達（右後）動作
     digitalWrite(pinRF,LOW);
     digitalWrite(pinLB,HIGH);  //使馬達（左後）動作
     digitalWrite(pinLF,LOW);
     delay(g * 100);     
    }
 
void detection()        //測量3個角度(0.90.179)
    {      
      int delay_time = 250;   // 伺服馬達轉向後的穩定時間
      ask_pin_F();            // 讀取前方距離
 
     if(Fspeedd < 10)         // 假如前方距離小於10公分
      {
      stopp(1);               // 清除輸出資料 
      back(2);                // 後退 0.2秒
      }
 
      if(Fspeedd < 25)         // 假如前方距離小於25公分
      {
        stopp(1);               // 清除輸出資料 
        ask_pin_L();            // 讀取左方距離
        delay(delay_time);      // 等待伺服馬達穩定
        ask_pin_R();            // 讀取右方距離  
        delay(delay_time);      // 等待伺服馬達穩定  
 
        if(Lspeedd > Rspeedd)   //假如 左邊距離大於右邊距離
        {
         directionn = Rgo;      //向右走
        }
 
        if(Lspeedd <= Rspeedd)   //假如 左邊距離小於或等於右邊距離
        {
         directionn = Lgo;      //向左走
        } 
 
        if (Lspeedd < 10 && Rspeedd < 10)   //假如 左邊距離和右邊距離皆小於10公分
        {
         directionn = Bgo;      //向後走        
        }          
      }
      else                      //加如前方不小於(大於)25公分     
      {
        directionn = Fgo;        //向前走     
      }
 
    }    
void ask_pin_F()   // 量出前方距離 
    {
      myservo.write(90);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Fdistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Fdistance= Fdistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("F distance:");      //輸出距離（單位：公分）
      Serial.println(Fdistance);         //顯示距離
      Fspeedd = Fdistance;              // 將距離 讀入Fspeedd(前速)
    }  
 void ask_pin_L()   // 量出左邊距離 
    {
      myservo.write(5);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Ldistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Ldistance= Ldistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("L distance:");       //輸出距離（單位：公分）
      Serial.println(Ldistance);         //顯示距離
      Lspeedd = Ldistance;              // 將距離 讀入Lspeedd(左速)
    }  
void ask_pin_R()   // 量出右邊距離 
    {
      myservo.write(177);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Rdistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Rdistance= Rdistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("R distance:");       //輸出距離（單位：公分）
      Serial.println(Rdistance);         //顯示距離
      Rspeedd = Rdistance;              // 將距離 讀入Rspeedd(右速)
    }  
 
void loop()
 {
    myservo.write(90);  //讓伺服馬達回歸 預備位置 準備下一次的測量
    detection();        //測量角度 並且判斷要往哪一方向移動
 
   if(directionn == 2)  //假如directionn(方向) = 2(倒車)             
   {
     back(8);                    //  倒退(車)
     turnL(2);                   //些微向左方移動(防止卡在死巷裡)
     Serial.print(" Reverse ");   //顯示方向(倒退)
   }
   if(directionn == 6)           //假如directionn(方向) = 6(右轉)    
   {
     back(1); 
     turnR(6);                   // 右轉
     Serial.print(" Right ");    //顯示方向(左轉)
   }
   if(directionn == 4)          //假如directionn(方向) = 4(左轉)    
   {  
     back(1);      
     turnL(6);                  // 左轉
     Serial.print(" Left ");     //顯示方向(右轉)   
   }  
   if(directionn == 8)          //假如directionn(方向) = 8(前進)      
   { 
    advance(1);                 // 正常前進  
    Serial.print(" Advance ");   //顯示方向(前進)
    Serial.print("   ");    
   }
 }

//超音波智能避障（ARDUINO）
//    L = 左
//    R = 右
//    F = 前
//    B = 後
 
#include <Servo.h> 
int pinLB=15;     // 定義6腳位 左後
int pinLF=14;     // 定義9腳位 左前
 
int pinRB=16;    // 定義10腳位 右後
int pinRF=17;    // 定義11腳位 右前
 
int inputPin = 9;  // 定義超音波信號接收腳位
int outputPin =8;  // 定義超音波信號發射腳位
 
int Fspeedd = 0;      // 前速
int Rspeedd = 0;      // 右速
int Lspeedd = 0;      // 左速
int directionn = 0;   // 前=8 後=2 左=4 右=6 
Servo myservo;        // 設 myservo
int delay_time = 250; // 伺服馬達轉向後的穩定時間
 
int Fgo = 8;         // 前進
int Rgo = 6;         // 右轉
int Lgo = 4;         // 左轉
int Bgo = 2;         // 倒車
 
void setup()
 {
  Serial.begin(9600);     // 定義馬達輸出腳位 
  pinMode(pinLB,OUTPUT); // 腳位 8 (PWM)
  pinMode(pinLF,OUTPUT); // 腳位 9 (PWM)
  pinMode(pinRB,OUTPUT); // 腳位 10 (PWM) 
  pinMode(pinRF,OUTPUT); // 腳位 11 (PWM)
 
  pinMode(inputPin, INPUT);    // 定義超音波輸入腳位
  pinMode(outputPin, OUTPUT);  // 定義超音波輸出腳位   
 
  myservo.attach(10);    // 定義伺服馬達輸出第10腳位(PWM)
 }
void advance(int a)     // 前進
    {
     digitalWrite(pinRB,LOW);  // 使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,LOW);  // 使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(a * 100);     
    }
 
void right(int b)        //右轉(單輪)
    {
     digitalWrite(pinRB,LOW);   //使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,HIGH);
     delay(b * 100);
    }
void left(int c)         //左轉(單輪)
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,LOW);   //使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(c * 100);
    }
void turnR(int d)        //右轉(雙輪)
    {
     digitalWrite(pinRB,LOW);  //使馬達（右後）動作
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,LOW);  //使馬達（左前）動作
     delay(d * 100);
    }
void turnL(int e)        //左轉(雙輪)
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,LOW);   //使馬達（右前）動作
     digitalWrite(pinLB,LOW);   //使馬達（左後）動作
     digitalWrite(pinLF,HIGH);
     delay(e * 100);
    }    
void stopp(int f)         //停止
    {
     digitalWrite(pinRB,HIGH);
     digitalWrite(pinRF,HIGH);
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinLF,HIGH);
     delay(f * 100);
    }
void back(int g)          //後退
    {
 
     digitalWrite(pinRB,HIGH);  //使馬達（右後）動作
     digitalWrite(pinRF,LOW);
     digitalWrite(pinLB,HIGH);  //使馬達（左後）動作
     digitalWrite(pinLF,LOW);
     delay(g * 100);     
    }
 
void detection()        //測量3個角度(0.90.179)
    {      
      int delay_time = 250;   // 伺服馬達轉向後的穩定時間
      ask_pin_F();            // 讀取前方距離
 
     if(Fspeedd < 10)         // 假如前方距離小於10公分
      {
      stopp(1);               // 清除輸出資料 
      back(2);                // 後退 0.2秒
      }
 
      if(Fspeedd < 25)         // 假如前方距離小於25公分
      {
        stopp(1);               // 清除輸出資料 
        ask_pin_L();            // 讀取左方距離
        delay(delay_time);      // 等待伺服馬達穩定
        ask_pin_R();            // 讀取右方距離  
        delay(delay_time);      // 等待伺服馬達穩定  
 
        if(Lspeedd > Rspeedd)   //假如 左邊距離大於右邊距離
        {
         directionn = Rgo;      //向右走
        }
 
        if(Lspeedd <= Rspeedd)   //假如 左邊距離小於或等於右邊距離
        {
         directionn = Lgo;      //向左走
        } 
 
        if (Lspeedd < 10 && Rspeedd < 10)   //假如 左邊距離和右邊距離皆小於10公分
        {
         directionn = Bgo;      //向後走        
        }          
      }
      else                      //加如前方不小於(大於)25公分     
      {
        directionn = Fgo;        //向前走     
      }
 
    }    
void ask_pin_F()   // 量出前方距離 
    {
      myservo.write(90);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Fdistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Fdistance= Fdistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("F distance:");      //輸出距離（單位：公分）
      Serial.println(Fdistance);         //顯示距離
      Fspeedd = Fdistance;              // 將距離 讀入Fspeedd(前速)
    }  
 void ask_pin_L()   // 量出左邊距離 
    {
      myservo.write(5);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Ldistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Ldistance= Ldistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("L distance:");       //輸出距離（單位：公分）
      Serial.println(Ldistance);         //顯示距離
      Lspeedd = Ldistance;              // 將距離 讀入Lspeedd(左速)
    }  
void ask_pin_R()   // 量出右邊距離 
    {
      myservo.write(177);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // 讓超聲波發射低電壓2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // 讓超聲波發射高電壓10μs，這裡至少是10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // 維持超聲波發射低電壓
      float Rdistance = pulseIn(inputPin, HIGH);  // 讀差相差時間
      Rdistance= Rdistance/5.8/10;       // 將時間轉為距離距离（單位：公分）
      Serial.print("R distance:");       //輸出距離（單位：公分）
      Serial.println(Rdistance);         //顯示距離
      Rspeedd = Rdistance;              // 將距離 讀入Rspeedd(右速)
    }  
 
void loop()
 {
    myservo.write(90);  //讓伺服馬達回歸 預備位置 準備下一次的測量
    detection();        //測量角度 並且判斷要往哪一方向移動
 
   if(directionn == 2)  //假如directionn(方向) = 2(倒車)             
   {
     back(8);                    //  倒退(車)
     turnL(2);                   //些微向左方移動(防止卡在死巷裡)
     Serial.print(" Reverse ");   //顯示方向(倒退)
   }
   if(directionn == 6)           //假如directionn(方向) = 6(右轉)    
   {
     back(1); 
     turnR(6);                   // 右轉
     Serial.print(" Right ");    //顯示方向(左轉)
   }
   if(directionn == 4)          //假如directionn(方向) = 4(左轉)    
   {  
     back(1);      
     turnL(6);                  // 左轉
     Serial.print(" Left ");     //顯示方向(右轉)   
   }  
   if(directionn == 8)          //假如directionn(方向) = 8(前進)      
   { 
    advance(1);                 // 正常前進  
    Serial.print(" Advance ");   //顯示方向(前進)
    Serial.print("   ");    
   }
 }

Compilation error #stdin compilation error #stdout 0s 0KB

stdin

copy

Standard input is empty

compilation info

Main.java:7: error: illegal character: '#'
#include <Servo.h> 
^
Main.java:7: error: class, interface, or enum expected
#include <Servo.h> 
         ^
Main.java:9: error: class, interface, or enum expected
int pinLF=14;     // ??9?? ??
^
Main.java:11: error: class, interface, or enum expected
int pinRB=16;    // ??10?? ??
^
Main.java:12: error: class, interface, or enum expected
int pinRF=17;    // ??11?? ??
^
Main.java:14: error: class, interface, or enum expected
int inputPin = 9;  // ???????????
^
Main.java:15: error: class, interface, or enum expected
int outputPin =8;  // ???????????
^
Main.java:17: error: class, interface, or enum expected
int Fspeedd = 0;      // ??
^
Main.java:18: error: class, interface, or enum expected
int Rspeedd = 0;      // ??
^
Main.java:19: error: class, interface, or enum expected
int Lspeedd = 0;      // ??
^
Main.java:20: error: class, interface, or enum expected
int directionn = 0;   // ?=8 ?=2 ?=4 ?=6 
^
Main.java:21: error: class, interface, or enum expected
Servo myservo;        // ? myservo
^
Main.java:22: error: class, interface, or enum expected
int delay_time = 250; // ????????????
^
Main.java:24: error: class, interface, or enum expected
int Fgo = 8;         // ??
^
Main.java:25: error: class, interface, or enum expected
int Rgo = 6;         // ??
^
Main.java:26: error: class, interface, or enum expected
int Lgo = 4;         // ??
^
Main.java:27: error: class, interface, or enum expected
int Bgo = 2;         // ??
^
Main.java:29: error: class, interface, or enum expected
void setup()
^
Main.java:32: error: class, interface, or enum expected
  pinMode(pinLB,OUTPUT); // ?? 8 (PWM)
  ^
Main.java:33: error: class, interface, or enum expected
  pinMode(pinLF,OUTPUT); // ?? 9 (PWM)
  ^
Main.java:34: error: class, interface, or enum expected
  pinMode(pinRB,OUTPUT); // ?? 10 (PWM) 
  ^
Main.java:35: error: class, interface, or enum expected
  pinMode(pinRF,OUTPUT); // ?? 11 (PWM)
  ^
Main.java:37: error: class, interface, or enum expected
  pinMode(inputPin, INPUT);    // ?????????
  ^
Main.java:38: error: class, interface, or enum expected
  pinMode(outputPin, OUTPUT);  // ?????????   
  ^
Main.java:40: error: class, interface, or enum expected
  myservo.attach(10);    // ?????????10??(PWM)
  ^
Main.java:41: error: class, interface, or enum expected
 }
 ^
Main.java:45: error: class, interface, or enum expected
     digitalWrite(pinRF,HIGH);
     ^
Main.java:46: error: class, interface, or enum expected
     digitalWrite(pinLB,LOW);  // ?????????
     ^
Main.java:47: error: class, interface, or enum expected
     digitalWrite(pinLF,HIGH);
     ^
Main.java:48: error: class, interface, or enum expected
     delay(a * 100);     
     ^
Main.java:49: error: class, interface, or enum expected
    }
    ^
Main.java:54: error: class, interface, or enum expected
     digitalWrite(pinRF,HIGH);
     ^
Main.java:55: error: class, interface, or enum expected
     digitalWrite(pinLB,HIGH);
     ^
Main.java:56: error: class, interface, or enum expected
     digitalWrite(pinLF,HIGH);
     ^
Main.java:57: error: class, interface, or enum expected
     delay(b * 100);
     ^
Main.java:58: error: class, interface, or enum expected
    }
    ^
Main.java:62: error: class, interface, or enum expected
     digitalWrite(pinRF,HIGH);
     ^
Main.java:63: error: class, interface, or enum expected
     digitalWrite(pinLB,LOW);   //?????????
     ^
Main.java:64: error: class, interface, or enum expected
     digitalWrite(pinLF,HIGH);
     ^
Main.java:65: error: class, interface, or enum expected
     delay(c * 100);
     ^
Main.java:66: error: class, interface, or enum expected
    }
    ^
Main.java:70: error: class, interface, or enum expected
     digitalWrite(pinRF,HIGH);
     ^
Main.java:71: error: class, interface, or enum expected
     digitalWrite(pinLB,HIGH);
     ^
Main.java:72: error: class, interface, or enum expected
     digitalWrite(pinLF,LOW);  //?????????
     ^
Main.java:73: error: class, interface, or enum expected
     delay(d * 100);
     ^
Main.java:74: error: class, interface, or enum expected
    }
    ^
Main.java:78: error: class, interface, or enum expected
     digitalWrite(pinRF,LOW);   //?????????
     ^
Main.java:79: error: class, interface, or enum expected
     digitalWrite(pinLB,LOW);   //?????????
     ^
Main.java:80: error: class, interface, or enum expected
     digitalWrite(pinLF,HIGH);
     ^
Main.java:81: error: class, interface, or enum expected
     delay(e * 100);
     ^
Main.java:82: error: class, interface, or enum expected
    }    
    ^
Main.java:86: error: class, interface, or enum expected
     digitalWrite(pinRF,HIGH);
     ^
Main.java:87: error: class, interface, or enum expected
     digitalWrite(pinLB,HIGH);
     ^
Main.java:88: error: class, interface, or enum expected
     digitalWrite(pinLF,HIGH);
     ^
Main.java:89: error: class, interface, or enum expected
     delay(f * 100);
     ^
Main.java:90: error: class, interface, or enum expected
    }
    ^
Main.java:95: error: class, interface, or enum expected
     digitalWrite(pinRF,LOW);
     ^
Main.java:96: error: class, interface, or enum expected
     digitalWrite(pinLB,HIGH);  //?????????
     ^
Main.java:97: error: class, interface, or enum expected
     digitalWrite(pinLF,LOW);
     ^
Main.java:98: error: class, interface, or enum expected
     delay(g * 100);     
     ^
Main.java:99: error: class, interface, or enum expected
    }
    ^
Main.java:104: error: class, interface, or enum expected
      ask_pin_F();            // ??????
      ^
Main.java:106: error: class, interface, or enum expected
     if(Fspeedd < 10)         // ????????10??
     ^
Main.java:109: error: class, interface, or enum expected
      back(2);                // ?? 0.2?
      ^
Main.java:110: error: class, interface, or enum expected
      }
      ^
Main.java:115: error: class, interface, or enum expected
        ask_pin_L();            // ??????
        ^
Main.java:116: error: class, interface, or enum expected
        delay(delay_time);      // ????????
        ^
Main.java:117: error: class, interface, or enum expected
        ask_pin_R();            // ??????  
        ^
Main.java:118: error: class, interface, or enum expected
        delay(delay_time);      // ????????  
        ^
Main.java:120: error: class, interface, or enum expected
        if(Lspeedd > Rspeedd)   //?? ??????????
        ^
Main.java:123: error: class, interface, or enum expected
        }
        ^
Main.java:128: error: class, interface, or enum expected
        } 
        ^
Main.java:133: error: class, interface, or enum expected
        }          
        ^
Main.java:138: error: class, interface, or enum expected
      }
      ^
Main.java:144: error: class, interface, or enum expected
      digitalWrite(outputPin, LOW);   // ?????????2?s
      ^
Main.java:145: error: class, interface, or enum expected
      delayMicroseconds(2);
      ^
Main.java:146: error: class, interface, or enum expected
      digitalWrite(outputPin, HIGH);  // ?????????10?s??????10?s
      ^
Main.java:147: error: class, interface, or enum expected
      delayMicroseconds(10);
      ^
Main.java:148: error: class, interface, or enum expected
      digitalWrite(outputPin, LOW);    // ??????????
      ^
Main.java:149: error: class, interface, or enum expected
      float Fdistance = pulseIn(inputPin, HIGH);  // ??????
      ^
Main.java:150: error: class, interface, or enum expected
      Fdistance= Fdistance/5.8/10;       // ????????????????
      ^
Main.java:151: error: class, interface, or enum expected
      Serial.print("F distance:");      //???????????
      ^
Main.java:152: error: class, interface, or enum expected
      Serial.println(Fdistance);         //????
      ^
Main.java:153: error: class, interface, or enum expected
      Fspeedd = Fdistance;              // ??? ??Fspeedd(??)
      ^
Main.java:154: error: class, interface, or enum expected
    }  
    ^
Main.java:158: error: class, interface, or enum expected
      delay(delay_time);
      ^
Main.java:159: error: class, interface, or enum expected
      digitalWrite(outputPin, LOW);   // ?????????2?s
      ^
Main.java:160: error: class, interface, or enum expected
      delayMicroseconds(2);
      ^
Main.java:161: error: class, interface, or enum expected
      digitalWrite(outputPin, HIGH);  // ?????????10?s??????10?s
      ^
Main.java:162: error: class, interface, or enum expected
      delayMicroseconds(10);
      ^
Main.java:163: error: class, interface, or enum expected
      digitalWrite(outputPin, LOW);    // ??????????
      ^
Main.java:164: error: class, interface, or enum expected
      float Ldistance = pulseIn(inputPin, HIGH);  // ??????
      ^
Main.java:165: error: class, interface, or enum expected
      Ldistance= Ldistance/5.8/10;       // ????????????????
      ^
Main.java:166: error: class, interface, or enum expected
      Serial.print("L distance:");       //???????????
      ^
Main.java:167: error: class, interface, or enum expected
      Serial.println(Ldistance);         //????
      ^
Main.java:168: error: class, interface, or enum expected
      Lspeedd = Ldistance;              // ??? ??Lspeedd(??)
      ^
Main.java:169: error: class, interface, or enum expected
    }  
    ^
Main.java:173: error: class, interface, or enum expected
      delay(delay_time);
      ^
Main.java:174: error: class, interface, or enum expected
      digitalWrite(outputPin, LOW);   // ?????????2?s
      ^
Main.java:175: error: class, interface, or enum expected
      delayMicroseconds(2);
      ^
100 errors

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https://ideone.com/OL9lqJ

language:

Java (HotSpot 12)

created:

visibility:

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