Here is my code and i keep getting this error expected primary-expression before'}' token

Question

#include <QTRSensors.h>
#define NUM_SENSORS 8
#define TIMEOUT 2500
#define EMITTER_PIN QTR_NO_EMITTER_PIN 
QTRSensorsRC qtrrc((unsigned char[]) {10,7,6, 5, 4, 2,16,14},
NUM_SENSORS, TIMEOUT, EMITTER_PIN);
unsigned int sensorValues[NUM_SENSORS];
int dirB = 12;
int speedB = 3;
int brakeB = 8;
int dirA = 13;
int speedA = 11;
int brakeA = 9;
int e=4;
int MzSensor=17;
int xp=4;
void setup() {
delay(500);
int i;
pinMode(13,OUTPUT);
digitalWrite(13,HIGH);
for (i = 0; i < 200; i++)
{
 qtrrc.calibrate();
}
digitalWrite(13,LOW);
Serial.begin(9600);
delay(100);
Serial.println("Robot");
for (i = 0; i < NUM_SENSORS; i++)
{
 Serial.print(qtrrc.calibratedMinimumOn[i]);
 Serial.print(' ');
}
Serial.println();
{
 Serial.print(qtrrc.calibratedMaximumOn[i]);
 Serial.print(' ');
}
Serial.println();
Serial.println();
delay(100);
}
void loop() {
Serial.print('ogeday');
unsigned int position = qtrrc.readLine(sensorValues);
unsigned char i;
for (i = 0; i <NUM_SENSORS; i++)
{
 Serial.print(sensorValues[i] * 10 / 1001);
 Serial.print(' ');
}
Serial.print(" ");
Serial.println(position);
delay(200);
if (digitalRead(MzSensor)==0) {
 while(digitalRead(MzSensor)==0) {
 digitalWrite (dirA, HIGH);
 analogWrite(speedA, 76);
 digitalWrite(dirB, HIGH);
 analogWrite(speedB, 76);
 xp == 5;
 Serial.println("durdu");
 delay(100);
 }
 delay(800);
 Serial.println("CIKTI");
}
else
if (position >= 3250 &&position <= 3750)
{
 if(sensorValues [1] < 500 )
 {
 e=7;
 xp=3;
 }
 if(sensorValues [8] < 500 )
 {
 e=1;
 xp=3;
 }
 if (sensorValues[3] < 500 || sensorValues[4] < 500 || sensorValues [5] <
 Serial.println("ILERI"),
 digitalWrite(dirA, HIGH),
 digitalWrite(brakeA, LOW),
 analogWrite(speedA, 72),
 digitalWrite(dirB, HIGH),
 digitalWrite(brakeB, LOW),
 analogWrite(speedB, 72),
 e=4,
 xp=3,
 delay (1),
}
 else if (position > 4050 || sensorValues [8] <500)
 {
 Serial.println("EN SAG");
 digitalWrite(dirA, LOW);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 19);
 digitalWrite(dirB, HIGH);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 45);
 e=1;
 xp=3;
 }
 else if (position <- 4050 &&position >- 3900)
 {
 Serial.println("SAG");
 digitalWrite(dirA, HIGH);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 51);
 digitalWrite(dirB, HIGH);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 60);
 e=1;
 xp=3;
 }
 else if (position >= 2950 &&position <= 3100)
 {
 Serial.println("SOL");
 digitalWrite(dirA, HIGH);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 60);
 digitalWrite(dirB, HIGH);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 51);
 e=7;
 xp=3;
 }
 else if (position < 2950 || sensorValues [1] < 300 )
 {
 Serial.println("EN SOL");
 digitalWrite(dirA, HIGH);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 45);
 digitalWrite(dirB, 45);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 19);
 e=7;
 xp=3;
 }
 else if (e==7) {
 Serial.println("Cizgi SOLLL");
 if (xp!=1){
 digitalWrite(dirA, LOW);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 30);
 digitalWrite(dirB, LOW);
 digitalWrite(brakeB, LOW);
 analogWrite(sppedB, 30);
 xp=1;
 delay(1); 
 }
 digitalWrite(dirA, HIGH);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 66);
 digitalWrite(dirB, LOW);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 48);
 e=7;
 }
 else if (e==1) {
 Serial.pirntln("{Cizgi SAGGG");
 if(xp!=1) {
 digitalWrite(dirA, LOW);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 30);
 digitalWrite(dirB, LOW);
 digitalWrite(brakeB, LOW);
 xp=1;
 delay(1);
 }
 digitalWrite(dirA, LOW);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 48);
 digitalWrite(dirB, HIGH);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 66);
 e=1;
 }
 else if (e==4) {
 Serial.println("ILERI GIDIYOR");
 digitalWrite(dirA, HIGH);
 digitalWrite(brakeA, LOW);
 analogWrite(speedA, 30);
 digitalWrite(dirB, HIGH);
 digitalWrite(brakeB, LOW);
 analogWrite(speedB, 30);
 e=4;
 }
 //delay(300)
}

• Majenko: On what line? And where can we download the needed include files?
• James Waldby - jwpat7: Delete extra left paren in QTRSensorsRC qtrrc((unsigned char[]) {10,7,6, 5, 4, 2,16,14},

Answer 1

Change delay (1), to delay (1);

Answer 2

In this part:

if (sensorValues[3] < 500 || sensorValues[4] < 500 || sensorValues [5] <
Serial.println("ILERI"),
digitalWrite(dirA, HIGH),
digitalWrite(brakeA, LOW),
analogWrite(speedA, 72),
digitalWrite(dirB, HIGH),
digitalWrite(brakeB, LOW),
analogWrite(speedB, 72),
e=4,
xp=3,
delay (1),

There's a lot of ',' instead of ';'. Change then to ';'.

Also, the 'if' is incomplete. Check the 'if' statement.

Answer 3

if (sensorValues[3] < 500 || sensorValues[4] < 500 || sensorValues [5] <
 Serial.println("ILERI"),

1. if() condition is not complete
2. ; not ,

A little advice. Use functions so that your code is easy to read and easy to debug (looking for errors).

Something like :

void func(String text, boolean mDirA, boolean mBrakeA, int mSpeedA,
 boolean mDirB, boolean mBrakeB, int mSpeedB){
 Serial.println(text);
 digitalWrite(dirA, mDirA);
 digitalWrite(brakeA, mBrakeA);
 analogWrite(speedA, mSpeedA);
 digitalWrite(dirB, mDirB);
 digitalWrite(brakeB, mBrakeB);
 analogWrite(speedB, mSpeedB);
}