Проблема со скетчем 4WD Arduino

Вот код:

/**  * @file         Arduino UNO Autonomous Robot  * @author       Calin Dragos for intorobotics.com  * @version      V1.0  * @date
      13.10.2016  * @description  This is an Arduino sketch for an autonomous robot able to detect and avoid obstacles  */
#include <AFMotor.h>
#include <Servo.h>
#include <NewPing.h>
Servo myservo;
int ENABLE_A = 6;
int PIN_A1 = 3;
int PIN_A2 = 2;
int ENABLE_B = 11;
int PIN_B1 = 5;
int PIN_B2 = 4;
int SENSOR_DISTANCE;
int LEFT_SENSOR_DISTANCE;
int RIGHT_SENSOR_DISTANCE;
int SNZ_DISTANCE_L;
int SNZ_DISTANCE_R;
int LFT_SNZ_DIS;
int RGT_SNZ_DIS;
#define TRIG_PIN 7
#define ECHO_PIN 8
#define MIN_DISTANCE 40
#define MAX_DISTANCE 200
#define INTERVAL 200
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);


void setup() {
  Serial.begin(9600);
  //pin mode for the DC motors
  pinMode (ENABLE_A, OUTPUT);
  pinMode (PIN_A1, OUTPUT);
  pinMode (PIN_A2, OUTPUT);
  pinMode  (ENABLE_B, OUTPUT);
  pinMode (PIN_B1, OUTPUT);
  pinMode (PIN_B2, OUTPUT);
  //pin mode for the ultrasonic sensor
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  //for servo motor
  myservo.attach(9);
  //set the ultrasonic sensor to center
  sensorCenter();
  //stop the motors
  stopMotors();
}


void loop() {
  SENSOR_DISTANCE = sensorDistance();
  Serial.print("Front sensor distance is: ");
  Serial.println(SENSOR_DISTANCE);
  if (SENSOR_DISTANCE >= MIN_DISTANCE || SENSOR_DISTANCE == 0) {
    goForward();
    Serial.println("Go forward");
  }
  else {
    //stop the motors
    stopMotors();
    LFT_SNZ_DIS = toTheLeft();
    RGT_SNZ_DIS = toTheRight();
    if (LFT_SNZ_DIS >= MIN_DISTANCE && LFT_SNZ_DIS >= RGT_SNZ_DIS)
    {
      int NEW_SNZ_DIS_LFT;
      //try three times to escape
      for (int i = 1; i <= 3; i++) {
        goLeft();
        Serial.println("Go left");
        delay(300);
        //stop the motors
        stopMotors();
        NEW_SNZ_DIS_LFT = sensorDistance();
        if (NEW_SNZ_DIS_LFT >= MIN_DISTANCE)
        {
          break;
        }
      }
      sensorCenter();
    }
    else if (RGT_SNZ_DIS >= MIN_DISTANCE && RGT_SNZ_DIS >= LFT_SNZ_DIS)
    {
      int NEW_SNZ_DIS_RGT;
      //try three times to escape
      for (int j = 1; j <= 3; j++) {
        goRight();
        Serial.println("Go right");
        delay(300);
        //stop the motors
        stopMotors();
        NEW_SNZ_DIS_RGT = sensorDistance();
        if (NEW_SNZ_DIS_RGT >= MIN_DISTANCE)
        {
          break;
        }

      }
      sensorCenter();
    }
    else
    {
      goBackward();
      Serial.println("Go backward");
      delay(500);
      //stop the motors
      stopMotors();
      sensorCenter();
    }
  }
}


void stopMotors() {
  analogWrite (ENABLE_A, 0);
  analogWrite (ENABLE_B, 0);
  digitalWrite (PIN_A1, LOW);
  digitalWrite (PIN_A2, LOW);
  digitalWrite (PIN_B1, LOW);
  digitalWrite (PIN_B2, LOW);
}


int sensorDistance() {
  int distance;
  int uS = sonar.ping();
  distance = uS / US_ROUNDTRIP_CM;
  if (distance != 0) {
    return distance;
    delay(300);
  }
}


void goForward() {
  analogWrite (ENABLE_A, 255);
  digitalWrite (PIN_A1, HIGH);
  digitalWrite (PIN_A2, LOW);
  analogWrite (ENABLE_B, 255);
  digitalWrite (PIN_B1, HIGH);
  digitalWrite (PIN_B2, LOW);
}


void goBackward() {
  analogWrite  (ENABLE_A, 180);
  digitalWrite (PIN_A1, LOW);
  digitalWrite (PIN_A2, HIGH);
  analogWrite (ENABLE_B, 180);
  digitalWrite (PIN_B1, LOW);
  digitalWrite (PIN_B2, HIGH);
}


void goLeft() {
  analogWrite  (ENABLE_A, 180);
  digitalWrite (PIN_A1, HIGH);
  digitalWrite  (PIN_A2, LOW);
  analogWrite (ENABLE_B, 180);
  digitalWrite (PIN_B1,  LOW);
  digitalWrite (PIN_B2, HIGH);
}


void goRight() {
  analogWrite  (ENABLE_A, 180);
  digitalWrite (PIN_A1, LOW);
  digitalWrite (PIN_A2, HIGH);
  analogWrite (ENABLE_B, 180);
  digitalWrite (PIN_B1, HIGH);
  digitalWrite (PIN_B2, LOW);
}


void sensorCenter() {
  myservo.write(90);
  delay(500);
}


void turnSensorLeft() {
  myservo.write(120);
  delay(500);
}


void turnSensorRight() {
  myservo.write(60);
  delay(500);
}


int leftSensorDistance() {
  int LEFT_SENSOR_DISTANCE;
  LEFT_SENSOR_DISTANCE = sensorDistance();
  return LEFT_SENSOR_DISTANCE;
}


int rightSensorDistance() {
  int RIGHT_SENSOR_DISTANCE;
  RIGHT_SENSOR_DISTANCE = sensorDistance();
  return RIGHT_SENSOR_DISTANCE;
}


int toTheLeft() {
  int LEFT_SENSOR_DISTANCE;
  turnSensorLeft();
  LEFT_SENSOR_DISTANCE = leftSensorDistance();
  Serial.print("Left sensor distance is: ");
  Serial.println(LEFT_SENSOR_DISTANCE);
  return LEFT_SENSOR_DISTANCE;
}


int toTheRight() {
  int RIGHT_SENSOR_DISTANCE;
  turnSensorRight();
  RIGHT_SENSOR_DISTANCE = rightSensorDistance();
  Serial.print("Right sensor distance is: ");
  Serial.println(RIGHT_SENSOR_DISTANCE);
  return RIGHT_SENSOR_DISTANCE;
}

Вот какая ошибка у меня возникает:

Arduino: 1.8.6 Hourly Build 2018/05/28 09:33 (Windows 8.1), Board: "Arduino/Genuino Uno"
In file included from C:\arduino-nightly\hardware\arduino\avr\cores\arduino/Arduino.h:257:0,
                 from sketch\intorobotics.ino.cpp:1: C:\arduino-nightly\hardware\arduino\avr\variants\standard/pins_arduino.h:57:19:
error: expected unqualified-id before numeric constant
#define PIN_A1 (15)
                   ^ C:\Users\Zeeshan786\Documents\Arduino\intorobotics\intorobotics.ino:17:5:
note: in expansion of macro 'PIN_A1'
int PIN_A1 = 3;
     ^ C:\arduino-nightly\hardware\arduino\avr\variants\standard/pins_arduino.h:57:19:
error: expected ')' before numeric constant
#define PIN_A1   (15)
                   ^ C:\Users\Zeeshan786\Documents\Arduino\intorobotics\intorobotics.ino:17:5:
note: in expansion of macro 'PIN_A1'
int PIN_A1 = 3;
     ^ C:\arduino-nightly\hardware\arduino\avr\variants\standard/pins_arduino.h:58:19:
error: expected unqualified-id before numeric constant
#define PIN_A2 (16)
                   ^ C:\Users\Zeeshan786\Documents\Arduino\intorobotics\intorobotics.ino:18:5:
note: in expansion of macro 'PIN_A2'
int PIN_A2 = 2;
     ^ C:\arduino-nightly\hardware\arduino\avr\variants\standard/pins_arduino.h:58:19:
error: expected ')' before numeric constant
#define PIN_A2   (16)
                   ^ C:\Users\Zeeshan786\Documents\Arduino\intorobotics\intorobotics.ino:18:5:
note: in expansion of macro 'PIN_A2'
int PIN_A2 = 2;
     ^ exit status 1
Error compiling for board Arduino/Genuino Uno.
This report would have more information with "Show verbose output
during compilation" option enabled in File -> Preferences.