Hızlı Çizgi İzleyen Kodları ve frenle Hatası

‘frenle’ was not declared in this scope

#include <QTRSensors.h>
#define tabanhiz 150
#define sagmotor1 10
#define sagmotor2 9
#define sagmotorpwmpin 11
#define solmotor1 6
#define solmotor2 7
#define solmotorpwmpin 5
#define MZ80 8
#define taktik 12
#define LED 13

QTRSensorsAnalog qtra((unsigned char[]) { A0, A1, A2, A3, A4, A5, A6, A7} , 8);
unsigned int sensors[8];

float Kp = 0.04;  float Kd = 0.6;  float Ki = 0.0001; int integral = 0;
int ekhiz = 0;    int sonhata = 0;  int hata = 0; byte K=0; 
int sagmotorpwm = 0;  int solmotorpwm = 0;    unsigned char zemin = 1;
int cizgisay=0;     long baslamazamani=0;   long doksanzamani=50000;
void setup() 
{
pinMode(sagmotor1, OUTPUT);
pinMode(sagmotor2, OUTPUT); 
pinMode(sagmotorpwmpin, OUTPUT); 
pinMode(solmotor1, OUTPUT); 
pinMode(solmotor2, OUTPUT); 
pinMode(solmotorpwmpin, OUTPUT); 
pinMode(MZ80, INPUT);  
pinMode(taktik, INPUT_PULLUP);  
delay(1000);
digitalWrite(LED, HIGH);

for (int i = 0; i< 150; i++)
{
  if (0 <= i  && i < 5)    hafifsagadon();
  if (5 <= i  && i < 15)   hafifsoladon();
  if (15 <= i && i < 25)   hafifsagadon();
  if (25 <= i && i < 35)   hafifsoladon();
  if (35 <= i && i < 40)   hafifsagadon();
  if (45 <= i && i < 50)   hafifsoladon();
  if (i >= 50) {
    frenle(1);
    delay(3);
  }
  qtra.calibrate();
  delay(1);
 }
 flashyap();
 while (digitalRead(MZ80) == LOW) {frenle(1);}

}

void frenle(int bekle){motorkontrol(0,0); delay(bekle);}