MicroRobotArm error

[Fredkhoo]

Use Arduino IDE1.8.12 Compiler MicroRobotArm.ino Files,the console window show this Error:

Arduino:1.8.12 (Windows Store 1.8.33.0) (Windows 10), ："ESP32 Wrover Module, Default 4MB with spiffs (1.2MB APP/1.5MB SPIFFS), QIO, 80MHz, 921600, None"

In file included from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/portable.h:94:0,

             from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/FreeRTOS.h:105,

             from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4\cores\esp32/Arduino.h:32,

             from sketch\MicroRobotArm.ino.cpp:1:

C:\Users\13817\Desktop\MicroRobotArm\ESP32-MicroRobotArm-master\MicroRobotArm\MicroRobotArm.ino: In function 'void onTimer()':

MicroRobotArm:89:33: error: 'timerMux' was not declared in this scope

C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/portmacro.h:234:59: note: in definition of macro 'portENTER_CRITICAL_ISR'

#define portENTER_CRITICAL_ISR(mux) vTaskEnterCritical(mux)

                                                       ^

C:\Users\13817\Desktop\MicroRobotArm\ESP32-MicroRobotArm-master\MicroRobotArm\MicroRobotArm.ino: In function 'void setup()':

MicroRobotArm:271:5: error: 'timer' was not declared in this scope

In file included from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/portable.h:94:0,

             from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/FreeRTOS.h:105,

             from C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4\cores\esp32/Arduino.h:32,

             from sketch\MicroRobotArm.ino.cpp:1:

C:\Users\13817\Desktop\MicroRobotArm\ESP32-MicroRobotArm-master\MicroRobotArm\MicroRobotArm.ino: In function 'void loop()':

MicroRobotArm:284:29: error: 'timerMux' was not declared in this scope

C:\Users\13817\Documents\ArduinoData\packages\esp32\hardware\esp32\1.0.4/tools/sdk/include/freertos/freertos/portmacro.h:232:59: note: in definition of macro 'portENTER_CRITICAL'

#define portENTER_CRITICAL(mux) vTaskEnterCritical(mux)

                                                       ^

exit status 1 'timerMux' was not declared in this scope