Umm, did you read through *all* of the posts carefully?
You don't seem to have made the changes mentioned, Gertlex said:
One thing I found right off is that you can't use while() like that. You need to put somethign in the parentheses... and it can just be while(1) for an infinite loop. (probably what you want)
However, if you're using WebbotLib, you need to use appControl which Webbot already said (though PD should be doing that for you if you're using it correctly)
You haven't fixed up what I said about not needing the type definitions. You did them in the if statement but nowhere else.
Also remember that almost every statement in C must end in a semi-colon (except while loops, for loops, switch cases and if statements). You've missed a fair few semi-colons