Dont work

[Uec3]

import pymurapi as mur
from array import *
import time
auv= mur.mur_init()
prev_time_depth=1
prev_error_depth=1
prev_error_yaw=1
prev_time_yaw=1
target_yaw = 170
target_depth = 3
def start_depth():
global target_depth
print(target_depth)
global prev_time_depth
global prev_error_depth
curent_time = int(round(time.time()1000))
error = auv.get_depth()-target_depth
dif = 5/((curent_time-prev_time_depth)(error - prev_error_depth))
power_value = error 30+dif56
#print (power_value)
power_1 = power_value
power_2 = power_value
if(power_value > 100):
power_value =100
if(power_value <0):
power_value =0
auv.set_motor_power(2,5+power_1)
auv.set_motor_power(3,5+power_2)
prev_time_depth = curent_time
prev_error_depth = error
def start_yaw():
global prev_error_yaw
global target_yaw
global prev_time_yaw
curent_time = int(round(time.time()1000))
error = auv.get_depth()-target_yaw
dif = 3/(curent_time-prev_time_yaw)(error - prev_error_yaw)
power_value = error 0.3+dif4
#print (power_value)
power_1 = power_value
power_2 = power_value
if(power_value > 100):
power_value =100
if(power_value <0):
power_value =0
auv.set_motor_power(2,5+power_1)
auv.set_motor_power(3,5+power_2)
prev_time = curent_time
prev_error_yaw = error
def set_course(yaw,depth):
global target_depth
target_depth = depth
global target_yaw
target_yaw = yaw
while True:
start_yaw()
start_depth()