Netlogo Error: Help Desperately Needed :(

Hi, I'm currently having an error with one of my netlogo 3D projects... I am trying to simulate swarm intelligence based off of flocking, but I keep getting an error message that says: "Expected command"

here's my code:

turtles-own [
members
nearest-neighbor
acceleration
]
</div>
<div>
  globals [ scale ]
</div>
<div>
  
</div>
<div>
  to setup
</div>
<div>
  ca
</div>
<div>
  set scale 0.25 ;; scale let's us have a bigger
  world without too many patches
</div>
<div>
   crt swarm#
</div>
<div>
   [ set color red - 2 + random 7
</div>
<div>
    setxyz random-xcor
</div>
<div>
        random-ycor
</div>
<div>
        random-zcor
</div>
<div>
    right random-float 360
</div>
<div>
    tilt-up asin (1.0 - random-float
  2.0)
</div>
<div>
    roll-right random-float 360
</div>
<div>
    set acceleration [ 0 0 0 ]
</div>
<div>
    ]
</div>
<div>
  ask turtle 0 [ set color yellow ]
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to go
</div>
<div>
  ask turtles [ swarm ]
</div>
<div>
  repeat 5
</div>
<div>
  [
</div>
<div>
   ask turtles
</div>
<div>
   [
</div>
<div>
    fd scale / 2
</div>
<div>
   ]
</div>
<div>
   display
</div>
<div>
  ]
</div>
<div>
  tick
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to swarm
</div>
<div>
  find-members
</div>
<div>
  set acceleration (list 0 0 0)
</div>
<div>
  add-urge avoid-obstacle-urge avoidance-constant
</div>
<div>
  if any? members
</div>
<div>
  [find-nearest-neighbor
</div>
<div>
  ifelse distance nearest-neighbor &lt; (
  minimum-prevention * scale )
</div>
<div>
  [align]
</div>
<div>
  [cohere]
</div>
<div>
  collision-prevention]
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to find-nearest-neighbor
</div>
<div>
  set nearest-neighbor min-one-of members [distance
  myself]
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to find-members
</div>
<div>
  set members other turtles in-radius (vision *
  scale)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to align
</div>
<div>
  turn-towards average-member-heading
  max-align-turn
</div>
<div>
  pitch-towards average-member-pitch max-align-turn
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to cohere
</div>
<div>
  turn-towards
  average-heading-towards-<wbr />members max-cohere-turn
</div>
<div>
  pitch-towards average-pitch-towards-members
  max-cohere-turn
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to collision-prevention
</div>
<div>
  turn-away ([heading] of nearest-neighbor)
  max-collision-turn
</div>
<div>
  pitch-away ([pitch] of nearest-neighbor)
  max-collision-turn
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  ;; Procedures to define COHERE and ALIGN
</div>
<div>
  
</div>
<div>
  to turn-towards [new-heading max-turn]
</div>
<div>
  turn-at-most (subtract-headings new-heading
  heading) (max-turn * scale)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to pitch-towards [new-pitch max-turn]
</div>
<div>
  pitch-at-most (subtract-headings pitch new-pitch)
  (max-turn * scale)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  ;; Procedures to define ALIGN
</div>
<div>
  
</div>
<div>
  to-report average-member-heading
</div>
<div>
  report atan sum [sin heading] of members
</div>
<div>
  sum [cos heading] of members
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report average-member-pitch
</div>
<div>
  report atan sum [sin pitch] of members
</div>
<div>
  sum [cos pitch] of members
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  ;; Procedures to define COHERE
</div>
<div>
  
</div>
<div>
  to-report
  average-heading-towards-<wbr /><wbr /><wbr />members
</div>
<div>
  report atan mean [sin (towards myself + 180)] of
  members
</div>
<div>
  mean [cos (towards myself + 180)] of members
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report average-pitch-towards-members
</div>
<div>
  report mean [0 - (towards-pitch myself)] of
  members
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  ;; Procedures to define COLLISION-PREVENTION
</div>
<div>
  
</div>
<div>
  to turn-away [new-heading max-turn]
</div>
<div>
  turn-at-most (subtract-headings heading
  new-heading) (max-turn * scale)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to pitch-away [new-pitch max-turn]
</div>
<div>
  pitch-at-most (subtract-headings pitch new-pitch)
  (max-turn * scale)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  ;; Procedures to define COHERE and COLLISION-PREVENTION
</div>
<div>
  
</div>
<div>
  to turn-at-most [turn max-turn]
</div>
<div>
    ifelse turn &gt; 0
</div>
<div>
     [ rt max-turn ]
</div>
<div>
     [ lt max-turn ]
</div>
<div>
    rt turn
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to pitch-at-most [turn max-turn]
</div>
<div>
  ifelse abs turn &gt; max-turn
</div>
<div>
   [ ifelse turn &gt; 0
</div>
<div>
     [ tilt-up max-turn ]
</div>
<div>
     [ tilt-down max-turn ] ]
</div>
<div>
   [ tilt-up turn ]
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to build-cubes
</div>
<div>
  ask n-of 20 patches
</div>
<div>
  [ set pcolor blue + random 3
</div>
<div>
   ask neighbors [ set pcolor blue + random 3
  ] ]
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report avoid-obstacle-urge
</div>
<div>
  let urge (list 0 0 0)
</div>
<div>
  if avoidance-constant = 0 [ report urge ]
</div>
<div>
  ask patches in-radius vision with [ pcolor !=
  black ]
</div>
<div>
  [ set urge
</div>
<div>
    add
</div>
<div>
     urge
</div>
<div>
     subtract
</div>
<div>
      (list [xcor] of
  myself [ycor] of myself [zcor] of myself)
</div>
<div>
      (list pxcor pycor
  pzcor)
</div>
<div>
  ]
</div>
<div>
  report urge
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report add [ v1 v2 ]
</div>
<div>
  report (map [ ?1 + ?2 ] v1 v2)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report normalize [ vector ]
</div>
<div>
  let m magnitude vector
</div>
<div>
  if m = 0 [ report vector ]
</div>
<div>
  report map [ ? / m ] vector
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report subtract [ v1 v2 ]
</div>
<div>
  report (map [ ?1 - ?2 ] v1 v2)
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to-report magnitude [ vector ]
</div>
<div>
  report sqrt sum map [ ? * ? ] vector
</div>
<div>
  end
</div>
<div>
  
</div>
<div>
  to add-urge [urge factor]
</div>
<div>
  set acceleration add acceleration
  scale<span style=
  "background-color: rgb(255, 255, 0);">factor</span><span style="background-color: rgb(255, 255, 255);"></span>normalize
  urge
</div>
<div>
  end
</div>

I'vehighlighted the word the error message highlights.
Thanks in advance! respond quickly please :P (if you need the file itself with all the buttons and sliders, email me, i can send it to you)

There is no highlight visible.

Michael Barton