Ich habe ein IR Fernsteuerungsprogramm umgeschrieben und etwas dazugebastelt, allerdings wenn ich jetzt mit dem Robby fahren will dann brummt er nur wie in dem Spannungsmessprogramm was mmache ich falsch?
Code:
'--------------------------
'------ I/O PORTS ---------
'--------------------------
'- INTERFACE LCD/EXTPORT --
define sdio port[1]
define sclio port[3]
define strobe port[4]
'-- INTERFACE COM/NAV -----
define DATALINE port[1]
define CLOCKLINE port[2]
'---- FREIE PORTS ---------
define FREIP7 port[7]
define FREIP8 port[8]
define FREIP9 port[9]
define FREIP10 port[10]
define FREIP11 port[11]
define FREIP12 port[12]
define FREIP13 port[13]
define FREIP14 port[14]
define FREIP15 port[15]
define FREIP16 port[16]
'--------------------------
'------ SENSORS ---------
'--------------------------
define LIGHT_L ad[7]
define LIGHT_R ad[6]
define SYS_VOLTS ad[3]
define CHRG_CURRENT ad[2]
define SYS_CURRENT ad[1]
define MIC ad[4]
define TOUCH ad[5]
'---------------------------
'------ DRIVE -------------
'---------------------------
define SPEED_L da[1]
define SPEED_R da[2]
define REV_L port[6]
define REV_R port[5]
'--------------------------
'---- SYSTEM MEMORY -------
'--------------------------
'--- INTERFACE BUFFER ----
define LBYTE byte[1]
define HBYTE byte[2]
define SUBCMD byte[3]
'---- OPERATION DATA ------
define EXTPORT byte[4]
define LED1_F bit[29]
define LED2_F bit[30]
define LED3_F bit[31]
define LED4_F bit[32]
define SYSTEM_STATUS byte[5]
define ACSL_F bit[33]
define ACSR_F bit[34]
define IR_F bit[35]
'--------------------------
'---- USER MEMORY -------
'--------------------------
define SPEED byte[6]
define MODE byte[7]
define ANZEIGEMODE byte[8]
'--- SYSTEMROUTINEN -----------
define PLM_SLOW &H01C4
define SYSTEM &H01C9
define COMNAV &H0154
'- ERWEITERTE SYSTEM ROUTINEN -
define REVR &H0101 'ANTRIEB RECHTS RÜCKWÄRTS
define REVL &H0106 'ANTRIEB LINKS RÜCKWÄRTS
define FWDR &H010B 'ANTRIEG RECHTS VORWÄRTS
define FWDL &H0110 'ANTRIEB LINKS VORWÄRTS
define ROTR &H0115 'RECHTS DREHEN
define ROTL &H0119 'LINKS DREHEN
define REV &H011D 'RÜCKWÄRTS
define FWD &H0121 'VORWÄRTS
define COMNAV_STATUS &H0125 'UPDATED ALLE FLAGS IM STATUS-REGISTER
define ACS_LO &H01E1 'ACS POWER
define ACS_HI &H01E9 '
define ACS_MAX &H01F1 '
define SEND_TLM &H014A 'SENDET TELEMETRIE (CH=HBYTE,DATEN=LBYTE)
define SEND_SPEEDR &H0134 'SENDET TLM KANAL 8,PLM RECHTS
define SEND_SPEEDL &H013A 'SENDET TLM KANAL 7,PLM LINKS
define SEND_SYSSTAT &H0144 'SENDET TLM KANAL 0,SYSTEM STATUS
'(FLAGS für ACS,FWD/REV, ACS_LO/HI/MAX)
define gp1 byte
'---------- INIT---------------
FREIP7=off:FREIP8=off:FREIP9=off:FREIP10=off
FREIP11=off:FREIP12=off:FREIP13=off:FREIP14=off
FREIP15=off:FREIP16=off
gosub SUBSYS_PWR_ON
beep 368,10,0:pause 50
'---- SYSTEM OPERATION MODE (NO INTERRUPT) ----
gosub NO_ACS_INT:beep 368,10,0:SYS ACS_MAX
'------------ ANTRIEB -------------------------
REV_L=on:REV_R=on:SYS PLM_SLOW
'--------- IR-DATENFORMAT -----------------
gosub RC5:MODE=0
'--------------------------------------------
'--- DEMO REMOTE CONTROL ---
'--------------------------------------------
#loop
pause 5:gosub GET_IRDATA:SYS COMNAV_STATUS
if IR_F =off then goto loop
goto EX_COMMAND
'---------- KOMMANDO INTERPRETER --------------
#EX_COMMAND
if HBYTE=&HFF then goto loop
#CMDMODE
gosub GET_IRDATA
if LBYTE=13 then goto stop
if LBYTE=42 then goto back
if LBYTE=53 then goto rotleft
if HBYTE=21 and LBYTE=21 then goto rotright
if LBYTE=21 then goto sound
if HBYTE and LBYTE = &HFF then goto forward
#sound
for gp1 = 50 to 250 step 5
beep gp1,0,0:next
for gp1 = 50 to 250 step 5
beep gp1,0,0:next
for gp1 = 50 to 250 step 5
beep gp1,0,0:next
beep 200,1,1
goto loop
'----------------------------------------------
#stop
SYS FWDR:SYS FWDL:SPEED_L=0:SPEED_R=0:SPEED=0:MODE=0:goto loop
#rotleft
MODE=3:SYS ROTL:SPEED_L=SPEED:SPEED_R=SPEED:goto loop
#rotright
MODE=3:SYS ROTR:SPEED_L=SPEED:SPEED_R=SPEED:goto loop
'-----------------------------------------------
#forward
if MODE=3 then goto FWD
if MODE=2 then goto REV_SLOWER
if SPEED=250 then SPEED=240
SPEED=SPEED+10:goto FWD
#FWD_SLOWER
SPEED=SPEED-10
if SPEED=20 then goto REV
#FWD
MODE=1:SYS FWDL:SYS FWDR:SPEED_L=SPEED:SPEED_R=SPEED:goto loop
#back
if MODE=3 then goto REV
if MODE=1 then goto FWD_SLOWER
if SPEED=250 then SPEED=240
SPEED=SPEED+10:goto REV
#REV_SLOWER
SPEED=SPEED-10
if SPEED=20 then goto FWD
#REV
MODE=2:SYS REVL:SYS REVR:SPEED_L=SPEED:SPEED_R=SPEED:goto loop
'IIIIIIIIIII LED DRIVER IIIIIIIIIIIIIIIII
#LED1ON
LED1_F=on:goto EXTPORT_WRITE
#LED1OFF
LED1_F=off and &HEF:goto EXTPORT_WRITE
#LED2ON
LED2_F=on:goto EXTPORT_WRITE
#LED2OFF
LED2_F=off:goto EXTPORT_WRITE
#LED3ON
LED3_F=on:goto EXTPORT_WRITE
#LED3OFF
LED3_F=off:goto EXTPORT_WRITE
#LED4ON
LED4_F=on:goto EXTPORT_WRITE
#LED4OFF
LED4_F=off:goto EXTPORT_WRITE
#LEDSOFF
EXTPORT=EXTPORT and &H0F:goto EXTPORT_WRITE
#EXTPORT_WRITE
SYS SYSTEM:pulse STROBE:RETURN
'IIIIII SYSTEMROUTINEN COMM/NAV SYSTEM IIIII
#GET_IRDATA
SUBCMD=1:sys COMNAV:return
#SEND_IRDATA
SUBCMD=0:sys COMNAV:return
#RC5
SUBCMD=4:sys COMNAV:LBYTE= HBYTE and &HFC
HBYTE=00:SUBCMD=2:sys COMNAV:return
#RC5_INT
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE and &HFE)or 2
HBYTE=00:SUBCMD=2:sys COMNAV:return
#REC80
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE or &H01)and&HFD
HBYTE=00:SUBCMD=2:sys COMNAV:return
#REC80_INT
SUBCMD=4:sys COMNAV:LBYTE= (HBYTE or &H03)
HBYTE=00:SUBCMD=2:sys COMNAV:return
'IIIIII SYSTEMROUTINEN SYSTEM IIIIIIIIIIII
#NO_ACS_INT
SUBCMD=4:sys COMNAV:LBYTE= HBYTE and &HFB
HBYTE=00:SUBCMD=2:sys COMNAV:return
#ACS_INT_200
SUBCMD=4:sys COMNAV:LBYTE= HBYTE or &H04
HBYTE=50:SUBCMD=2:sys COMNAV:return
#SUBSYS_PWR_ON
sdio=on:sclio=on:strobe=off:EXTPORT=(EXTPORT and &HFE)or 8
sys SYSTEM:return
#SUBSYS_PWR_OFF
EXTPORT=(EXTPORT and &HF7)or 1:sys SYSTEM
deact sdio:deact sclio:return
#CLR_DISTANCE
SUBCMD=3:sys COMNAV:return
#L_DISTANCE
SUBCMD=6:sys COMNAV:return
#R_DISTANCE
SUBCMD=7:sys COMNAV:return
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