Code:
#include "RP6RobotBaseLib.h"

int main(void)
{
   initRobotBase();
   DDRA |= 1;
   DDRA |= 2;
   int x;      // 10<=x<=20; wenn x >15 in die eine richtung, x<15 in die andre, x=15 stillstand
	char i;
	
   while(true)
   {
		x = 15;
		for(i=0; i<50; i++)
		{
		      PORTA |= 1;
	         sleep(x);
	         PORTA &= ~1;
	         PORTA |= 2;
	         sleep(30-x);
	         PORTA &= ~2;
	         sleep(170);
		}
		x = 10;
		for(i=0; i<50; i++)
		{
		      PORTA |= 1;
	         sleep(x);
	         PORTA &= ~1;
	         PORTA |= 2;
	         sleep(30-x);
	         PORTA &= ~2;
	         sleep(170);
		}
		x = 20;
		for(i=0; i<75; i++)
		{
		      PORTA |= 1;
	         sleep(x);
	         PORTA &= ~1;
	         PORTA |= 2;
	         sleep(30-x);
	         PORTA &= ~2;
	         sleep(170);
		}
   }
   return(0);
}
Der RP6 macht dann aber nichts mehr außer Servos ansteuern...