3x ADC auslesen

[JeyBee]

Moin,

Ich habe mir für meinen Bot ein Programm zusammen geschnitten. Es soll ADC7-4 auslesen, und demendsprechend die Motoren per L293D H-Brücke ansteuernl.
Jedoch wird immer nur ein ADC-Kanal ausgelesen. Ich habe echt keine Ahnung, woran das liegen kann.

Könnte mir mal bitte jmd. über das Programm schauen?

http://rafb.net/p/LbsHLK81.html

#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>
 
volatile unsigned char servopos0;
 
#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC
 
#ifndef F_CPU
#define F_CPU 8000000UL
#endif
 
void servo_init()
{
 
TIMSK|=(1<<OCIE2);
TCCR2 |= (1<<WGM21) | (1<<CS20); 
OCR2 = F_CPU/100000;
DDRSERVO |= (1<<SERVO_0_PIN);
}
 
ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG; 
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else scount=0;
SREG = cSREG; 
}
 
uint16_t readADC(uint8_t channel) {
	uint8_t i;
	uint16_t result0 = 0;
	uint16_t result1 = 0;
	uint16_t result2 = 0;
	uint16_t result3 = 0;
 
	ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1);
 
	ADMUX = channel;
 
	ADMUX |= (1<<REFS1) | (1<<REFS0);
 
	ADCSRA |= (1<<ADSC);
	while(ADCSRA & (1<<ADSC));
 
	for(i=0; i<3; i++) {
 
		ADCSRA |= (1<<ADSC);
 
		while(ADCSRA & (1<<ADSC));
 
		result0+= ADCW;
		result1+= ADCW;
		result2+= ADCW;
		result3+= ADCW;
	}
 
	ADCSRA &= ~(1<<ADEN);
 
	result0/= 3;
	result1/= 3;
	result2/= 3;
	result3/= 3;
 
	return result0;
	return result1;
	return result2;
	return result3;
}
 
 
 
/***************************Hauptprogramm***************************/
int main (void) 
{
 
DDRD = 0xFF;
PORTA = 0b00001111;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
servo_init();
sei();
 
while (1)
{ 
servopos0 = 100;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
 
if(result0 >=300, result1 >= 300, result2 >= 300)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}
 
 
}
}

Mfg JeyBee