Das wäre nun das selbe Programm allerdings für die Base.
Das Servo hängt am SCL Pin (XBUS).

Code:

 #include"RP6RobotBaseLib.h"


void servo_scl (uint8_t imp)
   {
    DDRC |= SCL;
    PORTC |= SCL;   
    sleep(imp);         
    PORTC &= ~SCL;
    sleep(200-imp);       
   }



int main(void)
{
   initRobotBase();
 
   uint8_t i=0, x;
   
   i=0;
   x=10;
   
   while(true)
   {
      while(i<10) //200ms
      {
      servo_scl(x);
      i=i+1;
      }
   x=x+1;
      if (x>=20)
      {
      x=10;
      }
      i=0;
   }


   while(true)
   {
   writeString_P("\n Endlosschleife");
   }
   
   return 0;
}