ist denke ich mal doch alles vorhanden:
Code:
#include "asuro.h"	
#define SCHWELLEL 582
#define SCHWELLER 549
#define ANPASSUNG 10
#define LOW 0
#define HIGH 1			
	int main (void){
	unsigned int data[2];
	unsigned long int count=0;
	signed int status[2]={0,0};
	signed int difference=0;
	signed int speed=200;
	int i=0;
			Init();
				







			while(1){
	
		switch(count)
	{
		case 0: MotorDir(FWD,FWD);speed=200;break;					
		case 249: MotorDir(BREAK,BREAK);
			for(i=0;i<282;i++){Sleep(255);}
				MotorDir(FWD,BREAK);speed=200;count=250;break;    
		case 330: MotorDir(BREAK,BREAK);
		}
	
	
	

	
		OdometrieData(data);
		if 	((status[0]==LOW)&&(data[0]>SCHWELLEL+ANPASSUNG))
			{
				status[0]=HIGH;
				difference++;
				count++;
			}
		if ((status[0]==HIGH)&&(data[0]<SCHWELLEL-ANPASSUNG))
			{
				status[0]=LOW;
				difference++;
				count++;
			}	
		if	((status[1]==LOW)&&(data[1]>SCHWELLER+ANPASSUNG))	
			{
				status[1]=HIGH;
				difference--;
			}	
		if	((status[1]==HIGH)&&(data[1]<SCHWELLER-ANPASSUNG))	
			{
				status[1]=LOW;
				difference--;	
			}
		if  (difference<-speed)difference=-speed;
		if	(difference>speed)difference=speed;
		if	(difference>0) MotorSpeed(speed,speed++);
		else MotorSpeed(speed,speed--);
	
	
	
	
	
			
	}

return 0;
}