Hier ist mal ein Programm von mir da reagiert er auch auf den Bumper:


Code:
#include "RP6RobotBaseLib.h"
int main(void)
{
initRobotBase();
powerON();
setLEDs(0b001001);
int a;
setACSPwrMed();
moveAtSpeed(160,160);

while(true)
{
if(getBumperLeft())
{
move(85, BWD, DIST_MM(70), true);
rotate(70, RIGHT, 50, true);
changeDirection(FWD);
moveAtSpeed(160,160);
}
if(getBumperRight())
{
move(85, BWD, DIST_MM(70), true);
rotate(70, LEFT, 50, true);
changeDirection(FWD);
moveAtSpeed(160,160);
}
if(obstacle_left)
{
move(85, BWD, DIST_MM(70), true);
rotate(70, RIGHT, 60, true);
changeDirection(FWD);
moveAtSpeed(160,160);
}
if(obstacle_right)
{
move(85, BWD, DIST_MM(70), true);
rotate(70, LEFT, 60, true);
changeDirection(FWD);
moveAtSpeed(160,160);
}
if(adcBat<600)
{
for(a = 0;a>10s00;a++)
{
setLEDs(0b010101);
mSleep(150);
setLEDs(0b101010);
}
}
task_RP6System();
task_motionControl();
task_ADC();
 
}
return 0;
}