Okay, in Bascom sieht das dann so aus:

Code:
   l_ist = Left_Distance * 3.518304078
   r_ist = Right_Distance * 3.622007069
   Left_distance = 0
   Right_distance = 0
   PIDR = 0
   PIDL = 0
   Kp = 15
   Ki = 0.1
   Ta = 1

   Error = l_soll - l_ist

   Error_suml = Error_suml + Error

   PIDL = Kp * Error
   PID_Buffer = Ki * Ta
   PID_Buffer = PID_Buffer * Error_suml
   PIDL = PIDL + PID_Buffer

   Error = r_soll - r_ist

   Error_sumr = Error_sumr + Error
   PIDR = Kp * Error
   PID_Buffer = Ki * Ta
   PID_Buffer = PID_Buffer * Error_sumr
   PIDR = PIDR + PID_Buffer
Leider muss man in Bascom diese ganzen Rechnungen zerlegen.