Vielleicht so etwas hier (nicht getestet!):
Code:
void moveAtSpeedAndDir(int16_t desired_move_left, int16_t desired_move_right)
{
	if (desired_move_left < 0) {
		desired_move_left *= -1;
		mleft_des_dir = BWD;
	}
	else {
		mleft_des_dir = FWD;
	}
	if (desired_move_right < 0) {
		desired_move_right *= -1;
		mright_des_dir = BWD;
	}
	else {
		mright_des_dir = FWD;
	}

	if(desired_move_left > 200) desired_move_left = 200; 
	if(desired_move_right > 200) desired_move_right = 200;

	mleft_des_speed = desired_move_left;
	mright_des_speed = desired_move_right;
}
Gruß Dirk