Code:
#include "RP6RobotBaseLib.h"
#include "RP6ControlLib.h" 

void runningLight(void)
{
	static uint8_t runLight = 1; 
	static uint8_t dir; 
	
	if(getStopwatch4() > 100)
	{
		setLEDs(runLight); 
	
		if(dir == 0)
			runLight <<= 1; 
		else
			runLight >>= 1;
			
		if(runLight > 7 ) 
			dir = 1;			
		else if (runLight < 2 ) 
			dir = 0;

		setStopwatch4(0);
	}
}

void takeABreakAfterSomeTime(void)
{
	static uint8_t putScreenOnceOnly; 

	if(getStopwatch5() > 24000)
	{
		clearLCD();
		startStopwatch3();
		startStopwatch4();
		setStopwatch5(0); 
		sound(160,20,20);
		sound(220,40,0);
	}
	else if(getStopwatch5() > 22000)
	{
		if(!putScreenOnceOnly)
		{
			showScreenLCD("ok lass uns", "gehen!");
			putScreenOnceOnly = 1;
		}
	}
	else if(getStopwatch5() > 16000)
	{
		if(isStopwatch1Running()) 
		{
			stopStopwatch1();
			stopStopwatch2();
			showScreenLCD("ich moechte", "ein shirt brechen!");
			putScreenOnceOnly = 0;
			sound(220,40,20);
			sound(160,40,0);
		}
	}
}


void bumpersStateChanged(void)
{
		writeString_P("\nBumper Status hat sich geaendert:\n");
	if(bumper_left)
		writeString_P(" - Linker Bumper gedrueckt!\n");
	else
		writeString_P(" - Linker Bumper nicht gedrueckt.\n");
	if(bumper_right)
		writeString_P(" - Rechter Bumper gedrueckt!\n");
	else
		writeString_P(" - Rechter Bumper nicht gedrueckt.\n");
}
   
int main(void)
{
   initRobotBase();
   initRP6Control();
   initLCD(); 
   BUMPERS_setStateChangedHandler(bumpersStateChanged);
   setLEDs(0b111111);
   powerON();

   moveAtSpeed(50,50);
   //getLeftSpeed(50,30)
   //getRightSpeed(30,50)
   startStopwatch1();
   startStopwatch2();
   startStopwatch3();
   startStopwatch4();
   setLEDs(0b000000);

   while(true)
   {
      if(getStopwatch1() > 4000)
      {
			move(60, FWD, DIST_MM(300), true); // 30cm Vorwärts fahren
				rotate(30, LEFT, 180, true); // um 180° nach links drehen
			move(60, FWD, DIST_MM(300), true); // 30cm Vorwärts fahren
				rotate(30, LEFT, 90, true); // um 90° nach links drehen
			move(60,FWD,DIST_MM(200), true);
				rotate(30, RIGHT, 45, true);
		setStopwatch1(0);
      }
		if(getStopwatch2() > 300)
	{
			writeString_P("\nADC Lichtsensor Links: ");
			writeInteger(adcLSL, DEC);
			writeString_P("\nADC Lichtsensor Rechts: ");
			writeInteger(adcLSL, DEC);
			writeString_P("\nADC Akku: ");
			writeInteger(adcBat, DEC);
			writeChar('\n');
		if(adcBat < 600)
			writeString_P("Warnung! Akku ist bald leer!\n");
		setStopwatch2(0);
	}
		if(getStopwatch3() > 300)
		{
			showScreenLCD("################", "################");
			mSleep(1500);
			showScreenLCD("Ich bin RP6 ein", "inilligenter Roboter");
			mSleep(2500);
			shwoScreenLCD("Dies war ein Test");
			mSleep(5000);
			setStopwatch3(0);			
		}
      task_motionControl();
	  task_ADC();
	  task_Bumpers();
	  runLCDText();
	  runningLight();
   }
   return 0;
}
könnte mir einer sagen was an den programm falsch ist ? =(