3x ADC auslesen

Moin,

Ich habe mir für meinen Bot ein Programm zusammen geschnitten. Es soll ADC7-4 auslesen, und demendsprechend die Motoren per L293D H-Brücke ansteuernl.
Jedoch wird immer nur ein ADC-Kanal ausgelesen. Ich habe echt keine Ahnung, woran das liegen kann.

Könnte mir mal bitte jmd. über das Programm schauen?

http://rafb.net/p/LbsHLK81.html

Code:

---

#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>
 
volatile unsigned char servopos0;
 
#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC
 
#ifndef F_CPU
#define F_CPU 8000000UL
#endif
 
void servo_init()
{
 
TIMSK|=(1<<OCIE2);
TCCR2 |= (1<<WGM21) | (1<<CS20);
OCR2 = F_CPU/100000;
DDRSERVO |= (1<<SERVO_0_PIN);
}
 
ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else scount=0;
SREG = cSREG;
}
 
uint16_t readADC(uint8_t channel) {
        uint8_t i;
        uint16_t result0 = 0;
        uint16_t result1 = 0;
        uint16_t result2 = 0;
        uint16_t result3 = 0;
 
        ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1);
 
        ADMUX = channel;
 
        ADMUX |= (1<<REFS1) | (1<<REFS0);
 
        ADCSRA |= (1<<ADSC);
        while(ADCSRA & (1<<ADSC));
 
        for(i=0; i<3; i++) {
 
                ADCSRA |= (1<<ADSC);
 
                while(ADCSRA & (1<<ADSC));
 
                result0+= ADCW;
                result1+= ADCW;
                result2+= ADCW;
                result3+= ADCW;
        }
 
        ADCSRA &= ~(1<<ADEN);
 
        result0/= 3;
        result1/= 3;
        result2/= 3;
        result3/= 3;
 
        return result0;
        return result1;
        return result2;
        return result3;
}
 
 
 
/***************************Hauptprogramm***************************/
int main (void)
{
 
DDRD = 0xFF;
PORTA = 0b00001111;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
servo_init();
sei();
 
while (1)
{
servopos0 = 100;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
 
if(result0 >=300, result1 >= 300, result2 >= 300)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}
 
 
}
}

---

Mfg JeyBee

Ab Zeile 74 sind vier Return untereinander, was macht das Programm beim ersten Return, kommt es irgend wann zu den folgenden.
Zeile 103 ist Unsinn, der Compiler sollte da eine Warnung ausgeben.

Hallo JeyBee,

hab mir den Code nur oberflächlich angeguckt, aber da fallen einige Fehler auf:

1. Das Speichern des SREGs in der ISR wird vom Compiler automatisch gemacht und ist unnötig.

2. warum werden in readADC vier verschiedene Result-Variablen angelegt? Einer reicht doch, zudem jede der vier Variablen zu jeder Zeit den gleichen Wert hat!

3. if(result0 >=300, result1 >= 300, result2 >= 300) :
Die Kommas machen nicht das, was Du denkst. Es wird nur geprüft, ob result2 >= 300 ist. Was Du willst ist eine logische Und-Verknüpfung, also
if((result0 >=300) && (result1 >= 300) && (result2 >= 300))

Noch ein kleiner Tipp: Lass die Schleife in readAdc bis 4 laufen. Dadurch muss der summierte Wert später durch 4 geteilt werden, was einfach nur ein rechtsshift um 2 ist. Das ist viel schneller als das Teilen durch 3.

MfG Mark

Hallo

So vielleicht:

Code:

---

#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>

volatile unsigned char servopos0;

#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC

#ifndef F_CPU
#define F_CPU 8000000UL
#endif

void servo_init(void)
{

TIMSK|=(1<<OCIE2); // Interrupt gestatten
TCCR2 |= (1<<WGM21) | (1<<CS20); // CTC-Mode, no prescaling (= anstelle von |= wäre sicherer)
OCR2 = F_CPU/100000; // 100000kHz
DDRSERVO |= (1<<SERVO_0_PIN);
}

ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else scount=0;
SREG = cSREG;
}

uint16_t readADC(uint8_t channel)
{
        uint16_t result;

  ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1); // ADC einschalten, prescal /64
  ADMUX = channel; // Kanal wählen
  ADMUX |= (1<<REFS1) | (1<<REFS0); // + interne 2,56V-Referenz
  ADCSRA |= (1<<ADSC); // Konvertierung starten
  while(ADCSRA & (1<<ADSC)); // warten bis Wandlung abgeschlossen

        result= ADC; // Ergebnis zwischspeichern

  ADCSRA &= ~(1<<ADEN); // ADC ausschalten

  return(result); // Ergebnis abliefern
}



/***************************Hauptprogramm***************************/
int main (void)
{

DDRD = 0xFF;
PORTA = 0b00001111;
uint16_t result0 = 0;
uint16_t result1 = 0;
uint16_t result2 = 0;
uint16_t result3 = 0;
servo_init();
sei();

while (1)
{
servopos0 = 100;
result0= readADC(4)/3;  // /3 ????
result1= readADC(5)/3;
result2= readADC(6)/3;
result3= readADC(7)/3;

if((result0 >=300) && (result1 >= 300) && (result2 >= 300)) // ?????????????????
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


}
}

---

Gruß

mic

Hi,

Erstmal vielen dank, für die vielen Antworten.
Aber auch das Programm von radbruch, spricht nur einen Sensor an.
Ich habe eben nochmal alles vermessen, die Pins stimmen, an der Hardware kann es also nicht liegen.
Im AVRstudio habe ich auch die korrekte MCU etc. eingestellt, daran dürfte es also auch nicht liegen.

Ich bin echt ratlos.


Gruss JeyBee

Bei mir (8MHz Mega32) scheint das zu funktionieren:

Code:

---

#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>

volatile unsigned char servopos0, p=0;

#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC

#ifndef F_CPU
#define F_CPU 8000000UL
#endif

void servo_init(void)
{

TIMSK|=(1<<OCIE2); // Interrupt gestatten
TCCR2 |= (1<<WGM21) | (1<<CS20); // CTC-Mode, no prescaling (= wäre sicherer)
OCR2 = F_CPU/100000; // 100000kHz
DDRSERVO |= (1<<SERVO_0_PIN);
}

ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else {scount=0; if(p) p--;}
SREG = cSREG;
}

uint16_t readADC(uint8_t channel)
{
        uint16_t result;

  ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1); // ADC einschalten, prescal /64
  ADMUX = channel; // Kanal wählen
  //ADMUX |= (1<<REFS1) | (1<<REFS0); // + interne 2,56V-Referenz
  ADMUX |= (0<<REFS1) | (1<<REFS0); // + 5V-Referenz
  ADCSRA |= (1<<ADSC); // Konvertierung starten
  while(ADCSRA & (1<<ADSC)); // warten bis Wandlung abgeschlossen

        result= ADC; // Ergebnis zwischspeichern

  ADCSRA &= ~(1<<ADEN); // ADC ausschalten

  return(result); // Ergebnis abliefern
}

/*************** Ausgabe an Terminal *******************************/
#define BAUD_LOW                38400  //Low speed - 38.4 kBaud
#define UBRR_BAUD_LOW        ((F_CPU/(16*BAUD_LOW))-1)

void writeChar(char ch)
{
    while (!(UCSRA & (1<<UDRE)));
    UDR = (uint8_t)ch;
}
void writeString(char *string)
{
        while(*string)
                writeChar(*string++);
}
void writeInteger(int16_t number, uint8_t base)
{
        char buffer[17];
        itoa(number, &buffer[0], base);
        writeString(&buffer[0]);
}

/***************************Hauptprogramm***************************/
int main (void)
{

        DDRD = 0xFF;
        //PORTA = 0b00001111;
        uint16_t result0 = 0;
        uint16_t result1 = 0;
        uint16_t result2 = 0;
        uint16_t result3 = 0;
        servo_init();

        // Setup für RP6 (8MHz Mega32)
        // UART:
        UBRRH = UBRR_BAUD_LOW >> 8;        // Setup UART: Baudrate is Low Speed
        UBRRL = (uint8_t) UBRR_BAUD_LOW;
        UCSRA = 0x00;
  UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);
  UCSRB = (1 << TXEN) | (1 << RXEN) | (1 << RXCIE);

        sei();

        while (1)
        {
                servopos0 = 100;
                result0= readADC(0);
                result1= readADC(1);
                //result2= readADC(6);
                result3= readADC(7);

                writeString("ADC0:");
                writeInteger(result0, 10);
                writeString("  ADC1:");
                writeInteger(result1, 10);
                writeString("  ADC7:");
                writeInteger(result3, 10);
                writeChar('\n');
                p=10; while(p);
      }
}

---

Die Ausgabe:

Code:

---

[READY]
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:947  ADC7:1023
ADC0:765  ADC1:838  ADC7:1023
ADC0:765  ADC1:727  ADC7:1023
ADC0:765  ADC1:616  ADC7:1023
ADC0:765  ADC1:518  ADC7:1023
ADC0:765  ADC1:443  ADC7:1023
ADC0:765  ADC1:388  ADC7:1023
ADC0:765  ADC1:345  ADC7:1023
ADC0:765  ADC1:340  ADC7:1023
ADC0:765  ADC1:323  ADC7:1023
ADC0:765  ADC1:313  ADC7:1023
ADC0:765  ADC1:292  ADC7:1023
ADC0:765  ADC1:279  ADC7:1023
ADC0:765  ADC1:279  ADC7:1023
ADC0:765  ADC1:276  ADC7:1023
ADC0:765  ADC1:279  ADC7:1023
ADC0:765  ADC1:373  ADC7:1023
ADC0:765  ADC1:551  ADC7:1023
ADC0:765  ADC1:722  ADC7:1023
ADC0:765  ADC1:874  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:744
ADC0:765  ADC1:1023  ADC7:547
ADC0:765  ADC1:1023  ADC7:392
ADC0:765  ADC1:1023  ADC7:273
ADC0:765  ADC1:1023  ADC7:190
ADC0:765  ADC1:1023  ADC7:162
ADC0:766  ADC1:1023  ADC7:154
ADC0:766  ADC1:1023  ADC7:173
ADC0:765  ADC1:1023  ADC7:327
ADC0:765  ADC1:1023  ADC7:500
ADC0:765  ADC1:1023  ADC7:668
ADC0:765  ADC1:1023  ADC7:823
ADC0:766  ADC1:1023  ADC7:1023
ADC0:766  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:765  ADC1:1023  ADC7:1023
ADC0:657  ADC1:1023  ADC7:1023
ADC0:506  ADC1:1023  ADC7:1023
ADC0:386  ADC1:1023  ADC7:1023
ADC0:276  ADC1:1023  ADC7:1023
ADC0:124  ADC1:1023  ADC7:1023
ADC0:15  ADC1:1023  ADC7:1023
ADC0:0  ADC1:1023  ADC7:1023
ADC0:0  ADC1:1023  ADC7:1023
ADC0:0  ADC1:1023  ADC7:1023
ADC0:0  ADC1:1023  ADC7:1023
ADC0:0  ADC1:1023  ADC7:1023
ADC0:148  ADC1:1023  ADC7:1023
ADC0:299  ADC1:1023  ADC7:1023
ADC0:432  ADC1:1023  ADC7:1023
ADC0:555  ADC1:1023  ADC7:1023
ADC0:666  ADC1:1023  ADC7:1023
ADC0:759  ADC1:1023  ADC7:1023
ADC0:771  ADC1:1023  ADC7:1023
ADC0:771  ADC1:1023  ADC7:1023
ADC0:771  ADC1:1023  ADC7:1023
ADC0:771  ADC1:1023  ADC7:1023
ADC0:771  ADC1:1023  ADC7:1023
ADC0:770  ADC1:1023  ADC7:1023
ADC0:770  ADC1:1023  ADC7:1023

---

Gruß

mic

Nabend,

Wenn ich aber diese &&'s bei dem IF drinne habe, reagieren die Mottoren erst, wenn ALLE drei Sensoren ein Hinderniss melden.... Das ist ja auch nicht der Sinn.

Ich möchte, dass wenn einer der Sensoren etwas erkennt, die Motoren reagierten, denn jeder Sensor ist in einem anderen Winkel angeordnet...
Darum habe ich jetzt wieder drei einzelne If-Anweisungen.

Ich hoffe, ich dass ich noch ein paar Fragen stellen darf ;)


Mfg JeyBee

if((result0 >=300) || (result1 >= 300) || (result2 >= 300))

Wenn ein Ergebniss größergleich 300 ist....

Zitat:

---

Das ist ja auch nicht der Sinn.

---

Dann solltest du deine Wünsche besser erklären...

Neues Problem:

Ich möchte, dass der Sensor in der Mitte auf dem Servo sich wärend des fahrens dreht, und in 3 Stellungen eine Messung macht. Jedoch kann die MCU ja immer nur eine Sache pro Takt machen, desshalb wärden die anderen 3 Sensoren einfach ignoriert -> der Bot fährt überall rein.

Ich habe den Code mal gepastet:
http://rafb.net/p/pHGMMB69.html

Code:

---

#include <avr/io.h>
#include <stdlib.h>
#include <inttypes.h>
#include <avr/interrupt.h>
#include <util/delay.h>

volatile unsigned char servopos0, p=0;

#define SERVO_0_PIN 7
#define SERVOPORT PORTC
#define DDRSERVO DDRC

#ifndef F_CPU
#define F_CPU 8000000UL
#endif

void servo_init(void)
{

TIMSK|=(1<<OCIE2); // Interrupt gestatten
TCCR2 |= (1<<WGM21) | (1<<CS20); // CTC-Mode, no prescaling (= wäre sicherer)
OCR2 = F_CPU/100000; // 100000kHz
DDRSERVO |= (1<<SERVO_0_PIN);
}

ISR(TIMER2_COMP_vect)
{
char cSREG;
cSREG = SREG;
static int scount;
if(scount>servopos0)SERVOPORT&=~(1<<SERVO_0_PIN);
else SERVOPORT|=(1<<SERVO_0_PIN);
if(scount<2000)scount++;
else {scount=0; if(p) p--;}
SREG = cSREG;
}

uint16_t readADC(uint8_t channel)
{
  uint16_t result;

  ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1); // ADC einschalten, prescal /64
  ADMUX = channel; // Kanal wählen
  //ADMUX |= (1<<REFS1) | (1<<REFS0); // + interne 2,56V-Referenz
  ADMUX |= (0<<REFS1) | (1<<REFS0); // + 5V-Referenz
  ADCSRA |= (1<<ADSC); // Konvertierung starten
  while(ADCSRA & (1<<ADSC)); // warten bis Wandlung abgeschlossen

  result= ADC; // Ergebnis zwischspeichern

  ADCSRA &= ~(1<<ADEN); // ADC ausschalten

  return(result); // Ergebnis abliefern
}



/***************************Hauptprogramm***************************/
int main (void)
{

  DDRD = 0xFF;
  PORTA = 0b00001111;
  uint16_t result0 = 0;
  uint16_t result1 = 0;
  uint16_t result2 = 0;
  uint16_t result3 = 0;
  servo_init();
  sei();

while (1)
{
servopos0 = 90;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
_delay_ms(200);

if(result0 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result1 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result2 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}





servopos0 = 60;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
_delay_ms(200);

if(result0 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result1 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result2 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}




servopos0 = 150;
result0= readADC(4);
result1= readADC(5);
result2= readADC(6);
result3= readADC(7);
_delay_ms(200);

if(result0 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result1 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}


if(result2 >=200)
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA0) | (1<<PA1) | (1<<PA2) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA2));
PORTA &=~ ((1<<PA1) | (1<<PA3));
_delay_ms (100);
PORTA |= ((1<<PA0) | (1<<PA1));
_delay_ms(100);
}
else
{
PORTD |= (1<<PD5);
PORTA |= ((1<<PA1) | (1<<PA3));
PORTA &=~ ((1<<PA0) | (1<<PA2));
}



}
}


//////////

/*

Servopos:  Mitte = 90   
                        Links = 150
                        Rechts = 60


*/

//////////

---

Hat jmd. eine bessere Idee?


Mfg JeyBee

Hast du dir schon mal ausgerechnet wie lange deine while-Schleife dauert wenn dein Bot so in eine Ecke fährt das bei allen drei Sensoren der Wert >200 ist. Soll der Kontroller sonst nichts machen?