Code:
#include "RP6RobotBaseLib.h"
int main(void)
{
initRobotBase();
setLEDs(0b111111);

powerON(); // Encoder und Motorstromsensoren anschalten!



while(true)
{
moveAtSpeed(100,100);
if(getBumperLeft())
{
move(60, BWD, DIST_MM(180), true);
rotate(50, RIGHT, 45, true);
changeDirection(FWD);
}
if(getBumperRight())
{
move(60, BWD, DIST_MM(180), true);
rotate(50, LEFT, 45, true);
changeDirection(FWD);
}
task_motionControl();
task_ADC(); 
task_Bumpers();

}
return 0;
}