Hallo

Die Drehrichtungen der Antriebe kann man mit setMotorDir() aus der Library RP6RobotBaseLib.c festlegen:

Code:
/**
 * Sets the rotation direction of both motors.
 *
 * DO NOT CHANGE THE DIRECTION OF THE MOTORS WHILE THEY
 * ARE RUNNING AT HIGH SPEEDS!!! 
 * It will not instantly damage the motors/gears, but they will  
 * wear out much faster if you do it at high speeds - better wait 
 * until speed has slowed down - and change direction AFTER this.
 *
 * -------------------------------------------------------------
 * IT IS A BETTER IDEA NOT TO USE THIS FUNCTION AT ALL!
 * Use moveAtSpeed together with task_motionControl instead.
 * YOU CAN NOT USE setMotorPower AND setMotorDir WHEN YOU USE 
 * task_motionControl!  This will not work!
 * -------------------------------------------------------------
 *
 * task_motionControl also ensures that the direction is changed
 * slowly and only after the motors have stopped!
 *
 * Example:
 *          // DO NOT perform these commands directly after each
 *			// other in your programs - this is just a LIST of possible
 *			// combinations:
 *			setMotorDir(FWD,FWD); // Move forwards
 *			setMotorDir(BWD,FWD); // Rotate right
 *			setMotorDir(FWD,BWD); // Rotate left
 *			setMotorDir(BWD,BWD); // Move backwards
 *
 */
void setMotorDir(uint8_t left_dir, uint8_t right_dir)
{
	mleft_dir = left_dir;
	mright_dir = right_dir;
	mleft_des_dir = left_dir;
	mright_des_dir = right_dir;
	if(left_dir)
		PORTC |= DIR_L;
	else
		PORTC &= ~DIR_L;
	if(right_dir)
		PORTC |= DIR_R;
	else
		PORTC &= ~DIR_R;
}
Wie beschrieben sollten die Drehrichtungen nicht bei Vollgas umgeschaltet werden!

Gruß

mic