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Thema: fehlfunktion bei code

  1. #1
    Erfahrener Benutzer Roboter Experte
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    fehlfunktion bei code

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    ich habe in den beispielcode move_05 ein paar variablen eingebaut, die zählen sollen, wie viele kollisionen es geb und eine funktion, die die deren wert an den bootlader sendet! jetzt bekomme ich die fehlermeldung:
    invalid lvalue in increment! in der zeile betreffenden zeile steht aber nur: "e++;". und in der zweiten meldung steht: "error: expected declaration specifiers before 'while'". in der betreffenden zeile steht:

    uint16_t zahler(void)
    while (true)

    kann mir da bitte jemand helfen? danke schon mal voraus

    roboman

  2. #2
    Neuer Benutzer Öfters hier
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    ich denke es wär sinnvoll den ganzen text zu posten. vll ist es irgentwie im zusammenhang.

    auf jedenfall gint es in diesen 2 (3) zeilen keine fehler!

    Tipp: vll ist es die Variable (uint16_t) versuch mal einfach ne andere.
    vll bringts ja was

    gruß

  3. #3
    Moderator Robotik Visionär Avatar von radbruch
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    Hallo,

    sind etwas "dürftig" deine Codeschnippsel.

    uint16_t zahler(void) definiert so eine Funktion und müsste wenigstens noch ein {[Körper]} besitzen, uint16_t zahler; würde ein Variable deklarieren.

    Datentyp von e?

    Gruß

    mic

    Atmel’s products are not intended, authorized, or warranted for use
    as components in applications intended to support or sustain life!

  4. #4
    Erfahrener Benutzer Roboter Experte
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    was meinste mit körper? e ist eine dec-zahl

  5. #5
    Moderator Robotik Visionär Avatar von radbruch
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    Hallo

    Da aus deinen Schnippseln nicht erkennbar ist was "zahler" sein soll, gehe ich mal von zwei Möglichkeiten aus:

    Eine Funktion mit 16-Bit Rückgabewert:

    uint16_t zahler(void)
    {
    // Körper der Funktion
    return(0);
    }

    oder ein vorzeichenloser 16-Bit-Wert:

    uint16_t zahler;

    Autoincrement/-decrement geht nicht mit speziellen Datentypen. Da es wohl ein Geheimniss ist, wie der Datentyp "dec" aussieht, kann ich da nicht helfen. Ansonsten wäre die Deklaration von e hilfreich.

    Gruß

    mic

    Atmel’s products are not intended, authorized, or warranted for use
    as components in applications intended to support or sustain life!

  6. #6
    Erfahrener Benutzer Roboter Experte
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    ich sende einfach mal den ganzen text und die fehlermeldung:




    Uncommented Version of RP6Base_Move_05.c!
    // written by Dominik S. Herwald
    // ------------------------------------------------------------------------------------------


    #include "RP6RobotBaseLib.h"


    #define IDLE 0

    typedef struct {
    uint8_t speed_left;
    uint8_t speed_right;
    unsigned dir:2;
    unsigned move:1;
    unsigned rotate:1;
    uint16_t move_value;
    uint8_t state;
    } behaviour_command_t;

    behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};


    #define CRUISE_SPEED_FWD 100

    #define MOVE_FORWARDS 1
    behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,
    false, false, 0, MOVE_FORWARDS};


    uint32_t behaviour_cruise(void)
    {
    return 0;
    }



    #define ESCAPE_SPEED_BWD 100
    #define ESCAPE_SPEED_ROTATE 60

    #define ESCAPE_FRONT 1
    #define ESCAPE_FRONT_WAIT 2
    #define ESCAPE_LEFT 3
    #define ESCAPE_LEFT_WAIT 4
    #define ESCAPE_RIGHT 5
    #define ESCAPE_RIGHT_WAIT 6
    #define ESCAPE_WAIT_END 7
    behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};

    #define a 0
    #define b 0
    #define c 0


    uint32_t behaviour_escape(void)
    {
    static uint8_t bump_count = 0;

    switch(escape.state)
    {
    case IDLE:
    break;
    case ESCAPE_FRONT:
    c++; escape.speed_left = ESCAPE_SPEED_BWD;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 220;
    else
    escape.move_value = 160;
    escape.state = ESCAPE_FRONT_WAIT;
    bump_count+=2;
    break;
    case ESCAPE_FRONT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    if(bump_count > 3)
    {
    escape.move_value = 100;
    escape.dir = RIGHT;
    bump_count = 0;
    }
    else
    {
    escape.dir = LEFT;
    escape.move_value = 70;
    }
    escape.rotate = true;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_LEFT:
    b++;
    escape.speed_left = ESCAPE_SPEED_BWD;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 190;
    else
    escape.move_value = 150;
    escape.state = ESCAPE_LEFT_WAIT;
    bump_count++;
    break;
    case ESCAPE_LEFT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    escape.dir = LEFT;
    escape.rotate = true;
    if(bump_count > 3)
    {
    escape.move_value = 110;
    bump_count = 0;
    }
    else
    escape.move_value = 80;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_RIGHT:
    a++;
    escape.speed_left = ESCAPE_SPEED_BWD ;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 190;
    else
    escape.move_value = 150;
    escape.state = ESCAPE_RIGHT_WAIT;
    bump_count++;
    break;
    case ESCAPE_RIGHT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    escape.dir = RIGHT;
    escape.rotate = true;
    if(bump_count > 3)
    {
    escape.move_value = 110;
    bump_count = 0;
    }
    else
    escape.move_value = 80;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_WAIT_END:
    if(!(escape.move || escape.rotate))
    escape.state = IDLE;
    break;
    }
    return 0;
    }


    void bumpersStateChanged(void)
    {
    if(bumper_left && bumper_right)
    {
    escape.state = ESCAPE_FRONT;

    }
    else if(bumper_left)

    {

    if(escape.state != ESCAPE_FRONT_WAIT)
    escape.state = ESCAPE_LEFT;

    }
    else if(bumper_right)

    {

    if(escape.state != ESCAPE_FRONT_WAIT)
    escape.state = ESCAPE_RIGHT;
    }
    }


    #define AVOID_SPEED_L_ARC_LEFT 30
    #define AVOID_SPEED_L_ARC_RIGHT 90
    #define AVOID_SPEED_R_ARC_LEFT 90
    #define AVOID_SPEED_R_ARC_RIGHT 30

    #define AVOID_SPEED_ROTATE 60

    #define AVOID_OBSTACLE_RIGHT 1
    #define AVOID_OBSTACLE_LEFT 2
    #define AVOID_OBSTACLE_MIDDLE 3
    #define AVOID_OBSTACLE_MIDDLE_WAIT 4
    #define AVOID_END 5

    behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};

    #define d 0
    #define e 0
    #define f 0

    uint32_t behaviour_avoid(void)
    {
    static uint8_t last_obstacle = LEFT;
    static uint8_t obstacle_counter = 0;
    switch(avoid.state)
    {
    case IDLE:
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;

    else if(obstacle_left)
    avoid.state = AVOID_OBSTACLE_LEFT;

    else if(obstacle_right)
    avoid.state = AVOID_OBSTACLE_RIGHT;

    break;
    case AVOID_OBSTACLE_MIDDLE:
    f++;
    avoid.dir = last_obstacle;
    avoid.speed_left = AVOID_SPEED_ROTATE;
    avoid.speed_right = AVOID_SPEED_ROTATE;
    if(!(obstacle_left || obstacle_right))
    {
    if(obstacle_counter > 3)
    {
    obstacle_counter = 0;
    setStopwatch4(0);
    }
    else
    setStopwatch4(400);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    break;
    case AVOID_OBSTACLE_RIGHT:
    d++;
    avoid.dir = FWD;
    avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;
    avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;
    if(!obstacle_right)
    {
    setStopwatch4(500);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    last_obstacle = RIGHT;
    obstacle_counter++;
    break;
    case AVOID_OBSTACLE_LEFT:
    e++;
    avoid.dir = FWD;
    avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;
    avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;
    if(!obstacle_left)
    {
    setStopwatch4(500);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    last_obstacle = LEFT;
    obstacle_counter++;
    break;
    case AVOID_END:
    if(getStopwatch4() > 1000)
    {
    stopStopwatch4();
    setStopwatch4(0);
    avoid.state = IDLE;
    }
    break;
    }
    }

    void acsStateChanged(void)
    {
    if(obstacle_left && obstacle_right)
    statusLEDs.byte = 0b100100;
    else
    statusLEDs.byte = 0b000000;
    statusLEDs.LED5 = obstacle_left;
    statusLEDs.LED4 = (!obstacle_left);
    statusLEDs.LED2 = obstacle_right;
    statusLEDs.LED1 = (!obstacle_right);
    updateStatusLEDs();
    }

    void moveCommand(behaviour_command_t * cmd)
    {
    if(cmd->move_value > 0)
    {
    if(cmd->rotate)
    rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
    else if(cmd->move)
    move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
    cmd->move_value = 0;
    }
    else if(!(cmd->move || cmd->rotate))
    {
    changeDirection(cmd->dir);
    moveAtSpeed(cmd->speed_left,cmd->speed_right);
    }
    else if(isMovementComplete())
    {
    cmd->rotate = false;
    cmd->move = false;
    }
    }

    void behaviourController(void)
    {

    behaviour_cruise();
    behaviour_avoid();
    behaviour_escape();

    if(escape.state != IDLE)
    moveCommand(&escape);
    else if(avoid.state != IDLE)
    moveCommand(&avoid);
    else if(cruise.state != IDLE)
    moveCommand(&cruise);
    else
    moveCommand(&STOP);
    }

    uint16_t zahler(void)
    while (true){
    writeString("Hindernis Rechts:");
    writeInteger(d, DEC);
    writeString("\n");
    writeString("Hindernis Links:");
    writeInteger(e, DEC);
    writeString("\n");
    writeString("Hindernis Mitte:");
    writeInteger(f, DEC);
    writeString("\n");
    writeString("Kollision Rechts:");
    writeInteger(a, DEC);
    writeString("\n");
    writeString("Kollision Links:");
    writeInteger(b, DEC);
    writeString("\n");
    writeString("Kollision Mitte:");
    writeInteger(c, DEC);
    writeString("\n");
    mSleep(10000);





    int main(void)
    {
    initRobotBase();
    setLEDs(0b111111);
    mSleep(2500);
    setLEDs(0b100100);

    BUMPERS_setStateChangedHandler(bumpersStateChanged );

    ACS_setStateChangedHandler(acsStateChanged);

    powerON();
    setACSPwrLow();

    while(true)
    {
    behaviourController();
    task_RP6System();
    zahler();
    }
    return 0;
    }


    alles rote wurde mit der fehlermeldung kommentiert:error: invalid lvalue in increment



    ich hoffe, ihr findet einen fehler!

    vielen dank im voraus!

    roboman

  7. #7
    Neuer Benutzer Öfters hier
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    was er damit sagen will ist das du das "()" weglassen musst wenn du eine einfache variable haben willst

    es reicht mit uint16_t zaehler;

    ohne die klammern

  8. #8
    Neuer Benutzer Öfters hier
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    also erstmal: dreckig geloffen! jetz muss ich nochmal nen post machen
    naja dummer zufall eben

    zu grün: du hast die "Variablen" mit define erstellt da kann man meiner meinung nach nicht inkrementieren.

    zu rot: siehe oben bzw. lass dass "(void)" weg

  9. #9
    Erfahrener Benutzer Roboter Experte
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    und was muss ich machen, um sie inkrementieren zu können?

  10. #10
    Neuer Benutzer Öfters hier
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    mach die "Variablen" einfach als echte variablen: int16_t zum beispiel

    wenn dir des zuviel platz braucht kannst du in der documentation vom rp6 noch weitere typen rausgreifen. inkrementieren kannst du einfach mit a++,b++ ..... wie gehabt:


    Code:
    Uncommented Version of RP6Base_Move_05.c!
    // written by Dominik S. Herwald
    // ------------------------------------------------------------------------------------------
    
    
    #include "RP6RobotBaseLib.h"
    
    
    #define IDLE 0
    
    typedef struct {
    uint8_t speed_left;
    uint8_t speed_right;
    unsigned dir:2;
    unsigned move:1;
    unsigned rotate:1;
    uint16_t move_value;
    uint8_t state;
    } behaviour_command_t;
    
    behaviour_command_t STOP = {0, 0, FWD, false, false, 0, IDLE};
    
    
    #define CRUISE_SPEED_FWD 100
    
    #define MOVE_FORWARDS 1
    behaviour_command_t cruise = {CRUISE_SPEED_FWD, CRUISE_SPEED_FWD, FWD,
    false, false, 0, MOVE_FORWARDS};
    
    
    uint32_t behaviour_cruise(void)
    {
    return 0;
    }
    
    
    
    #define ESCAPE_SPEED_BWD 100
    #define ESCAPE_SPEED_ROTATE 60
    
    #define ESCAPE_FRONT 1
    #define ESCAPE_FRONT_WAIT 2
    #define ESCAPE_LEFT 3
    #define ESCAPE_LEFT_WAIT 4
    #define ESCAPE_RIGHT 5
    #define ESCAPE_RIGHT_WAIT 6
    #define ESCAPE_WAIT_END 7
    behaviour_command_t escape = {0, 0, FWD, false, false, 0, IDLE};
    
    int16_t a = 0;
    int16_t b = 0;
    int16_t c = 0;
    
    
    uint32_t behaviour_escape(void)
    {
    static uint8_t bump_count = 0;
    
    switch(escape.state)
    {
    case IDLE:
    break;
    case ESCAPE_FRONT:
    c++; escape.speed_left = ESCAPE_SPEED_BWD;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 220;
    else
    escape.move_value = 160;
    escape.state = ESCAPE_FRONT_WAIT;
    bump_count+=2;
    break;
    case ESCAPE_FRONT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    if(bump_count > 3)
    {
    escape.move_value = 100;
    escape.dir = RIGHT;
    bump_count = 0;
    }
    else
    {
    escape.dir = LEFT;
    escape.move_value = 70;
    }
    escape.rotate = true;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_LEFT:
    b++;
    escape.speed_left = ESCAPE_SPEED_BWD;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 190;
    else
    escape.move_value = 150;
    escape.state = ESCAPE_LEFT_WAIT;
    bump_count++;
    break;
    case ESCAPE_LEFT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    escape.dir = LEFT;
    escape.rotate = true;
    if(bump_count > 3)
    {
    escape.move_value = 110;
    bump_count = 0;
    }
    else
    escape.move_value = 80;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_RIGHT:
    a++;
    escape.speed_left = ESCAPE_SPEED_BWD ;
    escape.dir = BWD;
    escape.move = true;
    if(bump_count > 3)
    escape.move_value = 190;
    else
    escape.move_value = 150;
    escape.state = ESCAPE_RIGHT_WAIT;
    bump_count++;
    break;
    case ESCAPE_RIGHT_WAIT:
    if(!escape.move)
    {
    escape.speed_left = ESCAPE_SPEED_ROTATE;
    escape.dir = RIGHT;
    escape.rotate = true;
    if(bump_count > 3)
    {
    escape.move_value = 110;
    bump_count = 0;
    }
    else
    escape.move_value = 80;
    escape.state = ESCAPE_WAIT_END;
    }
    break;
    case ESCAPE_WAIT_END:
    if(!(escape.move || escape.rotate))
    escape.state = IDLE;
    break;
    }
    return 0;
    }
    
    
    void bumpersStateChanged(void)
    {
    if(bumper_left && bumper_right)
    {
    escape.state = ESCAPE_FRONT;
    
    }
    else if(bumper_left)
    
    {
    
    if(escape.state != ESCAPE_FRONT_WAIT)
    escape.state = ESCAPE_LEFT;
    
    }
    else if(bumper_right)
    
    {
    
    if(escape.state != ESCAPE_FRONT_WAIT)
    escape.state = ESCAPE_RIGHT;
    }
    }
    
    
    #define AVOID_SPEED_L_ARC_LEFT 30
    #define AVOID_SPEED_L_ARC_RIGHT 90
    #define AVOID_SPEED_R_ARC_LEFT 90
    #define AVOID_SPEED_R_ARC_RIGHT 30
    
    #define AVOID_SPEED_ROTATE 60
    
    #define AVOID_OBSTACLE_RIGHT 1
    #define AVOID_OBSTACLE_LEFT 2
    #define AVOID_OBSTACLE_MIDDLE 3
    #define AVOID_OBSTACLE_MIDDLE_WAIT 4
    #define AVOID_END 5
    
    behaviour_command_t avoid = {0, 0, FWD, false, false, 0, IDLE};
    
    #define d 0
    #define e 0
    #define f 0
    
    uint32_t behaviour_avoid(void)
    {
    static uint8_t last_obstacle = LEFT;
    static uint8_t obstacle_counter = 0;
    switch(avoid.state)
    {
    case IDLE:
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;
    
    else if(obstacle_left)
    avoid.state = AVOID_OBSTACLE_LEFT;
    
    else if(obstacle_right)
    avoid.state = AVOID_OBSTACLE_RIGHT;
    
    break;
    case AVOID_OBSTACLE_MIDDLE:
    f++;
    avoid.dir = last_obstacle;
    avoid.speed_left = AVOID_SPEED_ROTATE;
    avoid.speed_right = AVOID_SPEED_ROTATE;
    if(!(obstacle_left || obstacle_right))
    {
    if(obstacle_counter > 3)
    {
    obstacle_counter = 0;
    setStopwatch4(0);
    }
    else
    setStopwatch4(400);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    break;
    case AVOID_OBSTACLE_RIGHT:
    d++;
    avoid.dir = FWD;
    avoid.speed_left = AVOID_SPEED_L_ARC_LEFT;
    avoid.speed_right = AVOID_SPEED_L_ARC_RIGHT;
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;
    if(!obstacle_right)
    {
    setStopwatch4(500);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    last_obstacle = RIGHT;
    obstacle_counter++;
    break;
    case AVOID_OBSTACLE_LEFT:
    e++;
    avoid.dir = FWD;
    avoid.speed_left = AVOID_SPEED_R_ARC_LEFT;
    avoid.speed_right = AVOID_SPEED_R_ARC_RIGHT;
    if(obstacle_right && obstacle_left)
    avoid.state = AVOID_OBSTACLE_MIDDLE;
    if(!obstacle_left)
    {
    setStopwatch4(500);
    startStopwatch4();
    avoid.state = AVOID_END;
    }
    last_obstacle = LEFT;
    obstacle_counter++;
    break;
    case AVOID_END:
    if(getStopwatch4() > 1000)
    {
    stopStopwatch4();
    setStopwatch4(0);
    avoid.state = IDLE;
    }
    break;
    }
    }
    
    void acsStateChanged(void)
    {
    if(obstacle_left && obstacle_right)
    statusLEDs.byte = 0b100100;
    else
    statusLEDs.byte = 0b000000;
    statusLEDs.LED5 = obstacle_left;
    statusLEDs.LED4 = (!obstacle_left);
    statusLEDs.LED2 = obstacle_right;
    statusLEDs.LED1 = (!obstacle_right);
    updateStatusLEDs();
    }
    
    void moveCommand(behaviour_command_t * cmd)
    {
    if(cmd->move_value > 0)
    {
    if(cmd->rotate)
    rotate(cmd->speed_left, cmd->dir, cmd->move_value, false);
    else if(cmd->move)
    move(cmd->speed_left, cmd->dir, DIST_MM(cmd->move_value), false);
    cmd->move_value = 0;
    }
    else if(!(cmd->move || cmd->rotate))
    {
    changeDirection(cmd->dir);
    moveAtSpeed(cmd->speed_left,cmd->speed_right);
    }
    else if(isMovementComplete())
    {
    cmd->rotate = false;
    cmd->move = false;
    }
    }
    
    void behaviourController(void)
    {
    
    behaviour_cruise();
    behaviour_avoid();
    behaviour_escape();
    
    if(escape.state != IDLE)
    moveCommand(&escape);
    else if(avoid.state != IDLE)
    moveCommand(&avoid);
    else if(cruise.state != IDLE)
    moveCommand(&cruise);
    else
    moveCommand(&STOP);
    }
    
    uint16_t zahler
    while (true){
    writeString("Hindernis Rechts:");
    writeInteger(d, DEC);
    writeString("\n");
    writeString("Hindernis Links:");
    writeInteger(e, DEC);
    writeString("\n");
    writeString("Hindernis Mitte:");
    writeInteger(f, DEC);
    writeString("\n");
    writeString("Kollision Rechts:");
    writeInteger(a, DEC);
    writeString("\n");
    writeString("Kollision Links:");
    writeInteger(b, DEC);
    writeString("\n");
    writeString("Kollision Mitte:");
    writeInteger(c, DEC);
    writeString("\n");
    mSleep(10000);
    
    
    
    
    
    int main(void)
    {
    initRobotBase();
    setLEDs(0b111111);
    mSleep(2500);
    setLEDs(0b100100);
    
    BUMPERS_setStateChangedHandler(bumpersStateChanged);
    
    ACS_setStateChangedHandler(acsStateChanged);
    
    powerON();
    setACSPwrLow();
    
    while(true)
    {
    behaviourController();
    task_RP6System();
    zahler();
    }
    return 0;
    }
    bitte beachte das die zeile
    Code:
    uint16_t zaehler;
    nur die variable zaehler initialisiert, d.h. rp6 weis das die variable existiert!!

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