Code:
/*******************************************************************************
*
* Description: Asuro fährt geradeaus
*
*****************************************************************************/
#include "asuro.h"
#include <stdlib.h>


int main(void)
{
unsigned char speed, flagl=FALSE, flagr=FALSE;
unsigned int data[2];
int wegl, wegr, diff;
int speedLeft,speedRight;
   Init();
   MotorDir(FWD,FWD);
   StatusLED(GREEN);
   speed = 150;
   speedLeft = speedRight = speed;
   wegl=0; wegr=0;
   while(wegl<333){
      OdometrieData(data);
      if ((data[0] < 550) && (flagl == TRUE)) {flagl = FALSE; wegl++;}
      if ((data[0] > 650) && (flagl == FALSE)) {flagl = TRUE; wegl++;}
      if ((data[1] < 550) && (flagr == TRUE)) {flagr = FALSE; wegr++;}
      if ((data[1] > 650) && (flagr == FALSE)) {flagr = TRUE; wegr++;}
      diff=wegr-wegl;
      if (diff>0) speedRight--;                  // fahre geradeaus
         else if (diff<0) speedLeft--;
         else {speedRight=speed; speedLeft=speed;}
      if (speedRight<0) {speedRight=0;}
      if (speedLeft<0) {speedLeft=0;}
      MotorSpeed(speedLeft,speedRight);
   }
   MotorDir(BREAK,BREAK);
   while(1);
    return 0;
}
ich habe dieses programm rein gemacht ich glaube dieses
program funkt gut oder ?