Hi damaltor,
danke für die Erklärung hab den Code auch noch ein wenig verfeinert, was die Msleep zeiten angeht das ganze sieht jetzt so aus.

Code:
 #include "asuro.h"
 #define WAIT1 	200
 #define WAIT2 	400
 #define SPEED 	100
 #define SPEED2	120 
int main(void)
{
unsigned char a,b;


   Init();
   
   while(1)
   {
	a=PollSwitch();
	b=PollSwitch();
	
    
	   if ((a==b)&&(b==1))
     
    {

        StatusLED (RED);
		BackLED(OFF,ON);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
		MotorDir(RWD,FWD);
		MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}	
	
	else if ((a==b)&&(b==2))
     
    {

        StatusLED (RED);
		BackLED(OFF,ON);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
        MotorDir(RWD,FWD);
        MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}
	
	else if ((a==b)&&(b==4))
     
    {

        StatusLED (RED);
		BackLED(OFF,ON);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
        MotorDir(RWD,FWD);
        MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}
	
	else if ((a==b)&&(b==8))
     
    {

        StatusLED (RED);
		BackLED(ON,OFF);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
        MotorDir(FWD,RWD);
        MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}
	else if ((a==b)&&(b==16))
     
    {

        StatusLED (RED);
		BackLED(ON,OFF);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
        MotorDir(FWD,RWD);
        MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}
		else if ((a==b)&&(b>=25))
     
    {

        StatusLED (RED);
		BackLED(ON,OFF);
		FrontLED(ON);
		MotorDir(RWD,RWD);
		MotorSpeed(SPEED,SPEED);
		Msleep(WAIT1);
		FrontLED(OFF);
		BackLED(OFF,OFF);
		StatusLED(YELLOW);
		MotorDir(FWD,RWD);
		MotorSpeed(SPEED,SPEED);
        Msleep(WAIT2);
	}
		
		
	 
      else
      {
		BackLED(OFF,OFF);
		FrontLED(OFF);
        StatusLED (GREEN);
        MotorDir(FWD,FWD);
        MotorSpeed(SPEED2,SPEED2);
      }       
   }               
}
mfg
Erik