Hallo axel88,

du könntest die Funktion moveAtSpeed so ändern:
Code:
void moveAtSpeed(uint8_t desired_speed_left, uint8_t desired_speed_right)
{
	desired_speed_left += 2; // corrected left speed
	if(desired_speed_left > 200) desired_speed_left = 200; 
	if(desired_speed_right > 200) desired_speed_right = 200;
	mleft_des_speed = desired_speed_left;
	mright_des_speed = desired_speed_right;
}
Mit den Encodern hat das erstmal nichts zu tun.

Gruß Dirk