Also:
Code:
// Cruise Behaviour:

#include "RP6RobotBaseLib.h"    

#define IDLE  0

#define TURN_SPEED 50
#define MOVE_SPEED 100

#define MOVE_FORWARDS 1



void behaviour_cruise(void)

{
   uint8_t turn_direction = LEFT;
   
      
         setLEDs(0b100100);
      move(MOVE_SPEED, FWD, DIST_MM(2000), 0);

      rotate(TURN_SPEED, turn_direction, 102, 0);

      move(MOVE_SPEED, FWD, DIST_MM(100),0);
      rotate(TURN_SPEED, turn_direction, 102, 0);
      move(MOVE_SPEED, FWD, DIST_MM(2000),0);
      
      rotate(TURN_SPEED, RIGHT, 102, 0);         
      move(MOVE_SPEED, FWD, DIST_MM(100), 0);
      rotate(TURN_SPEED, RIGHT, 102, 0);

   }
   
// akku_load:

void Batt(void)
{
   

   
   
      
            
            if(getStopwatch1() > 300)
            {

                  writeString_P("\nADC Akku: Voll");
                  writeInteger(adcBat, DEC);
                  writeChar('\n');
               if(adcBat  > 900)
                  {                   
                     setLEDs(0b001001);
                     writeString_P("\nADC Akku: >9V");
                  }   
               else if(adcBat < 901 && adcBat > 800)
               {
                     writeString_P("\nADC Akku: >8V");
                     statusLEDs.LED4 = !statusLEDs.LED4;
                     statusLEDs.LED1 = !statusLEDs.LED1;
                     updateStatusLEDs();
               }
               
               else if(adcBat < 801 && adcBat > 700)
                        {
                            setLEDs(0b000001);
                            writeString_P("\nADC Akku: >7V");
                        }
               else if(adcBat < 701 && adcBat > 590)
               {      
                     statusLEDs.LED1 = !statusLEDs.LED1;
                              updateStatusLEDs();
                              writeString_P("\nADC Akku: Leer");
               }       
            else if(adcBat < 591 && adcBat > 500)
               {      
                              writeString_P("\nADC Akku: Laden!");
                              powerOFF();
               }
               
                  setStopwatch1(0);
            }
           
           
      }               
             

int main (void)

   {

   initRobotBase();    

   
   powerON();
   startStopwatch1();
   while(true)

      {
      task_ADC();
      Batt();
      behaviour_cruise();

      task_RP6System();

      behaviour_cruise();

      }


return 0;
}

das "startStopwatch1()" startest du in der main und das BLOCKING ausschalten, das setStopwatch(400); muss weg das hat keinen Sinn.
Das "while(True)" muss auch weg, sonst ist es endlose.

Code nicht getestet.

MfG blenderkid
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