Zwei programme zusammenfügen

[carlitoco]

Also ... ich habe jetzt erstmal angefangen die "Servo-Rada" Funktionen zusammen zu führen, jedoch scheitere ich da kläglich, weil ich die beiden Programme noch nicht richtig verstehe und was das C programmieren angeht sowieso noch ein Anfänger bin... kann mir da jamand helfen die beiden zusamen zu stellen?

#include "RP6RobotBaseLib.h"

uint8_t  i, pause, servo_stellzeit, servo_delay;

void servo(uint8_t w0, uint8_t w1, uint8_t w2)
{
unsigned int count=0;
   do{
      PORTA |= E_INT1;      // E_INT1 (Pin8)
      sleep(w0);
      PORTA &= ~E_INT1;
      PORTC |= 1;            // SCL (Pin10)
      sleep(w1);
      PORTC &= ~1;
      PORTC |= 2;            // SDA (Pin12)
      sleep(w2);
      PORTC &= ~2;
      sleep(servo_delay-(w0+w1+w2));
      //sleep(127);
   } while (count++ < servo_stellzeit);
   mSleep(10*pause);
}

int main(void) {

initRobotBase();
i=0;
servo_stellzeit=8;
DDRA |= E_INT1;            // E_INT1 als Ausgang
DDRC |= 3;                  // SCL und SDA als Ausgang
// 5 - 15 - 25             // Min - Mitte - Max
servo(15,15,15);           // Grundstellung
while (1)
{
   switch (i)
   {
      case 0: i++;  servo_delay= 220;  break;

		
		
   }
   servo(10,14,10);       
   servo(10,13,10);
   servo(10,12,10);     
   servo(10,11,10);
   servo(10,10,10);
   servo(10,9,10);
   servo(10,8,10);    
   servo(10,7,10);     
   servo(10,6,10);
   servo(10,5,10);      
   servo(10,6,10);
   servo(10,7,10);
	servo(10,8,10);   
	servo(10,9,10);
   servo(10,10,10);
   servo(10,11,10);
   servo(10,12,10);
   servo(10,13,10);
   servo(10,14,10); 
   servo(10,15,10);
   servo(10,16,10);
   servo(10,17,10);
   servo(10,18,10);   
   servo(10,19,10);
   servo(10,20,10);
   servo(10,21,10);
   servo(10,22,10);
   servo(10,23,10);
   servo(10,24,10); 
   servo(10,23,10);
   servo(10,22,10);
   servo(10,21,10);
   servo(10,20,10);
   servo(10,19,10);  
   servo(10,18,10);  
   servo(10,17,10);
   servo(10,16,10); 
   servo(10,15,10);
}

return 0;
}

und das von radbruch

#include "RP6RobotBaseLib.h"

uint8_t radar_pos;
uint8_t radar[38][3]=\
{{10,14,10},{10,13,10},{10,12,10},{10,11,10},{10,10,10}\
,{10,9,10},{10,8,10},{10,7,10},{10,6,10},{10,5,10}\
,{10,6,10},{10,7,10},{10,8,10},{5,9,10},{10,10,10}\
,{10,11,10},{10,12,10},{10,13,10},{10,14,10},{10,15,10}\
,{10,16,10},{10,17,10},{10,18,10},{10,19,10},{10,20,10}\
,{10,21,10},{10,22,10},{10,23,10},{10,24,10},{10,23,105}\
,{10,22,10},{10,21,10},{10,20,10},{10,19,10},{10,18,10}\
,{10,17,10},{10,16,10},{10,15,10}};

void servo(uint8_t s1, uint8_t s2, uint8_t s3)
{
}

int main(void)
{
   initRobotBase();
   radar_pos=0;
   startStopwatch1();
   moveAtSpeed(100,100);

   while(1)
   {
      if (getStopwatch1()>1000) // eine Radar-Position pro Sekunde
      {
         servo(radar[radar_pos][0],radar[radar_pos][1],radar[radar_pos][2]);
         radar_pos++;
         if (radar_pos == 38) radar_pos=0;
         setStopwatch1(0);
      }

      task_RP6System();
   }
   return(0);
}

Danke für hilfe!