Hallo

Vielleicht reicht dir das schon zum Einstieg in die Odometry:
Code:
#include <nibobee/iodefs.h>
#include <nibobee/base.h>
#include <nibobee/led.h>
#include <nibobee/motpwm.h>
#include <nibobee/odometry.h>
#include <nibobee/delay.h>

int main(void)
{
	int16_t speed_l=0;
	int16_t speed_r=0;

	led_init();
	motpwm_init();
	odometry_init();
	enable_interrupts();
	
	led_set(0,1);
	delay(3000);
	led_set(0,0);
	led_set(1,1);

	speed_l = 400;
	speed_r = 400;

	while(1==1)
	{
		odometry_reset();
		motpwm_setLeft(speed_l);
		motpwm_setRight(speed_r);
		while(odometry_getLeft(0)+odometry_getRight(0) < 200); // auslesen ohne reset
		motpwm_setLeft(0);
		motpwm_setRight(0);
		delay(1000);

		odometry_reset();
		motpwm_setLeft(-speed_l);
		motpwm_setRight(-speed_r);
		while(odometry_getLeft(0)+odometry_getRight(0) > -200); // würgs
		motpwm_setLeft(0);
		motpwm_setRight(0);
		delay(1000);
	}
	return 0;
}
Gruß

mic