Hallo,

Juuuuchuuuu! Es funktioniert!!!!!!!! \/ \/ \/ \/

Danke SlyD und suicide! Ihr habt mir sehr geholfen. Es
lag an den überfüllten Schleifen, sodass der Microcontroller
zuviel Rechenzeit gebraucht hat.

Ich habe jetzt folgenden Code für den Slave:
Code:
#include "RP6RobotBaseLib.h" 
#include "RP6I2CslaveTWI.h"

#define status_start          0
#define status_fahren         1 // Vorwärtsfahrt mit Überprüfung...
#define status_BWD            2
#define status_bemerkt_links  3
#define status_bemerkt_rechts 4
#define status_bemerkt_beide  5
#define status_KurveR         6
#define status_KurveL         7
#define status_STOP           8
#define status_master         9


#define RC5_links 			21 //Fernbeninungssteuerung...	
#define RC5_rechts 			22		
#define RC5_FWD 			32 	
#define RC5_BWD 			33		
#define RC5_STOP 			13
#define RC5_speed_plus      14
#define RC5_speed_minus     35
#define RC5_winkel_plus     16
#define RC5_winkel_minus    17
#define RC5_90grad          55
#define RC5_180grad         54
#define RC5_150speed        50
#define RC5_80speed         52
#define RC5_Aus             12
#define RC5_ACS_Aus	        63
#define RC5_ACS_An          56
#define RC5_korrigieren_R   18
#define RC5_korrigieren_L   48
#define RC5_drehenR         34
#define RC5_drehenL         0	

#define master_status       2 

uint8_t move_state; // Speicher für die aktuelle Fahrsituation
uint8_t RC5_state; //Speicher für RC5Kommandos
uint16_t Spann;
uint8_t speed=150;
uint8_t winkel=90;
uint8_t Aus=1;
uint8_t AC_System=0;

uint8_t param1;

void masterabfrage(void)
{
	//task_RP6System();
	
	if(I2CTWI_writeRegisters[0] && !I2CTWI_writeBusy){
		uint8_t cmd = I2CTWI_writeRegisters[0];
		I2CTWI_writeRegisters[0] = 0;
		
		switch(cmd){
		
			case master_status:
				param1=I2CTWI_writeRegisters[1]; // Status Start
				move_state=param1;
			break;
			
		}
	}
	
	//I2CTWI_readRegisters[1]=readADC(ADC_BAT);
	//I2CTWI_readRegisters[2]=move_state;
	//I2CTWI_readRegisters[3]=Aus;
}

void receiveRC5Data(RC5data_t rc5data)
{
	switch (rc5data.key_code) 
	{
		case RC5_rechts:
			setLEDs(0b000111);
			move_state=status_bemerkt_rechts;
			break;
			
		case RC5_links:
			setLEDs(0b111000);
			move_state=status_bemerkt_links;
			break;
			
		case RC5_BWD:
			setLEDs(0b100001);
			move_state=status_BWD;
			break;
			
		case RC5_FWD:
			setMotorDir(FWD, FWD);
			moveAtSpeed(speed,speed);
			move_state=status_fahren;
			break;
			
		case RC5_STOP:
			setLEDs(0b111111);
			moveAtSpeed(0,0);
			break;
			
		case RC5_speed_plus:
			setLEDs(0b100000);
			speed=speed+10;
			break;
			
		case RC5_speed_minus:
			setLEDs(0b000001);
			speed=speed-10;
			break;
			
		case RC5_winkel_plus:
			setLEDs(0b010000);
			winkel=winkel+10;
			break;
			
		case RC5_winkel_minus:
			setLEDs(0b000010);
			winkel=winkel-10;
			break;
			
		case RC5_90grad:
			winkel=90;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_180grad:
			winkel=180;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_150speed:
			speed=150;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_80speed:
			speed=80;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_Aus:                   //AN/AUS gedrück!
			if (Aus) {moveAtSpeed(0,0);Aus=0;} else {Aus=1;} 
			break;
			
		case RC5_ACS_Aus:
			AC_System=0;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_ACS_An:
			AC_System=1;
			setLEDs(0b111111);
			mSleep(1000);
			setLEDs(0);
			break;
			
		case RC5_korrigieren_R:
			
			move_state=status_KurveL;
			break;
			
		case RC5_korrigieren_L:
			move_state=status_KurveR;
			break;
			
		case RC5_drehenR:
			//task_RP6System();
			setMotorDir(FWD,BWD);
			move_state=status_fahren;
			break;
			
		case RC5_drehenL:
			setMotorDir(BWD,FWD);
			move_state=status_fahren;
			break;
	}
}


void acsStateChanged(void)
{
	if (AC_System) {
	if(obstacle_left)
		move_state=status_bemerkt_rechts;
	
	if(obstacle_right)
		move_state=status_bemerkt_links;
		
	if(obstacle_right && obstacle_left) 
		move_state=status_bemerkt_beide;

	
	// -----------------------------------------------------------
	// Set LEDs
	
	if(obstacle_left && obstacle_right) // Obstacle in the middle?
		statusLEDs.byte = 0b100100;
	else
		statusLEDs.byte = 0b000000;
	statusLEDs.LED5 = obstacle_left;
	statusLEDs.LED4 = (!obstacle_left);  // Inverted LED5!
	statusLEDs.LED2 = obstacle_right;
	statusLEDs.LED1 = (!obstacle_right);  // Inverted LED2!
	
	// Update the LED values:
	updateStatusLEDs(); // The LEDs are turned on/off here! __Not__ in the lines above!	
	}
}

void bumpersStateChanged(void)
{
	if(bumper_left) 
		move_state=status_bemerkt_rechts;
	
	if(bumper_right) 
		move_state=status_bemerkt_links;
	
	if(bumper_left && bumper_right)
		move_state=status_bemerkt_beide;
}

void task_abfrage(void)
{
	task_RP6System();
	masterabfrage();
}

/*void blink(void)
{
	while(true) {
		setLEDs(0b111111);
		mSleep(500);
		setLEDs(0);
		mSleep(500);
	}
}*/

/*****************************************************************************/
// Main - The program starts here:

int main(void) 
{
	initRobotBase(); //roboter einbinden
	I2CTWI_initSlave(10); //als Slave10 registrieren!
	
	setLEDs(0b111111);
	mSleep(1000);
	setLEDs(0b001001);
	
	move_state=status_start; //master;

	powerON(); //Verletzungsgefahr!
	
	speed=120;
	
	// Register Event Handlers:
	ACS_setStateChangedHandler(acsStateChanged);          //ACS HAndler
	BUMPERS_setStateChangedHandler(bumpersStateChanged);  //Bumper HAndler
	IRCOMM_setRC5DataReadyHandler(receiveRC5Data);        //RC5 Handler

	

	setACSPwrMed(); // Aktivieren des ACS in Medium
	
	Spann=readADC(ADC_BAT);
	

	
	while(true) //Wiederholen bis Akku leer
	{	
		masterabfrage();
		task_RP6System(); //task_abfrage();
		
		switch (move_state) // ist move_state...
		{
			case status_start:
				setLEDs(0b011011);
				if(Aus){setMotorDir(FWD, FWD); moveAtSpeed(speed,speed);}
				move_state=status_fahren;
				break;
				
			case status_fahren:
				//writeString("Hallo");
				//task_abfrage();
				setLEDs(0b001001);
				//Spann=readADC(ADC_BAT);
				//writeInteger(Spann,DEC);
				/*if (Spann<6.5) {
					moveAtSpeed(0,0);
					//blink();
				}*/
				//do
					//task_abfrage();
					 //Nach ACS und Bumpern und RC5 suchen... (in Master-Abfrage)
					
				//while (move_state==status_fahren);// ...bis sich etwas geändert hat! (das gleiche wie: solange status_fahren)
				break;
				
			case status_bemerkt_links:
				
				mSleep(500);
				setLEDs(0b100000);
				if(Aus){rotate(speed,LEFT,winkel,1);} // ...nicht wenn AN/AUS gedrückt
				move_state=status_start;
				break;
				
			case status_bemerkt_rechts:
				setLEDs(0b000010);
				if(Aus){rotate(speed,RIGHT,winkel,1);} // ...nicht wenn AN/AUS gedrückt
				move_state=status_start;
				break;
				
			case status_bemerkt_beide:
				setLEDs(0b010010);
				if(Aus){rotate(speed,RIGHT,winkel,1);} // ...nicht wenn AN/AUS gedrückt
				move_state=status_start;
				break;
				
			case status_BWD:
				setLEDs(0b011011);
				if(Aus){setMotorDir(BWD, BWD); moveAtSpeed(speed,speed);}
				move_state=status_fahren;
				break;
				
			case status_KurveR:
				setLEDs(0b000111);
				moveAtSpeed(speed-50, speed);
				do
					
						//Nach ACS und Bumpern und RC5 suchen...
					task_abfrage();
				while (move_state==status_KurveR);
				break;
				
			case status_KurveL:
				setLEDs(0b000111);
				moveAtSpeed(speed, speed-50);
				do
					
					//Nach ACS und Bumpern und RC5 suchen...
					task_abfrage();
				while (move_state==status_KurveL);
				break;
				
			case status_STOP:
				moveAtSpeed(0,0);
				move_state=status_fahren;
				break;
				
			case status_master:
				setLEDs(0b111000);
				do
					task_abfrage();
				while(move_state==status_master);
				break;
		}
	}
	return 0;
}
Ohne euch hätte ich das Problem nicht behoben bekommen


[shadow=red:7c3d44e888][glow=red:7c3d44e888]!DANKE![/glow:7c3d44e888][/shadow:7c3d44e888]

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