Hi,
Die Werte für x und y stimmen schon. Die sind nur anders weil ich Die Laufrichtung der Servos geändert habe, aber deine Anregung habe ich umgesetzt und folgendes ist dabei rasgekommen:
Code:
#include "RP6RobotBaseLib.h" 

volatile uint8_t rc_input_pwrr=26, rc_input_pwrl=26, rc_input_schalt; 

int main(void) 
{ 
   initRobotBase(); 
   TIMSK |= (1 << TOIE1);          // Die Timer1 Overflow-ISR zur Signalauslesung
   powerON();
   setACSPwrHigh();
   setLEDs(0b111111); 
   uint8_t y=21;
   uint8_t x=29; 
   uint8_t c=22;
   uint8_t v=29;
   uint8_t pwr_l=0;
   uint8_t pwr_r=0;
   void acsStateChanged(void)
 {
  if(!obstacle_left && !obstacle_right)
       {
	     move(160, FWD, DIST_MM(50), true);
	   }
    while(true)
    {
   
	   if(!obstacle_left && !obstacle_right)
       {
	     move(160, FWD, DIST_MM(50), true);
	   }
       else
       {

        if(obstacle_right) 
		{
		 rotate(160, LEFT, 2,true);
		}
		else
		{
         while((obstacle_left && obstacle_right) || obstacle_left) 
         { 
          rotate(160, RIGHT, 2,true);
         }
        }
       }
	    task_Bumpers();
        if(getBumperLeft() && getBumperRight()) // Beide Bumper
        {
		move(160, BWD, DIST_MM(30), true);
        rotate(160, LEFT, 35,true);
        }
        if(getBumperLeft()) // Bumber Links
        {
		move(160, BWD, DIST_MM(30), true);
        rotate(160, RIGHT, 25,true);
        }
        if(getBumperRight()) // Bumber Rechts
        {
		move(160, BWD, DIST_MM(30), true);
        rotate(160, LEFT, 25,true);
        }
    mSleep(10);
	
	
	
	
	}
  }
   
    while(1) 
   { 
       task_motionControl();
	   task_ACS();
	   if (rc_input_schalt>x) // Umschalten auf Autopilot
	   {
	    while (rc_input_schalt>x)
		{
		 ACS_setStateChangedHandler(acsStateChanged); // ACS Event Handler registrieren 
		} 
	   }
	   if (rc_input_pwrr<17 && rc_input_pwrl<17 && rc_input_pwrr>32 && rc_input_pwrl>32)
	   {
	    stop();
	   }
	   if (rc_input_pwrr<c && rc_input_pwrl<y)
	   { while (rc_input_pwrr<c && rc_input_pwrl<y)
	     {
		  rotate(60, LEFT, 1, true);
	     }
	   }
	   if (rc_input_pwrr>v && rc_input_pwrl>x)
	   { while (rc_input_pwrr>v && rc_input_pwrl>x)
	     {
		  rotate(60, RIGHT, 1, true);
	     }
	   }
	
	   if (rc_input_pwrr<c ) 
       { 
        changeDirection(FWD); 
        pwr_r=60; 
       } 
       else if (rc_input_pwrr>v ) 
       { 
        changeDirection(BWD); 
        pwr_r=60; 
       } 
       else pwr_r=0; 
	   if (rc_input_pwrl<y ) 
       { 
        changeDirection(BWD); 
        pwr_l=60; 
       } 
       else if (rc_input_pwrl>x ) 
       { 
        changeDirection(FWD); 
        pwr_l=60; 
       } 
       else pwr_l=0; 

       if(pwr_l || pwr_r) 
       {
        moveAtSpeed(pwr_l, pwr_r); 
       }
       else 
        stop();
	 
   } 
   return 0;
}  
 
ISR (TIMER1_OVF_vect) // RC-Signale an SCL und SDA messen 
{ 
   static uint16_t rc_temp_pwrl=0; 
   static uint16_t rc_temp_pwrr=0; 
   static uint16_t rc_temp_schalt=0;
   if (PINC & 1) rc_temp_pwrl++; else 
      if (rc_temp_pwrl) { rc_input_pwrl=rc_temp_pwrl-1; rc_temp_pwrl=0; } 
   if (PINC & 2) rc_temp_pwrr++; else 
      if (rc_temp_pwrr) { rc_input_pwrr=rc_temp_pwrr-1; rc_temp_pwrr=0; } 
   if (PINA & 16) rc_temp_schalt++; else 
      if (rc_temp_schalt) { rc_input_schalt=rc_temp_schalt-1; rc_temp_schalt=0; } 



}
Funktiniert ganz ausgezeichnet =D>