Damit meinte ich, dass alle Programme incl. Selftest funktionieren!! ohne die m128 also nur die Basis Platine und dem RP6 Loader. Wenn ich jetzt nur den RP6 habe und ein Programm egal welcher art mit dem RP6 loader drauf mache funktioniert es ! hier ach nochmal der Selftest des RP6
Code:
RP6 Robot Base Selftest

#####################################################################
### ATTENTION!!! DANGER!!! WARNING!!!
Make sure that the RP6 CAN __NOT__ MOVE!
The caterpillar tracks should NOT touch the ground!
(hold it in your hands for example...)
THE RP6 WILL START MOVING IN TEST 8! YOU CAN DAMAGE IT IF YOU DO NOT
MAKE SURE THAT IT CAN __NOT__ MOVE!
Make sure both crawler tracks are FREE RUNNING! DO NOT BLOCK THEM!
#####################################################################

Please enter "x" and hit Enter to continue!
Hint: This program requires a newline character ("\n") at the end of
all input lines!

# x

#####################################################################
#########            RP6 Robot Base Selftest                #########
######### HOME VERSION                  v. 1.4 - 05.11.2007 #########
#####################################################################
#####       Main Menu         #########      Advanced Menu      #####
#                                 #                                 #
# 0 - Run ALL Selftests (0-8)     # s - Move at speed Test          #
# 1 - PowerOn Test                # d - Move distance Test          #
# 2 - LED Test                    # c - Encoder Duty-Cycle Test     #
# 3 - Voltage Sensor Test         #                                 #
# 4 - Bumper Test                 #                                 #
# 5 - Light Sensor Test           #                                 #
# 6 - ACS (and RC5 receive) Test  #                                 #
# 7 - IRCOMM/RC5 Test             # System voltage is:              #
# 8 - Motors and Encoders Test    #      07.51V                     #
#                                 #                                 #
#####################################################################
# Please enter your choice (1-8, s, d, c)!                          #
#####################################################################

# 0

#####################################################################
#####################################################################
#### TEST #1 ####

### POWER ON TEST ###
Please watch the yellow PowerOn LED and verify that it lights up!
(it will flash a few times!)
Done!

#####################################################################
#####################################################################
#### TEST #2 ####

### LED Test ###
Please watch the LEDs and verify that they all work!
Done!

#####################################################################
#####################################################################
#### TEST #3 ####

### Voltage Sensor Test ###
Be sure that you are using good accumulators!

### Enter "x" and hit return to START this test!


# x
Performing 10 measurements:
Measurement #1: 07.51V --> OK!
Measurement #2: 07.51V --> OK!
Measurement #3: 07.51V --> OK!
Measurement #4: 07.51V --> OK!
Measurement #5: 07.51V --> OK!
Measurement #6: 07.51V --> OK!
Measurement #7: 07.51V --> OK!
Measurement #8: 07.51V --> OK!
Measurement #9: 07.51V --> OK!
Measurement #10: 07.51V --> OK!
Done!

#####################################################################
#####################################################################
#### TEST #4 ####

Bumper Test
Please hit both bumpers and verify 
that both Bumpers are working properly!

### The Test is running now.
### Enter "x" and hit return to STOP this test!

OBSTACLE: RIGHT!
FREE: RIGHT!
OBSTACLE: LEFT!
FREE: LEFT!
OBSTACLE: LEFT!
FREE: LEFT!
OBSTACLE: RIGHT!
FREE: RIGHT!
OBSTACLE: RIGHT!
FREE: RIGHT!
OBSTACLE: LEFT!
FREE: LEFT!
OBSTACLE: LEFT!
FREE: LEFT!
OBSTACLE: RIGHT!
FREE: RIGHT!
OBSTACLE: RIGHT!
FREE: RIGHT!
OBSTACLE: LEFT!
FREE: LEFT!
OBSTACLE: LEFT!
FREE: LEFT!

# x
Done!

#####################################################################
#####################################################################
#### TEST #5 ####

### Light Sensor Test ###
Please get yourself a small flashlight!
While the test runs, move it in front of the Robot
and watch if the values change accordingly!

### Enter "x" and hit return when you are ready!

# x
### The Test is running now.
### Enter "x" and hit return to STOP this test!

Performing measurements...:
Left: 0892,  Right: 0859
Left: 0893,  Right: 0859
Left: 0894,  Right: 0860
Left: 0895,  Right: 0862
Left: 0896,  Right: 0863
Left: 0735,  Right: 0805
Left: 0896,  Right: 0851
Left: 0894,  Right: 0849
Left: 0630,  Right: 0839
Left: 0868,  Right: 0724
Left: 0891,  Right: 0847
Left: 0889,  Right: 0843
Left: 0888,  Right: 0709
Left: 0887,  Right: 0557
Left: 0699,  Right: 0447
Left: 0891,  Right: 0696
Left: 0405,  Right: 0370
Left: 0220,  Right: 0303
Left: 0175,  Right: 0276
Left: 0165,  Right: 0263
Left: 0887,  Right: 0855
Left: 0894,  Right: 0860
Left: 0893,  Right: 0860

# x
Done!

#####################################################################
#####################################################################
#### TEST #6 ####

ACS Test
Please move your hand or other obstacles in front of the Robot
and verify that both ACS channels are working properly!

ACS is set to MAXIMUM power/range!

You can also send RC5 Codes with a TV Remote Control
to the RP6 - it will display the Toggle Bit, Device Adress
and Keycode of the RC5 Transmission!
Make sure your remote control transmits in RC5 and not
SIRCS or RECS80 etc.! There are several other formats that will NOT work!

### The Test is running now.
### Enter "x" and hit return to STOP this test!


# x
Done!

#####################################################################
#####################################################################
#### TEST #7 ####

IRCOMM Test
This test will transmit several RC5 Codes with the IRCOMM and check
if they are received back properly!
Please make sure that there is a white ceiling or some reflective
Object directly over the IRCOMM LEDs on the front of the RP6!

Please DO NOT send anything with TV Remote Controls or similar
as this will disturb the test and it will fail!

The ACS is active and the Robot will detect obstacles that you
move in front of it!


### Enter "x" and hit return to START this test!


# x
TX RC5 Packet: 0
RX RC5 Packet --> Toggle Bit:0 | Device Address:0 | Key Code:0 --> OK!
TX RC5 Packet: 3
RX RC5 Packet --> Toggle Bit:0 | Device Address:3 | Key Code:3 --> OK!
TX RC5 Packet: 6
RX RC5 Packet --> Toggle Bit:0 | Device Address:6 | Key Code:6 --> OK!
TX RC5 Packet: 9
RX RC5 Packet --> Toggle Bit:0 | Device Address:9 | Key Code:9 --> OK!
TX RC5 Packet: 12
RX RC5 Packet --> Toggle Bit:0 | Device Address:12 | Key Code:12 --> OK!
TX RC5 Packet: 15
RX RC5 Packet --> Toggle Bit:0 | Device Address:15 | Key Code:15 --> OK!
TX RC5 Packet: 18
RX RC5 Packet --> Toggle Bit:0 | Device Address:18 | Key Code:18 --> OK!
TX RC5 Packet: 21
RX RC5 Packet --> Toggle Bit:0 | Device Address:21 | Key Code:21 --> OK!
TX RC5 Packet: 24
RX RC5 Packet --> Toggle Bit:0 | Device Address:24 | Key Code:24 --> OK!
TX RC5 Packet: 27
RX RC5 Packet --> Toggle Bit:0 | Device Address:27 | Key Code:27 --> OK!
TX RC5 Packet: 30
RX RC5 Packet --> Toggle Bit:0 | Device Address:30 | Key Code:30 --> OK!
TX RC5 Packet: 33
RX RC5 Packet --> Toggle Bit:1 | Device Address:1 | Key Code:33 --> OK!
TX RC5 Packet: 36
RX RC5 Packet --> Toggle Bit:1 | Device Address:4 | Key Code:36 --> OK!
TX RC5 Packet: 39
RX RC5 Packet --> Toggle Bit:1 | Device Address:7 | Key Code:39 --> OK!
TX RC5 Packet: 42
RX RC5 Packet --> Toggle Bit:1 | Device Address:10 | Key Code:42 --> OK!
TX RC5 Packet: 45
RX RC5 Packet --> Toggle Bit:1 | Device Address:13 | Key Code:45 --> OK!
TX RC5 Packet: 48
RX RC5 Packet --> Toggle Bit:1 | Device Address:16 | Key Code:48 --> OK!
TX RC5 Packet: 51
RX RC5 Packet --> Toggle Bit:1 | Device Address:19 | Key Code:51 --> OK!
TX RC5 Packet: 54
RX RC5 Packet --> Toggle Bit:1 | Device Address:22 | Key Code:54 --> OK!
TX RC5 Packet: 57
RX RC5 Packet --> Toggle Bit:1 | Device Address:25 | Key Code:57 --> OK!
TX RC5 Packet: 60
RX RC5 Packet --> Toggle Bit:1 | Device Address:28 | Key Code:60 --> OK!
TX RC5 Packet: 63
RX RC5 Packet --> Toggle Bit:1 | Device Address:31 | Key Code:63 --> OK!

Test finished!
Done!

#####################################################################
#####################################################################
#### TEST #8 ####

Automatic speed speed regulation test

#####################################################################
### ATTENTION!!! DANGER!!! WARNING!!!
Make sure that the RP6 can __NOT__ move!
The caterpillar tracks should __NOT__ touch the ground!
(hold it in your hands for example...)
THE RP6 WILL START MOVING FAST! YOU CAN DAMAGE IT IF YOU DO NOT
MAKE SURE THAT IT CAN __NOT__ MOVE!
Make sure both crawler tracks are FREE RUNNING! DO NOT BLOCK THEM!
--> OTHERWISE THE TEST WILL FAIL!
#####################################################################

### Enter "x" and hit return when TO START this test!
### Make sure the RP6 can not move!


# x
T: 000 |VL: 002 |VR: 000 |PL: 000 |PR: 000 |IL: 003 |IR: 000 |UB: 07.51V
T: 000 |VL: 000 |VR: 000 |PL: 000 |PR: 000 |IL: 000 |IR: 000 |UB: 07.51V
T: 000 |VL: 000 |VR: 000 |PL: 000 |PR: 000 |IL: 000 |IR: 000 |UB: 07.51V

Speed Left: OK
Speed Right: OK
T: 020 |VL: 000 |VR: 000 |PL: 000 |PR: 000 |IL: 001 |IR: 000 |UB: 07.51V
T: 020 |VL: 000 |VR: 000 |PL: 000 |PR: 000 |IL: 002 |IR: 000 |UB: 07.51V
T: 020 |VL: 000 |VR: 000 |PL: 000 |PR: 000 |IL: 001 |IR: 000 |UB: 07.51V

Speed Left: OK
Speed Right: OK
T: 040 |VL: 020 |VR: 018 |PL: 037 |PR: 019 |IL: 026 |IR: 015 |UB: 07.44V
T: 040 |VL: 022 |VR: 022 |PL: 036 |PR: 018 |IL: 024 |IR: 016 |UB: 07.44V
T: 040 |VL: 022 |VR: 019 |PL: 035 |PR: 018 |IL: 023 |IR: 015 |UB: 07.45V

Speed Left: OK
Speed Right: OK
T: 060 |VL: 041 |VR: 040 |PL: 049 |PR: 029 |IL: 030 |IR: 016 |UB: 07.44V
T: 060 |VL: 042 |VR: 039 |PL: 048 |PR: 030 |IL: 029 |IR: 018 |UB: 07.43V
T: 060 |VL: 042 |VR: 040 |PL: 047 |PR: 030 |IL: 027 |IR: 019 |UB: 07.43V

Speed Left: OK
Speed Right: OK
T: 080 |VL: 064 |VR: 061 |PL: 054 |PR: 042 |IL: 029 |IR: 024 |UB: 07.43V
T: 080 |VL: 062 |VR: 062 |PL: 053 |PR: 041 |IL: 020 |IR: 020 |UB: 07.44V
T: 080 |VL: 057 |VR: 061 |PL: 057 |PR: 040 |IL: 020 |IR: 019 |UB: 07.44V

Speed Left: OK
Speed Right: OK
T: 100 |VL: 084 |VR: 079 |PL: 073 |PR: 056 |IL: 041 |IR: 027 |UB: 07.41V
T: 100 |VL: 087 |VR: 081 |PL: 067 |PR: 055 |IL: 034 |IR: 028 |UB: 07.41V
T: 100 |VL: 079 |VR: 083 |PL: 065 |PR: 052 |IL: 025 |IR: 028 |UB: 07.42V

Speed Left: OK
Speed Right: OK
T: 080 |VL: 106 |VR: 105 |PL: 074 |PR: 059 |IL: 029 |IR: 028 |UB: 07.41V
T: 080 |VL: 094 |VR: 099 |PL: 014 |PR: 000 |IL: 018 |IR: 008 |UB: 07.47V
T: 080 |VL: 000 |VR: 000 |PL: 008 |PR: 008 |IL: 005 |IR: 000 |UB: 07.49V

Speed Left: OK
Speed Right: OK
T: 060 |VL: 083 |VR: 078 |PL: 069 |PR: 054 |IL: 033 |IR: 027 |UB: 07.40V
T: 060 |VL: 083 |VR: 078 |PL: 066 |PR: 056 |IL: 033 |IR: 027 |UB: 07.40V
T: 060 |VL: 075 |VR: 079 |PL: 068 |PR: 057 |IL: 029 |IR: 031 |UB: 07.39V

Speed Left: OK
Speed Right: OK
T: 040 |VL: 059 |VR: 063 |PL: 053 |PR: 036 |IL: 037 |IR: 023 |UB: 07.40V
T: 040 |VL: 059 |VR: 060 |PL: 000 |PR: 000 |IL: 015 |IR: 004 |UB: 07.48V
T: 040 |VL: 000 |VR: 022 |PL: 022 |PR: 024 |IL: 011 |IR: 013 |UB: 07.45V
T: 040 |VL: 004 |VR: 037 |PL: 078 |PR: 054 |IL: 021 |IR: 023 |UB: 07.40V

Speed Left: OK
Speed Right: OK
T: 020 |VL: 041 |VR: 041 |PL: 043 |PR: 030 |IL: 023 |IR: 019 |UB: 07.42V
T: 020 |VL: 036 |VR: 031 |PL: 006 |PR: 000 |IL: 015 |IR: 011 |UB: 07.47V
T: 020 |VL: 001 |VR: 000 |PL: 016 |PR: 016 |IL: 004 |IR: 001 |UB: 07.46V
T: 020 |VL: 000 |VR: 022 |PL: 039 |PR: 029 |IL: 015 |IR: 014 |UB: 07.43V
T: 020 |VL: 001 |VR: 038 |PL: 059 |PR: 030 |IL: 032 |IR: 016 |UB: 07.41V
T: 020 |VL: 027 |VR: 041 |PL: 055 |PR: 019 |IL: 032 |IR: 012 |UB: 07.42V

T: 020 |VL: 022 |VR: 019 |PL: 025 |PR: 015 |IL: 015 |IR: 012 |UB: 07.44V
Speed Left: OK
Speed Right: OK

***** MOTOR AND ENCODER TEST OK! *****