Mit den oben beschriebenen Änderungen kann ich dein Progamm so übersetzen:
Code:
 // Includes:

#include "RP6RobotBaseLib.h" // Always needs to be included!

/*****************************************************************************/


/**
 * This function works similar to the ACS function and gets called everytime the
 * Bumpers are hit (the Bumpers need to be pressed down for at least 100ms to make
 * sure that it is registered by the program!)
 */
void bumpersStateChanged(void)
{
   writeString_P("Bumpers state changed!   BPL: ");

    if(bumper_left)  // Left Bumper
   {
      writeChar('o');
      PORTA |= 1;   //ADC0 high = Schuss
   }
   else
   {
      writeChar(' ');
      PORTA &= ~1;  // ADC0 low = Ende Schuss
   }

   writeString_P(" | BPR: ");

   if(bumper_right) // Right Bumper
      writeChar('o');
   else
      writeChar(' ');

   writeChar('\n');
}

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

int main(void)
{
   initRobotBase(); // Always call this first! The Processor will not work
                // correctly otherwise.

   // Write Message to UART:
    writeString_P("\nRP6 ACS - Testprogram\n");
   writeString_P("_____________________\n\n");

   setLEDs(0b111111);
   mSleep(1000);
   setLEDs(0b001001);

   // ---------------------------
   // Register Event Handlers:

   // Set Bumpers state changed event handler:
   BUMPERS_setStateChangedHandler(bumpersStateChanged);

   // ---------------------------

   powerON(); // Activate all important Systems and turn power LED on.
            // You always need to perform this command before you can
            // use the ACS!
            // Usually some of the RP6 Systems like the encoders, the ACS
            // (and thus also IRCOMM reception),
            // the current sensors and the power on LED are turned off to
            // save Battery power (saves about 10mA).
            // You can use powerOFF() to disable all those systems.

   // ---------------------------

   setACSPwrMed(); // Set ACS to medium power/range

   // These are the __alternative__ settings:
   // setACSPwrLow(); // Low power
   // setACSPwrHigh(); // High Power
   // and of course you can use:
   // setACSPwrOff(); to turn it off completely!
   // You can uncomment (= remove the "//" in front of a line) ONE of these
   // lines and test how it affects the maximum range of the ACS and which
   // Obstacles it can detect.

   // ---------------------------

   // selbst geschriebener Abschuss

      DDRA |= 1;         // ADC0 auf Ausgang


   // Main loop
   while(true)
   {
      // This very very important function:
      task_RP6System();
      // handles a lot of things for you. For this example, it controls the
      // ACS and sets the obstacle_right and obstacle_left values if it detects
      // an obstacle. If you registered an event handler (s. above), it calls this
      // event handler automatically as soon as one of these two values changes.
      // Nearly the same applies for the bumpers - you can check the state
      // of each bumper with bumper_left and bumper_right and everytime the
      // state changes the event handler is called automatically.

      // In some of the next examples you will see that this function also
      // controls the motors and some motion functionality.

      // But be careful with delay functions or other things that take a long
      // time (gets problematic if there are delays greater than 50ms) if you
      // use this! The delays may disturb the automatic control of all those
      // systems mentioned above.

      // Why do we need such a function?
      // Well, several things that the MEGA32 needs to take care about are not
      // that easy to understand (look at the task_ACS function
      // and some of the other functions in the RP6RobotBaseLib.c!)
      // and this makes it a lot easier for you!
      // The only thing you really need to take care about is to call
      // task_RP6System frequently! Then you will not have big problems usually.
   }
   return 0;
}
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