Zu dem Auslesen der Strecke hab ich was in der Lib.c gefunden:
Code:
/*****************************************************************************/
// Encoders

// Timing variable used for speed calculation:
volatile uint8_t speed_timer;

// Speed measurement variables
volatile uint16_t mleft_counter;
volatile uint16_t mright_counter;
volatile uint16_t mleft_speed;
volatile uint16_t mright_speed;

// Distance
volatile uint16_t mleft_dist;
volatile uint16_t mright_dist;

// This is only used for the selftest program.
// You don't need this for your own programs!
#ifdef DEBUG_MEASURE_DUTY_CYCLE
    volatile uint16_t cycle_h_l;
    volatile uint16_t cycle_l_l;
    volatile uint16_t cycle_h_r;
    volatile uint16_t cycle_l_r;
    
    volatile uint8_t cycle_h_l_tmp;
    volatile uint8_t cycle_l_l_tmp;
    volatile uint8_t cycle_h_r_tmp;
    volatile uint8_t cycle_l_r_tmp;
#endif

/**
 * External Interrupt 0 ISR
 * (ENCL)
 *
 */
ISR (INT0_vect)
{
    mleft_dist++;
    mleft_counter++;    
    
    // Only used for selftest program:
    #ifdef DEBUG_MEASURE_DUTY_CYCLE
        if(isEncoderLeft()) {
            cycle_l_l = cycle_l_l_tmp;
            cycle_l_l_tmp = 0;
        }
        else {
            cycle_h_l = cycle_h_l_tmp;
            cycle_h_l_tmp = 0;
        }
    #endif
}
Ich denke, das müsste es sein, oder? Dann kann ich einfach zu Beginn eines Fahr-Vorgangs mleft_dist und mright_dist auf Null setzen und danach auslesen, ins Array schreiben und Koordinaten berechnen?!?!?!

MfG