ok, tschuldige.

../Nibo2.c: In function 'weicherechtsaus':
../Nibo2.c:17: warning: implicit declaration of function 'copro_setSpeed'
../Nibo2.c: In function 'rechtskurve':
../Nibo2.c:27: warning: implicit declaration of function 'copro_stop'
../Nibo2.c:29: warning: implicit declaration of function 'copro_setTargetRel'
../Nibo2.c: In function 'main':
../Nibo2.c:72: warning: implicit declaration of function 'spi_init'
../Nibo2.c:74: warning: implicit declaration of function 'sound_init'
../Nibo2.c:88: warning: implicit declaration of function 'copro_setSpeedParameters'
../Nibo2.c:89: warning: implicit declaration of function 'copro_ir_startMeasure'
../Nibo2.c:101: warning: implicit declaration of function 'copro_update'
../Nibo2.c:104: error: 'copro_distance' undeclared (first use in this function)
../Nibo2.c:104: error: (Each undeclared identifier is reported only once
../Nibo2.c:104: error: for each function it appears in.)
make: *** [Nibo2.o] Error 1
Build failed with 3 errors and 8 warnings...

#include <nibo/niboconfig.h>
#include <nibo/display.h>
#include <nibo/gfx.h>
#include <nibo/leds.h>
#include <nibo/delay.h>
#include <nibo/copro.h>
#include <nibo/iodefs.h>
#include <nibo/bot.h>
#include <nibo/pwm.h>
#include <nibo/sound.h>
#include <avr/interrupt.h>
#include <nibo/spi.h>
#include <stdio.h>

void weicherechtsaus(int speed)
{
copro_setSpeed(speed,speed/2); //linkes Rad langsamer drehen
}

void weichelinksaus(int speed)
{
copro_setSpeed(speed/2,speed); //linkes Rad langsamer drehen
}

void rechtskurve()
{
copro_stop();
delay(100);
copro_setTargetRel(27, -27, 10);
delay(2000);
}

void ZeigeZahl(int zahl, int ptit)

{


if(zahl<5)

{

leds_set_status(0,7-ptit); //aus

}

else if(zahl>50)

{

leds_set_status(2,7-ptit); //rot

}

else if ((zahl>=5)&&(zahl<20))

{

leds_set_status(1,7-ptit); //gr¸n

}
else if ((zahl>=20)&&(zahl<=50))
{
leds_set_status(3,7-ptit); //orange
}

}

int main(void)
{ // initialisierung
sei();
bot_init();
spi_init();
pwm_init();
sound_init();
display_init();
gfx_init();
leds_init();

gfx_move(15, 0);
gfx_set_proportional(1);
gfx_print_text("Distance sensor test");
gfx_set_proportional(0);
gfx_move(5, 10);
gfx_print_char('R');
gfx_move(118, 10);
gfx_print_char('L');
delay(50);
copro_setSpeedParameters(5,6,7);
copro_ir_startMeasure(); //Zaehler der IR-Sensoren (0..4)
int zahl;
int ptit;
int speed=20;
int sensitvity=25;

while(1)
{
delay(10);
char text[20]="-- -- -- -- --";
copro_setSpeed(speed,speed);

if (copro_update())
{
sprintf(text, "%2d %2d %2d %2d %2d",
copro_distance[0]/256,
copro_distance[1]/256,
copro_distance[2]/256,
copro_distance[3]/256,
copro_distance[4]/256);


if((copro_distance[3]/1000)>sensitvity) //Sensor mitte links
{
weicherechtsaus(speed);
}
if((copro_distance[4]/1000)>sensitvity) //Sensor links
{
weicherechtsaus(speed);
}
if((copro_distance[1]/1000)>sensitvity) //Sensor mitte rechts
{
weichelinksaus(speed);
}
if((copro_distance[0]/1000)>sensitvity) //Sensor rechts
{
weichelinksaus(speed);
}
if((copro_distance[2]/1000)>50) //Sensor mitte
{
rechtskurve();
}
if((copro_distance[1]/1000)>55&&(copro_distance[3]/1000)>55) //Sensoren mitte rechts und links
{
rechtskurve();
}
if((copro_distance[0]/1000)>55&&(copro_distance[4]/1000)>55) //Sensoren rechts und links
{
rechtskurve();
}

for(ptit=0; ptit<=4; ptit++)
{

zahl=copro_distance[ptit]/1000; // Skaliere auf 0-64;

ZeigeZahl(zahl, ptit);
}

}
gfx_move(10, 55);
gfx_print_text(text);
// Spannung
bot_update();
float volt = 0.0166 * bot_supply - 1.19;
sprintf(text, "%3.1fV", (double)volt);
gfx_move(30, 10);
gfx_set_proportional(1);
gfx_print_text("supply: ");
gfx_set_proportional(0);
gfx_print_text(text);
}
return(0);

}
Bitte