Brauche dringend hilfe!TV remote mit linienverfolgung einprogrammieren

[Bitanem14]

Hier ist der gesamte code scheint noch ein fehler drin zu sein.

#include "RP6RobotBaseLib.h" 

#define RC_PROMO8


#ifdef RC_PROMO8


#define RC5_KEY_vorwaertsm		2
#define RC5_KEY_rueckwaertsm	8
#define RC5_KEY_linksm			4
#define RC5_KEY_rechtsm			6
#define RC5_KEY_Ledanm			32
#define RC5_KEY_Ledausm			33 
#define RC5_KEY_modus1fernbedienung	7
#define RC5_KEY_modus2linieverfolgen 9


#endif


uint8_t vorwaertsm;
uint8_t rueckwaertsm;
uint8_t rechtsm;
uint8_t linksm;
uint8_t	Ledanm;
uint8_t	Ledausm;
uint8_t	Resetm;
uint8_t mleftptmp;
uint8_t mrightptmp;
uint8_t power_links; 
uint8_t power_rechts;
uint8_t mleft_ptmp; 
uint8_t mright_ptmp;

uint8_t modus1fernbedienung;
uint8_t modus2linieverfolgen;



void ruecksetzen(void)
			{
				if(getStopwatch2() > 200)
					{
					vorwaertsm=0;
					rueckwaertsm=0;
					linksm=0;
					rechtsm=0;
				
					setStopwatch2(0);
					}
			
			}


void receiveRC5Data(RC5data_t rc5data)

	
		{writeString_P("Toggle Bit:");
		writeChar(rc5data.toggle_bit + '0');
		writeString_P(" | Device Address:");
		writeInteger(rc5data.device, DEC);
		writeString_P(" | Key Code:");
		writeInteger(rc5data.key_code, DEC);
		writeChar('\n');
        
        
        
		
		switch(rc5data.key_code)
		
			{
			case RC5_KEY_vorwaertsm:
					writeString_P("vorwaertsm: ");
					writeIntegerLength(vorwaertsm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					vorwaertsm=1;								//vorwärts fahren
					if(vorwaertsm==1&&modus1fernbedienung==1)
					{
					move(200,FWD,DIST_MM(150),0);
					}
					break;
			case RC5_KEY_rueckwaertsm:
					writeString_P("rueckwaertsm: ");
					writeIntegerLength(rueckwaertsm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					rueckwaertsm=1;								//rückwärts fahren
					if(rueckwaertsm==1&&modus1fernbedienung==1)
					{
					move(200,BWD,DIST_MM(150),0);
					}
					break;
			case RC5_KEY_rechtsm:
					writeString_P("rechtsm: ");
					writeIntegerLength(linksm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					rechtsm=1;								//rechts fahren
					if(rechtsm==1&&modus1fernbedienung==1)
					{
					rotate(50, RIGHT, 55, 0);
					}
					break;
			case RC5_KEY_linksm:
					writeString_P("linksm: ");
					writeIntegerLength(linksm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					linksm=1;								//links fahren
					if(linksm==1&&modus1fernbedienung==1)
					{
					rotate(50, LEFT, 55, 0);
					}
					break;
			case RC5_KEY_Ledanm:
					writeString_P("Ledanm: ");
					writeIntegerLength(linksm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					Ledanm=1;									// Ledan:
					if(Ledanm==1&&modus2linieverfolgen==1)
					{
					DDRA|=(E_INT1);
					PORTA|=E_INT1;
					}
					break;
			case RC5_KEY_Ledausm:
					writeString_P("Ledausm: ");
					writeIntegerLength(linksm, DEC, 4);
					writeChar('\n');
					writeChar('\n');
					Ledausm=1;
					if(Ledausm==1&&modus2linieverfolgen==1)
					{											// Ledaus:
					DDRA|=(E_INT1);
					PORTA &= ~E_INT1;
					}
					break;
			case RC5_KEY_modus1fernbedienung:	
					writeString_P("modus1fernbedienung: ");
					writeIntegerLength(modus1fernbedienung,DEC, 4);
					writeChar('\n');
					writeChar('\n');											//Fernbedienung
					modus1fernbedienung=1;
					modus2linieverfolgen=0;
					break;	
				
			case RC5_KEY_modus2linieverfolgen:	
					writeString_P("modus2linieverfolgen: ");
					writeIntegerLength(modus2linieverfolgen,DEC, 4);
					writeChar('\n');
					writeChar('\n');		                                   //Linieverfolgen
					modus2linieverfolgen=1;
					modus1fernbedienung=0;
					break;
			
					
				}

			}
			
			
			
					
	
				
				
				
				void lichtsensoren (void)
				
				{					  
				writeInteger(readADC(ADC_LS_L), 10);
				writeString_P(" - ");
				writeInteger(readADC(ADC_LS_R), 10);
				writeString_P("\n\r");
				if (readADC(ADC_LS_L) > readADC(ADC_LS_R))
				{
				setLEDs(4);
				moveAtSpeed(100,50);
				}
				else
				{
				setLEDs(32);
				moveAtSpeed(50,100);
				}
				mSleep(0);
				}
				

			


			
			
					
				

			
			int main(void)
{
	initRobotBase(); 
	
	setLEDs(0b111111);
	writeChar('\n');
    writeString_P("RP6 controlled by RC5 TV Remote\n");
	writeString_P("___________________________\n");
	mSleep(500);	 
	setLEDs(0b000000); 
	powerON();
	
	
	startStopwatch2();// Stopuhr 2 wird gestartet
	
	// Set the RC5 Receive Handler:
	IRCOMM_setRC5DataReadyHandler(receiveRC5Data);
	
	
	// Main loop 
	while(true) 
	{
	if(modus2linieverfolgen==1)
		{
		
		lichtsensoren();
		
		}
	
		task_RP6System();
		
		// Motion Control tasks etc.
	}	  // "
		//Reset();	
	
	return 0;
}