ja, danke Downad,

den link kenne ich, hier der code, den ich kompiliert habe:

Code:
#include "asuro.h" 

#define SPEED  0x8F 

int speedLeft,speedRight; 
unsigned int lineData[2]; 
int ADOffset; 

void LineLeft (void) 
{ 
   speedLeft  += 1; 
   if (speedLeft > 0xFE) speedLeft = 0xFF; 
} 

void LineRight (void) 
{ 
   speedRight  += 1; 
   if (speedRight > 0xFE) speedRight = 0xFF; 
} 

int main(void) 
{ 
   int i; 
   unsigned char j; 

   Init(); 

   FrontLED(ON); 
   while(1) (j = 0; j < 0xFF; j++) { 
      LineData(lineData);} 
      LineData(lineData); 
      ADOffset = lineData[0] - lineData[1]; 
      speedLeft = speedRight = SPEED; 
      (;;while(1) { 
         LineData(lineData); 
         i = (lineData[0] - lineData[1]) - ADOffset; 
         if ( i > 4) { 
            StatusLED(GREEN); 
            LineLeft(); 
         } 
         else if ( i < -4) { 
            StatusLED(RED); 
            LineRight(); 
         } 
         else { 
            StatusLED(OFF); 
            speedLeft = speedRight = SPEED; 
         } 
         MotorSpeed(speedLeft,speedRight); 
      } 
      return 0; 
}
gruß inka