Hallo,

ich habe mir einen Bascom Code zurechtgelegt, der die LEDs, das Display und die Motoren bedient:

Code:
    '=======================================
    '==== 3PI goes Bascom
    '==== December 2012, pinsel120866
    '=======================================
    $regfile = "m328pdef.dat"       ' Set the chip as a Mega 328p
    $crystal = 20000000       ' Clock speed 20 MHZ
    '=== Generic Port Setup ===
    Config Portb = Output
    Config Portc = Output
    Config Portd = Output
    re_led Alias Portd.7       ' Green User LED
    li_led Alias Portd.1       ' Red User LED
    '=== LCD SETUP ===
    Config Lcdpin = Pin , Db4 = Portb.1 , Db5 = Portb.4 , Db6 = Portb.5 , Db7 = Portd.7 , E = Portd.4 , Rs = Portd.2
    Config Lcd = 16 * 2       ' Actually 8x2 but that is not recognized by BASCOM.
    Rw Alias Portb.0 : Rw = 0       ' Set to Zero to write to the LCD
    Cursor = Off
    '=== PWM SETUP ===
    Config Timer0 = Pwm , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down
    Config Timer2 = Pwm , Prescale = 1 , Compare A Pwm = Clear Down , Compare B Pwm = Clear Down

    '------------------------------------------------------------------------------------------------------------------------------
    ' Pin Configurations
    ' Portb.0 - LCD Function R/W
    ' Portb.1 - LCD Data DB4                    ( Switch A )
    ' Portb.2 - Buzzer
    ' Portb.3 - Motor 2 Control Line
    ' Portb.4 - LCD Data DB5                    ( Switch B )
    ' Portb.5 - LCD Data DB6                    ( Switch C )
    ' Portb.6 -
    ' Portb.7 -
    ' Portc.0 - IR Sensor #1 ( Left )
    ' Portc.1 - IR Sensor #2
    ' Portc.2 - IR Sensor #3 ( Center )
    ' Portc.3 - IR Sensor #4
    ' Portc.4 - IR Sensor #5 ( Right )
    ' Portc.5 - ADC5
    ' Portc.6 - Motor Controller Not Standby
    ' Portc.7 -
    ' Portd.0 - RXD
    ' Portd.1 - TXD                                      (RED LED)
    ' Portd.2 - LCD Function RS
    ' Portd.3 - Motor 2 Control Line
    ' Portd.4 - LCD Function E
    ' Portd.5 - Motor 1 Control Line
    ' Portd.6 - Motor 1 Control Line
    ' Portd.7 - LCD Data DB7                      (GRN LED)
    ' ADC6   -  Battery Power Indicator
    ' ADC7   -  User Trim Pot on underside
    '------------------------------------------------------------------------------------------------------------------------------


    '=======================================
    ' Program Start Here
    '=======================================
    Dim X As Word       ' Set up a simple variable


    Cls
    Lcd "START"
    Locate 2 , 1
    For X = 1 To 5
    Lcd "*"
    Wait 1
    re_led = 1
    li_led = 1
    Next X

    Cls
    Lcd "Gerade"
    X=60
    re_led = 0
    li_led = 0
    Gosub Robot_forward
    Waitms 1000

    Cls
    Lcd "Rechts"
    X=100
    re_led = 1
    li_led = 0
    Gosub Robot_right
    Waitms 1000

    cls
    lcd "Zurück"
    x=60
    re_led = 0
    li_led = 0
    gosub  ROBOT_REVERSE
    waitms 1000

    cls
    lcd"Links"
    x=100
    re_led = 0
    li_led = 1
    gosub ROBOT_LEFT
    waitms 1000

    re_led = 0
    li_led = 0
    Cls
    Lcd "Fertig"
    Gosub Robot_stop
    waitms 1000

    '=======================================
    Do       ' Just waste time at the end

    Loop
    End       'end program

    '=======================================
    ' Subroutines Here
    '=======================================

    Robot_forward:
    Pwm0a = X : Pwm0b = 0 : Pwm2a = X : Pwm2b = 0
    Return

    Robot_stop:
    Pwm0a = 0 : Pwm0b = 0 : Pwm2a = 0 : Pwm2b = 0
    Return

    Robot_reverse:
    Pwm0a = 0 : Pwm0b = X : Pwm2a = 0 : Pwm2b = X
    Return

    Robot_right:
    Pwm0a = 0 : Pwm0b = X : Pwm2a = X : Pwm2b = 0
    Return

    Robot_left:
    Pwm0a = X : Pwm0b = 0 : Pwm2a = 0 : Pwm2b = X
    Return
Läuft soweit ganz gut, bei den Liniensensoren komme ich nicht weiter.

Kann mich bitte jemand dabei unterstützen?
Wäre nett...