LED eingebaut.

avr.cpp

@@ -19,13 +19,21 @@ int getButton() {
 }
 
 void waitForButton(int i) {
-  while(getButton() != CLAMP(0, i, 5));
+  if(i <= 0)  while(getButton() == 0);
+  else while(getButton() != CLAMP(1, i, 5));
+  
   while(getButton() != 0);
 }
 
 void beep(unsigned long freq) {
 	const int prescalers[7] = {1, 8, 32, 64, 128, 256, 1024};
 	
+	if(freq == 0) {
+		beepOff();
+		return;
+	}
+        
+	
 	for(int i = 0; i < 7; i++) {
 		if(F_CPU/freq/2/prescalers[i] <= 256) {
 			TCCR2 = (TCCR2&~0x07)|(i+1);
@@ -39,5 +47,13 @@ void beep(unsigned long freq) {
 }
 
 void beepOff() {
-	TCCR2 &= ~0x07;
+  TCCR2 &= ~0x07;
+}
+
+void ledOn() {
+  PORTA &= ~0x20;
+}
+
+void ledOff() {
+  PORTA |= 0x20;
 }

avr.h

@@ -10,4 +10,7 @@ void waitForButton(int i);
 void beep(unsigned long freq);
 void beepOff();
 
+void ledOn();
+void ledOff();
+
 #endif

hardware.cpp

@@ -8,7 +8,7 @@
 
 
 void initHardware() {
-  DDRA = 0x00;
+  DDRA = 0x20;
   PORTA = 0xFF;
   
   DDRB = 0xFF;

main.cpp

@@ -48,10 +48,16 @@ int main() {
 	
 	Srf10 *srf10Last = srf10Left;
 	
-	do {
+  do {
 		lineSensorArray->update();
 	} while(!lineSensorArray->calibrate());
 	
+  ledOn();
+  waitForButton(0);
+  ledOff();
+  
+  sleep(4000);
+  
 	navigation->setSpeed(DEFAULT_SPEED);
 	
 	while(true) {