Entfernungssensoren in Ordnung gebracht, Hindernisumfahrung implementiert.

1 files changed, 18 insertions, 0 deletions

diff --git a/timer.cpp b/timer.cpp
new file mode 100644
index 0000000..b4a1b12
--- /dev/null
+++ b/timer.cpp
@@ -0,0 +1,18 @@
+#include "timer.h"
+#include "global.h"
+
+#include <avr/interrupt.h>
+
+
+static volatile unsigned long ticks = 0;
+
+
+SIGNAL(SIG_OVERFLOW0) {
+	ticks++;	
+}
+
+void sleep(unsigned long ms) {
+	unsigned long t = ticks + ms * (F_CPU/TIMER_PRESCALER/256000);
+	
+	while(ticks < t);
+}