1 files changed, 40 insertions, 16 deletions
diff --git a/source/AVR_Studio/Soccer/Soccer.c b/source/AVR_Studio/Soccer/Soccer.c
index 52bcd06..117b6bc 100755
--- a/source/AVR_Studio/Soccer/Soccer.c
+++ b/source/AVR_Studio/Soccer/Soccer.c
@@ -11,23 +11,48 @@ Sensor sensor;
 int main() {
 	//board.ledOn();
 	sleep(2);
+	
+	uart1_puts("Hallo hier ist das RNMega128Funk-Board");
+
+
 	int speed = 255;
-	/*for(int i=-255;i<=255;i+=30) {
+	board.motor(0, speed);
+	board.motor(1, speed);
+	board.motor(2, speed);
+
+	sleep(2);
+	navigation.Aktualisieren(180,0,speed);
+	while(true) { sleep(1); }
+	/*board.motor(0,speed);
+	board.motor(2,speed);
+	sleep(2);
+	board.motor(0,speed);
+	board.motor(2,0);
+	board.motor(1,speed);
+	sleep(2);
+
+
+
+	for(int i=-255;i<=255;i+=10) {
 		board.motor(0,i);
 		board.motor(1,i);
 		board.motor(2,i);
 		board.motor(3,i);
-		sleep(1);
-	}*/
+		msleep(500);
+	}
+
+	
 	board.motor(0, speed);
 	board.motor(1, speed);
 	board.motor(2, speed);
 	board.motor(3, speed);
-	PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
-	PORTE |= (1 << PE3); // | (1 << PE4);
-	PORTA |= (1 << PA4); // | (1 << PA5); 
+	while(true) { sleep(1); }*/
+	/*
+	//PORTB |= (1 << PB5) | (1 << PB6); // Setze PWM-Ports auf high
+	//PORTE |= (1 << PE3); // | (1 << PE4);
+	//PORTA |= (1 << PA5); // | (1 << PA5); 
 	//sleep(10);
-	while(true) { sleep(1); }
+	*/
 	/*sleep(10);
 	board.motor(0, 0);
 	board.motor(1, 0);
@@ -56,15 +81,14 @@ int main() {
 	//board.ledOff();*/	
 	
 	while(true) {
-	navigation.Aktualisieren(0,0,speed);
-	sleep(2);
-	navigation.Aktualisieren(90,0,speed);
-	sleep(2);
-	navigation.Aktualisieren(180,0,speed);
-	sleep(2);
-	navigation.Aktualisieren(270,0,speed);
-	sleep(2);
-
+		navigation.Aktualisieren(0,0,speed);
+		sleep(2);
+		navigation.Aktualisieren(90,0,speed);
+		sleep(2);
+		navigation.Aktualisieren(180,0,speed);
+		sleep(2);
+		navigation.Aktualisieren(270,0,speed);
+		sleep(2);
 	}