Hallo,

ich hab ein Programm geschrieben, wo Robby erst vorwärts fährt, und sich dann nach links dreht. Aber wenn ich es rauflade, fährt er nur die Geradeaus-Strecke, und bleibt dann stehen. Wisst ihr, wo der Fehler ist?
Code:
'------ I/O PORTS ---------
'--------------------------
'- INTERFACE LCD/EXTPORT --
define sdio         port[1]
define sclio        port[3]
define strobe       port[4]
'-- INTERFACE COM/NAV -----
define DATALINE     port[1]
define CLOCKLINE    port[2]
'--------------------------
'------ SENSORS ---------
'--------------------------
define LIGHT_L      ad[7]
define LIGHT_R      ad[6]
define SYS_VOLTS    ad[3]
define CHRG_CURRENT ad[2]
define SYS_CURRENT  ad[1]
define MIC          ad[4]
define TOUCH        ad[5]
'---------------------------
'------  DRIVE -------------
'---------------------------
define SPEED_L        da[1]
define SPEED_R        da[2]
define REV_L        port[6]
define REV_R        port[5]
'--------------------------
'---- SYSTEM MEMORY -------
'--------------------------
'--- INTERFACE BUFFER ----
define LBYTE         byte[1]
define HBYTE         byte[2]
define SUBCMD        byte[3]
'---- OPERATION DATA ------
define EXTPORT       byte[4]
define LED1_F        bit[29]
define LED2_F        bit[30]
define LED3_F        bit[31]
define LED4_F        bit[32]
define SYSTEM_STATUS byte[5]
define ACSL_F        bit[33]
define ACSR_F        bit[34]
define IR_F          bit[35]
'--------------------------
'----  USER MEMORY  -------
'--------------------------
define GP            byte[6]
define MAXLIGHT      byte[7]
define GP1           byte[8]
'--- SYSTEMROUTINEN -----------
define PLM_SLOW      &H01C4
define SYSTEM        &H01C9
define COMNAV        &H0154
'- ERWEITERTE SYSTEM ROUTINEN -
define REVR          &H0101   'ANTRIEB RECHTS RÜCKWÄRTS
define REVL          &H0106   'ANTRIEB LINKS RÜCKWÄRTS
define FWDR          &H010B   'ANTRIEG RECHTS VORWÄRTS
define FWDL          &H0110   'ANTRIEB LINKS VORWÄRTS
define ROTR          &H0115   'RECHTS DREHEN
define ROTL          &H0119   'LINKS DREHEN
define REV           &H011D   'RÜCKWÄRTS
define FWD           &H0121   'VORWÄRTS
define COMNAV_STATUS &H0125   'UPDATED ALLE FLAGS IM STATUS-REGISTER
define ACS_LO        &H01E1   'ACS POWER LO
define ACS_HI        &H01E9   '
define ACS_MAX       &H01F1   '
define SEND_TLM      &H014A   'SENDET TELEMETRIE (CH=HBYTE,DATEN=LBYTE)
define SEND_SPEEDR   &H0134   'SENDET TLM KANAL 8,PLM RECHTS
define SEND_SPEEDL   &H013A   'SENDET TLM KANAL 7,PLM LINKS
define SEND_SYSSTAT  &H0144   'SENDET TLM KANAL 0,SYSTEM STATUS
                              '(FLAGS für ACS,FWD/REV, ACS_LO/HI/MAX)




'---------- INIT---------------
gosub SUBSYS_PWR_ON
beep 368,10,0:pause 50

gosub NO_ACS_INT:beep 368,10,0:SYS ACS_MAX

'------------ ANTRIEB -------------------------
REV_L=on:REV_R=on:SYS PLM_SLOW
'--------------------------------------------
'---         WEGSTRECKENZÄHLER            ---
'--------------------------------------------
gosub CLR_DISTANCE:gosub LEDSOFF:gosub move_fwd
#NO_TASK
pause 5:SYS COMNAV_STATUS
gosub L_DISTANCE
if LBYTE=5 then gosub LED1ON
if LBYTE=20 then gosub LED2ON
if LBYTE=45 then gosub LED3ON
if LBYTE=60 then goto links
goto NO_TASK
'--------------------------------------------
#links
gosub CLR_DISTANCE:gosub LEDSOFF:gosub MOVELINKS
#NO_TASK2
pause 5:SYS COMNAV_STATUS
gosub L_DISTANCE
if LBYTE=2 then gosub LED1ON
if LBYTE=10 then gosub LED2ON
if LBYTE=20 then gosub LED3ON
if LBYTE=30 then gosub MOVERECHTS:goto stop
goto NO_TASK2
'-------------------------------------------
#MOVELINKS
SYS FWDR:SYS FWDL:SPEED_L=70:SPEED_R=155:return
#stop
gosub LED4ON:SYS FWDR:SYS FWDL:SPEED_L=0:SPEED_R=0:end
#move_fwd
SYS FWDR:SYS FWDL:SPEED_L=155:SPEED_R=155:return
'---------------------------------------------





'IIIIIIIIIII LED DRIVER IIIIIIIIIIIIIIIII
#LED1ON
LED1_F=on:goto EXTPORT_WRITE
#LED1OFF
LED1_F=off :goto EXTPORT_WRITE
#LED2ON
LED2_F=on:goto EXTPORT_WRITE
#LED2OFF
LED2_F=off:goto EXTPORT_WRITE
#LED3ON
LED3_F=on:goto EXTPORT_WRITE
#LED3OFF
LED3_F=off:goto EXTPORT_WRITE
#LED4ON
LED4_F=on:goto EXTPORT_WRITE
#LED4OFF
LED4_F=off:goto EXTPORT_WRITE
#LEDSOFF
EXTPORT=EXTPORT and &H0F:goto EXTPORT_WRITE
#EXTPORT_WRITE
SYS SYSTEM:pulse STROBE:RETURN


'IIIIII SYSTEMROUTINEN IIIIIIIII
#NO_ACS_INT
SUBCMD=4:sys COMNAV:LBYTE= HBYTE and &HFB
HBYTE=00:SUBCMD=2:sys COMNAV:return
#SUBSYS_PWR_ON
sdio=on:sclio=on:strobe=off:EXTPORT=(EXTPORT and &HFE)or 8
sys SYSTEM:return
#SUBSYS_PWR_OFF
EXTPORT=(EXTPORT and &HF7)or 1:sys SYSTEM
deact sdio:deact sclio:return
#CLR_DISTANCE
SUBCMD=3:sys COMNAV:return
#L_DISTANCE
SUBCMD=6:sys COMNAV:return
Ich hab den meisten Code einfach vom Beispiel "Wegstreckenzähler" genommen.

MfG