void manualDigitalDrive() { bool goOn = false; // while(!tasten.getButtonCycle(buttonL1)) { clearCommands(); if(!tasten.getAnyPressed()) { lcdLines[0] = "Warte..."; lcdLines[1] = ""; } if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) { pwmA = -215; pwmB = -255; lcdLines[0] = "geradeaus fahren"; goOn =true; } if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) { pwmA = 100; pwmB = 255; lcdLines[0] = "rueckwaerts fahren"; goOn =true; } if(tasten.checkButton(buttonRight)) { pwmA = -100; //rechter Motor pwmB = 100; lcdLines[0] = "rechts lenken"; goOn =true; } if(tasten.checkButton(buttonLeft)) { pwmB = -100; pwmA = 100; lcdLines[0] = "links lenken"; goOn =true; } if(goOn) { commands[0] = speedA; commands[1] = highByte(pwmA); commands[2] = lowByte(pwmA); commands[3] = speedB; commands[4] = highByte(pwmB); commands[5] = lowByte(pwmB); commands[6] = timeToDrive; commands[7] = highByte(driveTimeout); commands[8] = lowByte(driveTimeout); commands[9] = goDrive; radio.write(&commands, sizeof(commands)); goOn = false; } // } // tasten.clearAllButtons(); }