bono2

bool abstandVorneOk = false;

void loop()
{

    digitalWrite(Trig, LOW);
    delay(5);
    digitalWrite(Trig, HIGH);
    delay(10);
    digitalWrite(Trig, LOW);
    dauer = pulseIn(Echo, HIGH);
    entfernung = (dauer/2) * 0.03432;

	abstandVorneOk = false;

	if (entfernung >= 1000 || entfernung <= 0)
	{
		Serial.println("Kein Messwert");
	}
	else
	{
		Serial.print(entfernung);
		Serial.println(" cm");

		if (entfernung >= 80)
		{
			abstandVorneOk = true;
		}
	}

	getstr = Serial.read();

	switch(getstr)
	{
		case 'a':
			stateChange();
			break;

		case 'f':
			forward();
			break;

		case 'b':
			back();
			break;

		case 'l':
			left();
			break;

		case 'r':
			right();
			break;

		case 's':
			stop();
			break;

		default:
			break;
	}

	delay(100);
}