uint8_t l_min = 255;
uint8_t ll_min = 255;
uint8_t r_min = 255;
uint8_t rr_min = 255;
.
.
void loop_test1() {
.
.
if (progmode) {
		uint8_t bl = analog_getValueExt(ANALOG_BL, 2)>25;
		uint8_t br = analog_getValueExt(ANALOG_BR, 2)>25;
		uint8_t bc = analog_getValueExt(ANALOG_BC, 2)>25;
		led_set(1, bl);
		led_set(2, bc);
		led_set(3, bc);
		led_set(4, br);
		} else {
 
		uint8_t l = analog_getValueExt(ANALOG_FL, 2);
		while (!analog_has_update());   // Warten bis die Messung beendet
	    if (l < l_min) l_min = l;       // Offset bestimmen		
	    l -=l_min;	                    // Offset abziehen
		l = l > 5;                      // Hindernis erkennen
 
		uint8_t r = analog_getValueExt(ANALOG_FR, 2);
		while (!analog_has_update());   
	    if (r < r_min) r_min = r;       
	    r -=r_min;						
		r  = r > 5;   
 
		uint8_t ll = analog_getValueExt(ANALOG_FLL, 2);
		while (!analog_has_update());   
	    if (ll < ll_min) ll_min = ll;       
	    ll -=ll_min;	
		ll  = ll > 5;
 
		uint8_t rr = analog_getValueExt(ANALOG_FRR, 2);
		while (!analog_has_update());   
	    if (rr < rr_min) rr_min = rr;       
	    rr -=rr_min;	
		rr  = rr > 5;
 
		led_set(1, ll);
		led_set(2, l);
		led_set(3, r);
		led_set(4, rr);
	}
}