Motor Pins 7 & 8 changed, Case 8.1 & 8.2 conditions changed, check_voltage...

Motor Pins 7 & 8 changed, Case 8.1 & 8.2 conditions changed, check_voltage changed from number based to time based, backward_factor & search_factor changed (needs revisit)

Robotcar_functions.h

@@ -75,8 +75,6 @@ float pitch = 0;
 float roll = 0;
 float backward_factor = 3.0; //Neuer backward_factor: Muss getestet werden
 float search_factor = 120000; //Neuer search_facotr: Muss getestet werden
-boolean last_d_F = false; //test
-int delay_factor = 10; //Neuer factor, muss getestet werden DELAY beim stehenbleiben könnte quadratisch mit der Geschwindigkeit skalieren?
 float search_time = 0;
 unsigned long time_drive = 0;
 float line_factor = 1.2;
@@ -627,7 +625,7 @@ class Robotcar_functions
             else if (last_direction == 'F') // Fall 8.3 (Fahrzeug fährt Rückwärts bis wieder eine Linie erkannt wird)
             {
               drive(Break, 0);
-              delay(total_velocity*delay_factor);
+              delay(2000);
               while ((get_brightness('L') < white_surface_reflection) && (get_brightness('M') < white_surface_reflection) && (get_brightness('R') < white_surface_reflection))
               {
                 drive(Backward, (total_velocity / backward_factor));