diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 53de7dd..4f94f72 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -13,7 +13,7 @@ RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
 long timer;
-int temperature;
+int16_t temperature;
 int distance = 0;
 
 void inline clearCommands() {
@@ -78,7 +78,7 @@ void setup() {
   
   //Temperatur- und Abstandsmessung
   tempDistSetup();
-  setEchoPins(0, 0); //Setze die pins für den Abstandsensor aus denen gelesenw erden soll das erster ist der Trigger-, das zweite der Echopin
+  setEchoPins(16, 5); //16: A2, 5: D5
   timer = millis(); 
 }
 
@@ -100,8 +100,8 @@ void loop() {
   temperature = dallas(4, 0);
   
   if(millis() - timer >= 100){
-	measureDistance();
-	timer = millis();  
+  	measureDistance();
+  	timer = millis();  
   }
   
   distance = calculateDistance();
@@ -149,10 +149,9 @@ void commandInterpretation() {
                       driveOn = false;      
                       break;
       }
-      case getTemp :  {
-                      int temp5;
-                      temp5 = (0xFF00 & (commands[i+1] << 8));
-                      temp5 |= (0x00FF & commands[i+2]);   
+      case getTemp :  {                     
+                        
+                      radio.write(&temperature, sizeof(temperature));
                       break;
       }
       case timeToDrive : {
@@ -169,6 +168,7 @@ void commandInterpretation() {
                       forwardA = true;
                       forwardB = true;
                       driveOn = false; */
+                      
                       break; 
       }
     }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 625019a..216f1dd 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -36,13 +36,13 @@ int calculateDistance(){
 
 void measureDistance(){
     
-    PORTD |= (1<<trig);
+     digitalWrite(trig, HIGH);
     // ... wait for 10 µs ...
     
     delayMicroseconds(10);
     // ... put the trigger down ...
 
-    PORTD &= ~(1<<trig); 
+    digitalWrite(trig, LOW); 
     PCICR |= 0b00000100;
     PCMSK2 |= 0b00010000;
     
@@ -62,11 +62,13 @@ int16_t dallas(int x, byte start){
     ds.write(0xBE); //Read 1st 2 bytes of Scratchpad
     result = 0;
     for(i = 0; i < 2; i++){
-      data[i] = ds.read();
-      result += data[i];
+      data[i] = ds.read();    
     }
+    
+    result = (data[1]<<8)|data[0];
 
-    result = result/2;
+    result = result/16; //DS1820 2 DS18B20 16
+    
     ds.reset();
     ds.write(0xCC);
     ds.write(0x44, 1); //start conversion
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index 27a1c49..5d1d314 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -32,7 +32,6 @@ void loop() {
     joystickSteuerung(); //TODO ()
   }
   tasten.clearButton(buttonStart);
-  
 }
 
 void lcdMenu() {
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index ec64ad8..4c764b4 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -1,9 +1,13 @@
 void manualDigitalDrive() {
   bool goOn = false;
+  String temp_str = "T: " + String(temperature) + " Grad C";
+  lcdLines[5] = temp_str;
  // while(!tasten.getButtonCycle(buttonL1)) {
     clearCommands();
     if(!tasten.getAnyPressed()) {
       lcdLines[0] = "Warte...";
+      
+ 
     }
     if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
             pwmA = -215;
@@ -40,6 +44,7 @@ void manualDigitalDrive() {
         commands[7] = highByte(driveTimeout);
         commands[8] = lowByte(driveTimeout);
         commands[9] = goDrive;
+        
         radio.write(&commands, sizeof(commands));
         goOn = false;
       }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index 038a595..eb73d78 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -40,7 +40,7 @@ bool driveOn = false;
 uint16_t driveTimeout = 0;
 
 int16_t distance;
-int16_t temperature;
+int16_t temperature = 0;
 
 //Funk
 #include <SPI.h>