diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 237239d..452f374 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -12,9 +12,9 @@
 RF24 radio(A0, 3); // CE, CSN
 
 byte commands[32];       //byte 0 = command
-long timer;
+unsigned long timer;
 int16_t temperature = 0;
-int16_t distance = 0;
+uint16_t distance = 50;
 
 void inline clearCommands() {
   for(uint8_t i=0; i<32; i++) {
@@ -70,30 +70,36 @@ void setup() {
 //  motorB.setPWM16(2,RESOLUTION);
   radio.begin();
   radio.openWritingPipe(address2);
-  radio.openReadingPipe(0, address);
+  radio.openReadingPipe(1, address);
   radio.setPALevel(RF24_PA_MAX);
   radio.startListening();
   clearCommands();
   
   //Temperatur- und Abstandsmessung
   
-  setEchoPins(16, 6); //16: A2, 5: D5
+  setEchoPins(16, 6); //16: A2, 6: D6
   tempDistSetup();
   timer = millis(); 
 }
 
 void loop() {
   //Temperatur- und Abstandsmessung
-  Serial.println(temperature);
-  Serial.println(distance);
-  temperature = dallas(4, 0);
+  //Serial.println(temperature);
+  //Serial.println(distance);
   
-  if((unsigned long)(millis() - timer) >= 100){
+
+  unsigned long currentMillis = millis();
+  
+  if((unsigned long)(currentMillis - timer) >= 100){
+    temperature = dallas(4, 0); 
     measureDistance();
-    timer = millis();  
+    distance = calculateDistance(); 
+    Serial.println(distance);
+    timer = currentMillis;
+    
   }
   
-  distance = calculateDistance();
+  
 
   
   if (radio.available()) {
@@ -108,13 +114,13 @@ void loop() {
 
     
     if(distance < 20){
-    Serial.println("Achtung!");
+    //Serial.println("Achtung!");
     if(pwmA < 0 && pwmB < 0){
         pwmA = 0;
         pwmB = 0;
       }
     }
-
+    
     
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
@@ -166,9 +172,10 @@ void commandInterpretation() {
                       break;
       }
       case getTemp :  { 
-                      Serial.println("Senden!");                    
-                      radio.stopListening();                    
-                      radio.write(&temperature, sizeof(int16_t));
+                      //Serial.println("Senden!");                    
+                      radio.stopListening();     
+                      int16_t sendData = temperature;               
+                      radio.write(&sendData, sizeof(int16_t));
                       radio.startListening();
                       break;
       }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index 74535f3..a3e977c 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -5,14 +5,15 @@
 int trig;
 int echo;
 
-//int distance = 0;
-int distance2 = 0;
+uint16_t distance3 = 0;
+uint16_t distance2 = 0;
 
 //ISR for PCINT20
 ISR(PCINT2_vect) {
-  distance = pulseIn(echo, HIGH);
-  if(distance > 0){
-    distance2 = distance;
+  distance3 = pulseIn(echo, HIGH);
+  
+  if(distance3 > 0){
+    distance2 = distance3;
   }
   delayMicroseconds(10);
   
@@ -26,12 +27,11 @@ void setEchoPins(int pin1, int pin2){
 }
 
 int16_t calculateDistance(){
-  int16_t result = distance2/ 58;
-
-  if(result > maxDistance){
-    result = maxDistance;
+  int16_t result2 = distance2/ 58;
+  if(result2 > maxDistance){
+    result2 = maxDistance;
   }
-  return result;
+  return result2;
 }
 
 void measureDistance(){
@@ -89,6 +89,7 @@ void tempDistSetup(){
    // Reset the trigger pin and wait a half a second
    digitalWrite(trig, LOW);
    delayMicroseconds(500);
+   Serial.println(echo);
 
    sei();
  
@@ -102,7 +103,7 @@ void runMeasurements(){
   } 
   
   Serial.print("Temperatur: ");
-  Serial.println(dallas(2, 0));
+  Serial.println(dallas(4, 0));
   
   Serial.print("Distanz: ");
   Serial.print(calculateDistance());
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 09b72c3..1370be8 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -51,26 +51,31 @@ void manualDigitalDrive() {
       }
 
     //Temperatur <3
-    
-    if((unsigned long)(millis() - temp_time) >= 1000){ // jede  Sekunden
+    unsigned long currentMillis = millis();
+    if((unsigned long)(currentMillis - temp_time) >= 1000){ // jede  Sekunden
       temp_time = millis();
       bool err = false;
       clearCommands();
+      
       commands[0] = getTemp;
       radio.write(&commands, sizeof(commands) && !err);
       unsigned long start = micros();
       radio.startListening();
       while(!radio.available()){
         //Serial.println("nix");
-        if((unsigned long)(micros()- start) >= 1){
-        
+        unsigned long currentMicros = micros();
+        if((unsigned long)(currentMicros - start) >= 1){
+          
           err = true;
         }
       }
       if(!err){
-        radio.read(&temperature, sizeof(int16_t));
+        int16_t readData;
+        radio.read(&readData, sizeof(int16_t));
+        temperature = readData;
       }
       radio.stopListening();
+      clearCommands();
     }
     
   //  }
diff --git a/Code/miniRobotRC/funkInit.ino b/Code/miniRobotRC/funkInit.ino
index aa72370..fa40d29 100644
--- a/Code/miniRobotRC/funkInit.ino
+++ b/Code/miniRobotRC/funkInit.ino
@@ -2,7 +2,7 @@ void funkInit() {
   radio.begin();
   
   radio.openWritingPipe(address);
-  radio.openReadingPipe(0, address2);
+  radio.openReadingPipe(1, address2);
   radio.setPALevel(RF24_PA_MAX); 
   radio.stopListening();
 }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index e465369..f93a12c 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -39,8 +39,8 @@ bool forwardB = true;
 bool driveOn = false;
 uint16_t driveTimeout = 0;
 
-int16_t distance;
-int16_t temperature = 0;
+uint8_t distance;
+uint8_t temperature = 0;
 
 unsigned long temp_time = millis();