diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 4f94f72..bb40118 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -23,6 +23,7 @@ void inline clearCommands() {
 }
 
 const byte address[6] = "00001";
+const byte address2[6] = "00002";
 //Kommandos
 #define nothing 9 //reset/nichts tun
 #define speedA 1 // set speed A + speed
@@ -60,7 +61,7 @@ bool forwardA = true;
 bool forwardB = true;
 volatile bool driveOn = false;
 
-int temperatur = 0;
+int16_t temperatur = 0;
 
 
 volatile long driveTimeout = 0;
@@ -71,6 +72,7 @@ void setup() {
 //  motorA.setPWM16(2,RESOLUTION);
 //  motorB.setPWM16(2,RESOLUTION);
   radio.begin();
+  radio.openWritingPipe(address2);
   radio.openReadingPipe(0, address);
   radio.setPALevel(RF24_PA_MAX);
   radio.startListening();
@@ -83,6 +85,7 @@ void setup() {
 }
 
 void loop() {
+  Serial.println(temperature);
   if (radio.available()) {
     radio.read(&commands, sizeof(commands));
     commandInterpretation();
@@ -92,16 +95,18 @@ void loop() {
     pwmA = 0;
     pwmB = 0;
   }
+
     drive.setPWM_A(pwmA);
     drive.setPWM_B(pwmB);
-	
+    
+
   //Temperatur- und Abstandsmessung
   
   temperature = dallas(4, 0);
   
   if(millis() - timer >= 100){
-  	measureDistance();
-  	timer = millis();  
+    measureDistance();
+    timer = millis();  
   }
   
   distance = calculateDistance();
@@ -150,8 +155,10 @@ void commandInterpretation() {
                       break;
       }
       case getTemp :  {                     
-                        
-                      radio.write(&temperature, sizeof(temperature));
+                      Serial.println("Senden!");
+                      radio.stopListening();                    
+                      radio.write(&temperature, sizeof(int16_t));
+                      radio.startListening();
                       break;
       }
       case timeToDrive : {
diff --git a/Code/miniRobotRC/JoystickSteuerung.ino b/Code/miniRobotRC/JoystickSteuerung.ino
index 6c03c41..42b7304 100644
--- a/Code/miniRobotRC/JoystickSteuerung.ino
+++ b/Code/miniRobotRC/JoystickSteuerung.ino
@@ -64,11 +64,5 @@ void joystickInit() {
         commands[7] = highByte(driveTimeout);
         commands[8] = lowByte(driveTimeout);
         commands[9] = goDrive;
-        commands[10] = getTemp;
-        commands[11] = highByte(temperature);
-        commands[12] = lowByte(temperature);
-        commands[13] = getTemp;
-        commands[14] = highByte(distance);
-        commands[15] = lowByte(distance);
         radio.write(&commands, sizeof(commands));
   }
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index 5d1d314..cf28a5f 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -20,11 +20,12 @@ void setup() {
 
 void loop() {
   //lcdMenu();
+  
   while(!tasten.getButtonCycle(buttonStart)) {
     manualDigitalDrive();
   } 
   tasten.clearButton(buttonStart);
-  while(!tasten.getButtonCycle(buttonStart)){
+ while(!tasten.getButtonCycle(buttonStart)){
     motorMapping();
   }
   tasten.clearButton(buttonStart);
@@ -32,6 +33,7 @@ void loop() {
     joystickSteuerung(); //TODO ()
   }
   tasten.clearButton(buttonStart);
+  
 }
 
 void lcdMenu() {
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 4c764b4..500a42c 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -1,4 +1,5 @@
 void manualDigitalDrive() {
+
   bool goOn = false;
   String temp_str = "T: " + String(temperature) + " Grad C";
   lcdLines[5] = temp_str;
@@ -48,6 +49,30 @@ void manualDigitalDrive() {
         radio.write(&commands, sizeof(commands));
         goOn = false;
       }
+
+    //Temperatur <3
+    
+    if((millis() - temp_time) >= 5000){ // jede  Sekunden
+      temp_time = millis();
+      bool err = false;
+      clearCommands();
+      commands[0] = getTemp;
+      radio.write(&commands, sizeof(commands) && !err);
+      long start = micros();
+      radio.startListening();
+      while(!radio.available()){
+        //Serial.println("nix");
+        if((micros()- start) >= 1){
+        
+          err = true;
+        }
+      }
+      if(!err){
+        radio.read(&temperature, sizeof(int16_t));
+      }
+      radio.stopListening();
+    }
+    
   //  }
   //  tasten.clearAllButtons();
 }
diff --git a/Code/miniRobotRC/funkInit.ino b/Code/miniRobotRC/funkInit.ino
index 308995f..aa72370 100644
--- a/Code/miniRobotRC/funkInit.ino
+++ b/Code/miniRobotRC/funkInit.ino
@@ -1,6 +1,8 @@
 void funkInit() {
   radio.begin();
+  
   radio.openWritingPipe(address);
+  radio.openReadingPipe(0, address2);
   radio.setPALevel(RF24_PA_MAX); 
   radio.stopListening();
 }
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index eb73d78..322d632 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -42,6 +42,8 @@ uint16_t driveTimeout = 0;
 int16_t distance;
 int16_t temperature = 0;
 
+int16_t temp_time = millis();
+
 //Funk
 #include <SPI.h>
 #include <nRF24L01.h>
@@ -50,5 +52,6 @@ int16_t temperature = 0;
 RF24 radio(A2, A3); // CE, CSN
 
 const byte address[6] = "00001";
+const byte address2[6] = "00002";
 
 uint8_t commands[32];