diff --git a/Code/miniRobot/miniRobot.ino b/Code/miniRobot/miniRobot.ino
index 452f374..eec400d 100644
--- a/Code/miniRobot/miniRobot.ino
+++ b/Code/miniRobot/miniRobot.ino
@@ -77,7 +77,7 @@ void setup() {
   
   //Temperatur- und Abstandsmessung
   
-  setEchoPins(16, 6); //16: A2, 6: D6
+  setEchoPins(A2, 6); //16: A2, 6: D6
   tempDistSetup();
   timer = millis(); 
 }
@@ -94,7 +94,6 @@ void loop() {
     temperature = dallas(4, 0); 
     measureDistance();
     distance = calculateDistance(); 
-    Serial.println(distance);
     timer = currentMillis;
     
   }
@@ -193,6 +192,7 @@ void commandInterpretation() {
                       forwardA = true;
                       forwardB = true;
                       driveOn = false; */
+
                       
                       break; 
       }
@@ -200,4 +200,5 @@ void commandInterpretation() {
   }
   
   clearCommands();
+  
 }
diff --git a/Code/miniRobot/temperatureDistance.ino b/Code/miniRobot/temperatureDistance.ino
index a3e977c..8ef7dc2 100644
--- a/Code/miniRobot/temperatureDistance.ino
+++ b/Code/miniRobot/temperatureDistance.ino
@@ -5,29 +5,31 @@
 int trig;
 int echo;
 
-uint16_t distance3 = 0;
-uint16_t distance2 = 0;
+unsigned long distance3 = 0;
+unsigned long distance2 = 0;
 
-//ISR for PCINT20
+//ISR for PCINT2
 ISR(PCINT2_vect) {
   distance3 = pulseIn(echo, HIGH);
-  
   if(distance3 > 0){
     distance2 = distance3;
   }
-  delayMicroseconds(10);
   
-  PCICR &= ~0b00000100;
+  
+  PCICR &= ~0b00000111;
   PCMSK2 &= ~0b00010000;
+  delayMicroseconds(10);
 }
 
 void setEchoPins(int pin1, int pin2){
+  
   trig = pin1;
   echo = pin2;
+  
 }
 
 int16_t calculateDistance(){
-  int16_t result2 = distance2/ 58;
+  int16_t result2 = (int16_t)(((float) distance2/ 58.0));
   if(result2 > maxDistance){
     result2 = maxDistance;
   }
@@ -36,15 +38,17 @@ int16_t calculateDistance(){
 
 void measureDistance(){
     
-     digitalWrite(trig, HIGH);
+    digitalWrite(trig, HIGH);
     // ... wait for 10 µs ...
     
     delayMicroseconds(10);
     // ... put the trigger down ...
 
     digitalWrite(trig, LOW); 
+
+    Serial.println("messe...");
     PCICR |= 0b00000100;
-    PCMSK2 |= 0b00010000;
+    PCMSK2 |= (1 << echo);
     
     
 }
@@ -89,7 +93,6 @@ void tempDistSetup(){
    // Reset the trigger pin and wait a half a second
    digitalWrite(trig, LOW);
    delayMicroseconds(500);
-   Serial.println(echo);
 
    sei();
  
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index cf28a5f..11cae9f 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -23,14 +23,17 @@ void loop() {
   
   while(!tasten.getButtonCycle(buttonStart)) {
     manualDigitalDrive();
+    updateTemp();
   } 
   tasten.clearButton(buttonStart);
  while(!tasten.getButtonCycle(buttonStart)){
     motorMapping();
+    updateTemp();
   }
   tasten.clearButton(buttonStart);
   while(!tasten.getButtonCycle(buttonStart)){
     joystickSteuerung(); //TODO ()
+    updateTemp();
   }
   tasten.clearButton(buttonStart);
   
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 1370be8..e2823a4 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -49,34 +49,6 @@ void manualDigitalDrive() {
         radio.write(&commands, sizeof(commands));
         goOn = false;
       }
-
-    //Temperatur <3
-    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");
-        unsigned long currentMicros = micros();
-        if((unsigned long)(currentMicros - start) >= 1){
-          
-          err = true;
-        }
-      }
-      if(!err){
-        int16_t readData;
-        radio.read(&readData, sizeof(int16_t));
-        temperature = readData;
-      }
-      radio.stopListening();
-      clearCommands();
-    }
     
   //  }
   //  tasten.clearAllButtons();
diff --git a/Code/miniRobotRC/temp.ino b/Code/miniRobotRC/temp.ino
new file mode 100644
index 0000000..bd8485b
--- /dev/null
+++ b/Code/miniRobotRC/temp.ino
@@ -0,0 +1,29 @@
+ //Temperatur <3
+    void updateTemp(){
+      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");
+          unsigned long currentMicros = micros();
+          if((unsigned long)(currentMicros - start) >= 1){
+            
+            err = true;
+          }
+        }
+        if(!err){
+          int16_t readData;
+          radio.read(&readData, sizeof(int16_t));
+          temperature = readData;
+        }
+        radio.stopListening();
+        clearCommands();
+      }
+    }