Code:
#define vli_on  (PORTC|=IO_PD5)
#define vli_off (PORTC&=~IO_PD5)
#define vlm_on  (PORTC |= IO_PC2)
#define vlm_off (PORTC &= ~IO_PC2)
#define vla_on  (PORTC|=IO_PC3)
#define vla_off (PORTC&=~IO_PC3)
#define vri_on  (PORTC|=IO_PC5)
#define vri_off (PORTC&=~IO_PC5)
#define vrm_on  (PORTC|=IO_PC7)
#define vrm_off (PORTC&=~IO_PC7)
#define vra_on  (PORTC |= IO_PD6)
#define vra_off (PORTC &= ~IO_PD6)


uint8_t vli, vlm, vla, vri, vrm, vra; // Positionen der Servos
uint8_t i;


  
  
 


/*****************************************************************************/
// Main function - The program starts here:


void delay(uint8_t d)
{
   uint16_t d1, dummy;
   for (d1=d*255; d1>0; d1--) dummy^=d1;
} 


int16_t main(void)
{
	initRP6Control();  
	initLCD();
    
	writeString_P("\n\nRP6 CONTROL M32 I2C Master Example Program!\n"); 
    writeString_P("\nMoving...\n"); 

	// ---------------------------------------
	WDT_setRequestHandler(watchDogRequest); 
	BUMPERS_setStateChangedHandler(bumpersStateChanged);
	ACS_setStateChangedHandler(acsStateChanged);
	BATTERY_setLowVoltageHandler(batteryVoltageLow);

	// ---------------------------------------
	I2CTWI_initMaster(100);  
	I2CTWI_setRequestedDataReadyHandler(I2C_requestedDataReady);
	I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);

	sound(180,80,25);
	sound(220,80,25);

	setLEDs(0b1111);

	showScreenLCD("################", "################");
	mSleep(500);
	showScreenLCD("I2C-Master", "Behaviours");
	mSleep(1000);
	setLEDs(0b0000);
	
	// ---------------------------------------
	// Setup ACS power:
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_HIGH);
	// Enable Watchdog for Interrupt requests:
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
	// Enable timed watchdog requests:
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);

	startStopwatch1();
	startStopwatch2();
	startStopwatch4();
	

	showScreenLCD("Active Behaviour", "");
	
	
	
	 cli();
    TCCR1B =  (0 << WGM00) | (1 << WGM01);               // CTC-Mode
    TCCR1B |= (0 << COM00) | (0 << COM01);               // ohne OCR-Pin
    TCCR1B |=   (0 << CS02)  | (1 << CS01) | (0 << CS00);   // prescaler /8
    TIMSK =  (1 << OCIE0);                               // Interrupt ein
    OCR1A  = 9; // 100kHz?
	
	
	
	
	DDRD |= IO_PD5;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PD5;				// SERVO_OUT -> LOW
	DDRD |= IO_PC2;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PC2;				// SERVO_OUT -> LOW
	DDRD |= IO_PC3;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PC3;				// SERVO_OUT -> LOW
	DDRD |= IO_PC5;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PC5;				// SERVO_OUT -> LOW
	DDRD |= IO_PC7;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PC7;				// SERVO_OUT -> LOW
	DDRD |= IO_PD6;					// SERVO_OUT -> OUTPUT
	PORTD &= ~IO_PD6;				// SERVO_OUT -> LOW
    
    vli=vlm=vla=vri=vrm=vra=100;
	
    sei();
	while(true) 
	{
		
		uint8_t key = getPressedKeyNumber(); 
		// This function returns a 0 if no key is pressed and
		// the key number from 1 to 5 otherwise.

		if(key) // If a key is pressed... (key != 0)
		{
			// ... we update the values
			// on the LCD display:
			
			switch(key)
			{
				case 1: 
						
				break;
				
				case 2: 
						
				break;
			}
		}
		//behaviourController();
		
		task_LCDHeartbeat();
		task_checkINT0();
	    task_I2CTWI();
		
		
		vri=120;delay(20);
		vli=80;delay(20);
		vra=120;delay(20);
		vla=80;delay(20);

		
	}
	return 0;
}


ISR (TIMER1_COMP_vect)
{
   static uint16_t count=1; // Servoansteuerung

   (count>vli)?vli_off:vli_on;
   (count>vlm)?vlm_off:vlm_on;
   (count>vla)?vla_off:vla_on;
   (count>vri)?vri_off:vri_on;
   (count>vrm)?vrm_off:vrm_on;
   (count>vra)?vra_off:vra_on;
   
   if(count<2000) count++; else count=0;
}
bei dem Code kriege ich volgenden Fehler:

Compiling: RP6Control_10_Move2.c
avr-gcc -c -mmcu=atmega32 -I. -gdwarf-2 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=RP6Control_10_Move2.lst -I../../RP6lib -I../../RP6lib/RP6control -I../../RP6lib/RP6common -std=gnu99 -MD -MP -MF .dep/RP6Control_10_Move2.o.d RP6Control_10_Move2.c -o RP6Control_10_Move2.o
RP6Control_10_Move2.c:1010: warning: 'TIMER1_COMP_vect' appears to be a misspelled signal handler

und die Beine bewegen sich nicht.

DIV blenderkid