aber jetzt nochmal was anderes: selbes problem wieder...

Code:
#include "RP6ControlLib.h" 
#include "RP6I2CmasterTWI.h"
#include "RP6Control_I2CMasterLib.h"


void Bumpers(void)
{
	if (bumper_left || bumper_right)
	{
		moveAtSpeed(0,0);
		
		if (bumper_left)
		{
		move(60,BWD,500,1);
		rotate(60, RIGHT, 45, BLOCKING);
		changeDirection(BWD);
		moveAtSpeed(70,70);
		}
	
		else if (bumper_right)
		{
		move(60,BWD,500,1);
		rotate(60, LEFT, 45, BLOCKING);
		changeDirection(FWD);
		moveAtSpeed(70,70);
		}
	
		else if (bumper_left && bumper_right)
		{
		move(60,BWD,500,1);
		rotate(60, RIGHT, 180, BLOCKING);
		changeDirection(FWD);
		moveAtSpeed(70,70);
		}
	
	}
	
	
}



void watchDogRequest(void)
{
	static uint8_t heartbeat2 = false;
	if(heartbeat2)
	{
		clearPosLCD(0, 14, 1);
		heartbeat2 = false;
	}
	else
	{
		setCursorPosLCD(0, 14);
		writeStringLCD_P("#"); 
		heartbeat2 = true;
	}
}

void I2C_requestedDataReady(uint8_t dataRequestID)
{
	checkRP6Status(dataRequestID);
}


void I2C_transmissionError(uint8_t errorState)
{
	writeString_P("\nI2C ERROR - TWI STATE: 0x");
	writeInteger(errorState, HEX);
	writeChar('\n');
}


int main(void)
{
	initRP6Control();  
	initLCD();
    
	//ACS_setStateChangedHandler(ACS);
	BUMPERS_setStateChangedHandler(Bumpers);
	WDT_setRequestHandler(watchDogRequest); 
	

	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", "Movement...");
	mSleep(1000);
	setLEDs(0b0000);
	
	
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_ACS_POWER, ACS_PWR_MED);
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT, true);
	I2CTWI_transmit3Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_WDT_RQ, true);
	

	moveAtSpeed(70,70);

	while(true) 
	{
		task_checkINT0();
		task_I2CTWI();
	}
	return 0;
}
er fährt vorwärts wie er soll, wenn ich nen bumper drücke hält er an und fährt n stück zurück. so und jetz kommt rotate und des macht er nicht. dann passiert nichts mehr