Okay, das fahren klappt jetzt super! Danke Dirk!

Aber der Servo bewegt sich nicht:

Code:
#include "RP6ControlLib.h" 	
#include "RP6I2CmasterTWI.h"
#include "RP6Control_I2CMasterLib.h"
#include "RP6ControlServoLib.h" 

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();
	initSERVO(SERVO1); 

	WDT_setRequestHandler(watchDogRequest); 
	

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

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

	setLEDs(0b1111);

	mSleep(500);

	setLEDs(0b1111);

	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);

	while(true) 
	{ 
		
		 servo1_position = 50;
		
		move(60, FWD, DIST_CM(30), BLOCKING);
		
		servo1_position = 140;
	    
task_SERVO(); 
	}
	return 0;
}
Der zuckt nur kurz und dann fährt der Rp6 weiter.
Am Servo liegt es nicht, da er in einem anderen Programm klappt.


mfG
Philip