Danke für deine bemühungen aber leider:

RP6Control_I2CMasterLib.c:347: error: 'CMD_SET_MOTOR_DIR' undeclared (first use in this function)
RP6Control_I2CMasterLib.c:347: error: (Each undeclared identifier is reported only once
RP6Control_I2CMasterLib.c:347: error: for each function it appears in.)

Zeile 347:

I2CTWI_transmit4Bytes(I2C_RP6_BASE_ADR, 0, CMD_SET_MOTOR_DIR, dir_left, dir_right );