Additional Codework on Distance_Sensor

source/Concept/Framework/atmega128io.c

@@ -595,8 +595,8 @@ void uart1_puts_p(const char *progmem_s )
 
 int8 Init_TWI(void){
 	TWAR = OWN_ADR;							/*!< Eigenen Slave Adresse setzen */
-	TWBR = 12;                    			/*!< Setze Baudrate auf 100 KHz  */
-											/*!< 4 MHz xtal */
+	TWBR = 64;                    			/*!< Setze Baudrate auf 100 KHz  */
+											/*!< 16 MHz xtal */
 	TWCR = (1<<TWEN);						/*!< TWI-Interface einschalten */
 
     return 1;

source/Concept/Framework/modules/input/distance_sensor.h

@@ -51,6 +51,9 @@ public:
 				this->slaveAddr = 0;
 				break;
 		}
+
+		// initialiate the sensor
+		srf10_init();
 	}
 
 protected:

source/Concept/Framework/robot.c

@@ -44,6 +44,9 @@ Robot::Robot()
 	//Activate interrupt
 	sei();
 
+	// Initialiate TWI
+	Init_TWI();
+
 	//Interface
 	for(uint8 i = IO_START; i < IO_END; i++)
 	{