Ich hab das Ganze nun probiert, hat aber leider nicht funktioniert.

Mein Code sieht jetzt so aus:

M32 - Master:
Code:
  #include "RP6ControlLib.h" 
  #include "RP6I2CmasterTWI.h"

int main(void)
{
	initRP6Control();
	initLCD(); 
	
	I2CTWI_initMaster(50);
	
	int key;
	
	while(true)
	{
	
	key=0;
	
	showScreenLCD("Bitte Taster","druecken");
	
	do
	{
	
	key=getPressedKeyNumber();
	I2CTWI_transmitByte(10,0);
	
	}
	while (key==0);
	
	switch(key)
	{
		case 1:	//T1 - vorwärts
				showScreenLCD("Daten werden","uebertragen");
				I2CTWI_transmitByte(10,1);
				showScreenLCD("...erfolgreich","");
				break;
		case 2:	//T2 - rückwärts
				showScreenLCD("Daten werden","uebertragen");
				I2CTWI_transmitByte(10,2);
				showScreenLCD("...erfolgreich","");
				break;
		case 3:	//T3 - 20° rechts
				showScreenLCD("Daten werden","uebertragen");
				I2CTWI_transmitByte(10,3);
				showScreenLCD("...erfolgreich","");
				break;
		case 4: //T4 - 20° links
				showScreenLCD("Daten werden","uebertragen");
				I2CTWI_transmitByte(10,4);
				showScreenLCD("...erfolgreich","");
				break;
		default: I2CTWI_transmitByte(10,0);
			     break;
	}
	
	showScreenLCD("","Bitte warten");
	mSleep(200);
	
	key=0;
	
	}
	
	
	while(true) 
	{
		showScreenLCD("Endlosschleife", "");
	}
	return 0;
}
Base - Slave:
Code:
#include"RP6RobotBaseLib.h"
  #include "RP6I2CslaveTWI.h"
  
  int main(void)

  {
  
   initRobotBase(); 
   
   powerON();
   
   setACSPwrOff();
   
   uint8_t i;
	
	I2CTWI_initSlave(10);
	
	while (true)
	{	
	
	if(I2CTWI_writeRegisters[0] && !I2CTWI_writeBusy)
    {
    // Register speichern:
	i = I2CTWI_writeRegisters[0];
	I2CTWI_writeRegisters[0] = 0;
	}

		
	switch (i)
		{
			case 1:	task_motionControl();
					move(30,FWD,DIST_MM(50),false);
					break;
			case 2:	task_motionControl();
					move(30,BWD,DIST_MM(50),false);
					break;
			case 3:	task_motionControl();
					rotate(30,LEFT,20,false);
					break;
			case 4:	task_motionControl();
					rotate(30,RIGHT,20,false);
					break;
			default: setLEDs(0b111111);
					 mSleep(200);
					 setLEDs(0b000000);
					 break;
		}
	
	
   
   }
   
   
   
   while (true)
   {
   writeString_P("\n In Endlosschleife\n");
   }
   return 0;
   
   
   
  }