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I think, a robot which is moving around should be challenge for the network.
Because with respect to the conditions for the Z-wave signal, the device needs several different routes on its way through the house.

There is only one thing I can see:
You have some unnecessary brackets in your code.
The bracket before Serial.println("0. "); and after zunoSendReport(..); seem to be useless.

I think you mean "Arduino IDE 1.6.5 and 1.8.5 are now supported", isn't it?

@MastrUsr:
I've sent a PM to you

Yes, I tried a lot of things with the GPT, but it was not working as expected. I'm rather sure, that there is or was a problem in the GPT firmware too. Another reason could be, that the write access to an output pin is too slow to react within a timescale of a few hundreds microseconds. But as you s...

Maybe we have here the same problem, I saw while write an float to the OLED display with oled.print(...)?

Yes, the IR buffer has a size of 300 bytes. But to send the 288 Bit Code, it would need 576 bytes minimum. And the IR code has to be sended twice with a certain amount of delay. This couldn't be done with Z-UNO. I already hat a longer discussion with the Z-UNO developers (see the topic "IR-lib ...

Z-UNO.PNG An influence of internal interrupts? May be. I can't check this. The Z-UNO was not in the cyclic calling queue of my HC 2. But I don't know, what the Z-UNO is doing with all radio telegrams of the Z-Wave. Nevertheless, I did some more investigations based on the helpful discussions here. ...

Converting the value to an int may be helpful tp províde a stable sketch. But the output on the display would not be as it should be

I made some further tests with the sketch. I saw, that sometimes, when the device is blocked, also the white LED ist switched ON (#define LED_PIN 13). From my point of view it looks like a problem in the stack. @petergebruers: I had the same idea with changing the position of the zunoSendReport(). B...