diff --git a/iqrobot.py b/iqrobot.py
index e815c5f..3aa2ed9 100644
--- a/iqrobot.py
+++ b/iqrobot.py
@@ -87,13 +87,25 @@ class IQRobot:
 
 
     def drehe(self, grad=90, with_reset=True):
+        if grad == 0 or grad == 360 :
+            print("nichts zu tun")
+            return
         if with_reset:
             self.motionSensor.reset_yaw_angle()
-        steering = 100 if grad > 0 else -100
+        #steering = 100 if grad > 0 else -100
+        toleranz = 0
+        aktuell = self.motionSensor.get_yaw_angle()
+        ziel = grad
+        steering = 100 if ziel > aktuell else -100
         self.movementMotors.start(steering=steering, speed=10)
-        while abs(self.motionSensor.get_yaw_angle()) < abs(grad):
+        differenz = ziel - aktuell
+        print ("Start Ziel: {}, Aktuell: {}".format(ziel, aktuell))
+        while abs(differenz) > toleranz :
+            aktuell = self.motionSensor.get_yaw_angle()
+            differenz = ziel - aktuell
             pass
         self.movementMotors.stop()
+        print ("Final Ziel: {}, Aktuell: {}".format(ziel, aktuell))
 
 
     def fahre_gerade(self, cm):
@@ -128,8 +140,30 @@ class IQRobot:
         self.fahre_gerade_geregelt(strecke1 + self.abstand_rad_front)
         self.drehe(grad)
         self.fahre_gerade_geregelt(strecke2 - self.abstand_rad_front)
+    
+    def fahre_gerade_aus(self, cm,speed):
+    
+        self.motionSensor.reset_yaw_angle()
+    
+        self.movementMotors.move_tank(amount=cm,left_speed=speed, right_speed=speed)
+        drehung = self.motionSensor.get_yaw_angle()
+        print(drehung)
+        if drehung > 0:
+            richtung = -1
+        else:
+            richtung = 1
+        while abs(drehung) > 2:
+            self.movementMotors.move(amount=richtung * 0.1, steering=100)
+            drehung = self.motionSensor.get_yaw_angle()
+            print(drehung)
 
-
+        
 print("successfully loaded the IQ Lego teams code :)")
 
 
+
+
+
+
+
+