diff --git a/vscode/Unendlichkeitsmaschine/include/json.hpp b/vscode/Unendlichkeitsmaschine/include/json.hpp
index 47d7f0d..916e9d5 100644
--- a/vscode/Unendlichkeitsmaschine/include/json.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/json.hpp
@@ -13,7 +13,8 @@ typedef struct
   const char * unit;  
   double value;
   float unit_factor;
-  unsigned long last_update_ms;
+  unsigned long prev_update_ms;
+  unsigned long act_update_ms;
   unsigned long timestamp;
 } DataStruct;
 
diff --git a/vscode/Unendlichkeitsmaschine/include/main.hpp b/vscode/Unendlichkeitsmaschine/include/main.hpp
index 2b249d0..07bfb9f 100644
--- a/vscode/Unendlichkeitsmaschine/include/main.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/main.hpp
@@ -55,6 +55,7 @@ Servo ESC;     // Der ESC-Controller (Electronic Speed Controller bzw. elektroni
 Oled display;
 
 const unsigned long UPDATE_TURN_VALUES_EVERY_MS = 1000;
+const unsigned long UPDATE_ESC_EVERY_MS = 0;
 
 const uint8_t HALL_SENSORS_COUNT = 8; // input, sec, min, hour, day, week, month, year
 const uint8_t ALL_DATA_COUNT = HALL_SENSORS_COUNT;
@@ -102,7 +103,7 @@ const uint8_t HALL8_PIN = 14;
 const uint16_t MIN_SPEED = 600;
 const uint16_t MAX_SPEED = 1200;
 const uint8_t MAX_ESC_SPEED = 60;
-const uint8_t MIN_ESC_SPEED = 35;
+const uint8_t MIN_ESC_SPEED = 37;
 const uint16_t MAX_POTI_VALUE = 4095;
 const uint16_t JITTER_POTI_PERCENT = 10;
 
diff --git a/vscode/Unendlichkeitsmaschine/src/main.cpp b/vscode/Unendlichkeitsmaschine/src/main.cpp
index 5bd2765..021269e 100644
--- a/vscode/Unendlichkeitsmaschine/src/main.cpp
+++ b/vscode/Unendlichkeitsmaschine/src/main.cpp
@@ -17,9 +17,9 @@ volatile double goal_speed = 1000; //1.0 * speed;
 volatile double current_speed = 0;
 volatile double err = 0;
 volatile double output = 0.0;
-const double kp = 0.01;
-const double ki = 0.001;
-const double kd = 0.0005;
+const double kp = 0.005;
+const double ki = 0.0008;
+const double kd = 0.0001;
 
 void ISR_HALL1();
 void ISR_HALL2();
@@ -35,6 +35,7 @@ void data_generate();
 void data_store();
 void data_check();
 void data_init();
+void speed_get();
 void speed_set();
 void count_secs(time_t* run_time);
 
@@ -75,7 +76,7 @@ void setup()
   // Initialise  timer
   timer = timerBegin(0, 80, true); // Timer 0, Prescaler 80, zähle im Up-Modus
   timerAttachInterrupt(timer, &ISR_onTimer, true); // Setze den Interrupt-Handler und aktiviere den Interrupt auf steigende Flanke
-  timerAlarmWrite(timer, 1000000, true); // Setze den Alarm auf 1/4 Sekunde und aktiviere ihn
+  timerAlarmWrite(timer, 1000000/8, true); // Setze den Alarm auf 1/4 Sekunde und aktiviere ihn
   timerAlarmEnable(timer); // Aktiviere den Alarm
 
   pinMode(39, INPUT_PULLDOWN);
@@ -113,8 +114,9 @@ void loop()
   data_generate();
 
   count_secs(&run_time);
+  speed_get();
   speed_set();
-  //data_check();
+  data_check();
   data_store();
 
   #ifdef HAS_MQTT
@@ -123,8 +125,7 @@ void loop()
   
   display.show_values(speed, MIN_SPEED, MAX_SPEED, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
 
-  Serial.printf("PID ... (goal: %06.3f, current: %06.3f, err: %06.3f, integ: %06.3f, derive: %06.3f, output=%06.3f), esc_output=%06.3f \n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
-  ESC.write(50);
+ 
 }
 
 void count_secs(time_t* run_time)
@@ -142,6 +143,24 @@ void count_secs(time_t* run_time)
 }
 
 void speed_set()
+{
+  static unsigned long last_esc_write_ms = 0;
+  static double last_esc_output = 0;
+  if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS)
+  {
+    Serial.printf(">goal:%06.3f\n>current:%06.3f\n>err:%06.3f\n>integ:%06.3f\n>derive:%06.3f\n>output:%06.3f\n>esc_output:%06.3f\n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
+    if(esc_output != last_esc_output)
+    {
+      //Serial.printf("PID ... (goal>:%06.3f, current>:%06.3f, err>:%06.3f, integ>:%06.3f, derive>:%06.3f, output>:%06.3f), esc_output>:%06.3f \n", goal_speed, current_speed, err, integ, derivative, output, esc_output);
+
+      ESC.write(esc_output);
+      last_esc_output = esc_output;
+      last_esc_write_ms = millis();
+    }
+  }
+}
+
+void speed_get()
 {
   static uint8_t _count_meas = 0;
   static int _Drehregler = 0;
@@ -219,16 +238,14 @@ void data_init()
       AllData[i].value = (AllData[i].ticks * AllData[i].unit_factor);
     }
     #endif
-    AllData[i].last_update_ms = current_millis;
-
+    AllData[i].act_update_ms = 0;
+    AllData[i].prev_update_ms = 0;    
   }
 }
 
-/*
+
 void data_check()
 {
-  unsigned long current_millis = millis();
-  static unsigned long speedchanged_ms = current_millis ;
   /*
   Serial.printf("H1(pin %d): %d, H2(pin %d): %d, H3(pin %d): %d, H4(pin %d): %d, H5(pin %d) : %d, H6(pin %d) : %d, H7(pin %d) : %d, H8(pin %d) : %d.\n",
                 HALL1_PIN, digitalRead(HALL1_PIN),
@@ -243,22 +260,23 @@ void data_check()
   
   */
 
-  /*
-  if(current_millis - speedchanged_ms >= UPDATE_TURN_VALUES_EVERY_MS)
+  for(uint8_t nr = 0; nr < HALL_SENSORS_COUNT; nr++)
   {
-    HallData[0].value = (HallData[0].period_ticks * HallData[0].unit_factor);
-    HallData[0].period_ticks = 0;
-    Serial.printf("current_millis: %lu goal speed: %lu calc speed: %f (%lu ticks in %lu ms) \n", current_millis, speed, HallData[0].value, current_millis - speedchanged_ms);
-    speedchanged_ms = current_millis;
-  }
-
-  for(uint8_t nr = 1; nr < HALL_SENSORS_COUNT; nr++)
-  {
-    HallData[nr].value = (HallData[nr].ticks * HallData[nr].unit_factor);
-    HallData[nr].period_ticks = 0;
+    if( 0 == nr)
+    {
+      if( (HallData[nr].act_update_ms != 0)
+       && (HallData[nr].prev_update_ms != 0)
+       && (HallData[nr].prev_update_ms != HallData[nr].act_update_ms)
+        )
+      {
+        HallData[nr].value = HallData[nr].unit_factor / (HallData[nr].act_update_ms - HallData[nr].prev_update_ms) ;
+      }
+    }
+    else{
+      HallData[nr].value = (HallData[nr].ticks * HallData[nr].unit_factor);
+    }
   }
 }
-*/
 
 void data_store()
 {
@@ -287,16 +305,11 @@ void IRAM_ATTR ISR_HALL1()
   HallData[hallnr].timestamp = run_time;
   // each 4 ticks is one turn
   // so we calculate speed each 4 ticks... just in case we check for bigger ... 
-  /*
   if(HallData[hallnr].period_ticks >= HALL_TICKS_PER_TURN){
     HallData[hallnr].period_ticks = 0;
-    if(HallData[hallnr].last_update_ms != 0)
-    {
-      HallData[hallnr].value = HallData[hallnr].unit_factor / HallData[hallnr].last_update_ms;
-    }
-    HallData[hallnr].last_update_ms = millis();
+    HallData[hallnr].prev_update_ms = HallData[hallnr].act_update_ms;
+    HallData[hallnr].act_update_ms = millis();
   }
-  */
 }
 
 void IRAM_ATTR ISR_HALL2()
@@ -304,8 +317,7 @@ void IRAM_ATTR ISR_HALL2()
   const uint8_t hallnr = 1;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL3()
@@ -313,8 +325,7 @@ void IRAM_ATTR ISR_HALL3()
   const uint8_t hallnr = 2;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL4()
@@ -322,8 +333,7 @@ void IRAM_ATTR ISR_HALL4()
   const uint8_t hallnr = 3;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL5()
@@ -331,8 +341,7 @@ void IRAM_ATTR ISR_HALL5()
   const uint8_t hallnr = 4;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL6()
@@ -340,8 +349,7 @@ void IRAM_ATTR ISR_HALL6()
   const uint8_t hallnr = 5;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL7()
@@ -349,8 +357,7 @@ void IRAM_ATTR ISR_HALL7()
   const uint8_t hallnr = 6;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
+  HallData[hallnr].act_update_ms = millis();
 }
 
 void IRAM_ATTR ISR_HALL8()
@@ -358,13 +365,9 @@ void IRAM_ATTR ISR_HALL8()
   const uint8_t hallnr = 7;
   HallData[hallnr].ticks++;
   HallData[hallnr].timestamp = run_time;
-  HallData[hallnr].last_update_ms = millis();
-  //HallData[hallnr].value = (HallData[hallnr].ticks * HallData[hallnr].unit_factor);  
+  HallData[hallnr].act_update_ms = millis();
 }
 
-
-
-
 void IRAM_ATTR ISR_onTimer()
 {
   current_speed = HallData[0].value;
@@ -379,10 +382,6 @@ void IRAM_ATTR ISR_onTimer()
 
   //Aktualisierung der letzten Fehler- und Zeitwerte
   last_error = err;
-
-  //Ansteuerung des Outputs
-  
-  //ESC.write(50); 
 }
 
 //this code is just for generating dummy data - in normal use not needed