diff --git a/vscode/Unendlichkeitsmaschine/include/json.hpp b/vscode/Unendlichkeitsmaschine/include/json.hpp
index 9197675..ef180c4 100644
--- a/vscode/Unendlichkeitsmaschine/include/json.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/json.hpp
@@ -19,6 +19,8 @@ typedef struct {
   double kd;
   int max_speed;
   int min_speed;
+  double max_esc_out;
+  double min_esc_out
 }PIDStruct;
 
 typedef struct 
diff --git a/vscode/Unendlichkeitsmaschine/include/main.hpp b/vscode/Unendlichkeitsmaschine/include/main.hpp
index 53513c6..51cb8ce 100644
--- a/vscode/Unendlichkeitsmaschine/include/main.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/main.hpp
@@ -102,9 +102,16 @@ const uint8_t HALL8_PIN = 14;
 
 const uint8_t TIME_PER_ROUND_VALS = 10;
 
-const uint16_t MIN_SPEED = 500;
-const uint16_t MAX_SPEED = 5000;
-const uint8_t MAX_ESC_SPEED = 100;
-const uint8_t MIN_ESC_SPEED = 6;
+//const uint16_t MIN_SPEED = 500;
+//const uint16_t MAX_SPEED = 5000;
+const uint8_t MAX_ESC_OUT = 100;
+const uint8_t MIN_ESC_OUT = 0;
+
+const long MAX_D_VALUE = 10;
+const long MIN_D_VALUE = -10;
+const long MAX_I_VALUE = 10;
+const long MIN_I_VALUE = -10;
+const long MAX_P_VALUE = 10;
+const long MIN_P_VALUE = -10;
 
 #endif //MAIN_HPP
\ No newline at end of file
diff --git a/vscode/Unendlichkeitsmaschine/src/main.cpp b/vscode/Unendlichkeitsmaschine/src/main.cpp
index 1391c68..79c9b73 100644
--- a/vscode/Unendlichkeitsmaschine/src/main.cpp
+++ b/vscode/Unendlichkeitsmaschine/src/main.cpp
@@ -119,6 +119,34 @@ void loop()
  
 }
 
+void eval_max_min_speed()
+{
+  Pid_params.min_esc_out = 0;
+  Pid_params.min_speed = 0;
+  for(uint8_t out = Pid_params.min_speed; out < Pid_params.max_esc_out; out++)
+  {
+    ESC.write(out);
+    delay(1000);
+    for(uint8_t i=0;i<10;i++)
+    {
+      data_check();
+      delay(1000);
+
+      if (0 == Pid_params.min_speed && HallData[0].value > 0)
+      {
+        Pid_params.min_speed = HallData[0].value;
+        Pid_params.min_esc_out = out
+        break;
+      }
+    }
+  }
+  ESC.write(Pid_params.max_esc_out);
+  delay(2000);
+  Pid_params.max_speed = HallData[0].value;
+  ESC.write(0);
+  delay(2000);
+}
+
 void count_secs(time_t* run_time)
 {
   static time_t last_update_ms = 0;
@@ -151,13 +179,13 @@ void PID()
   double int_derivative = Pid_params.err - last_error;
   if(Pid_params.ki != 0)
   {
-    if(Pid_params.ki*int_integ > MAX_ESC_SPEED)
+    if(Pid_params.ki*int_integ > MAX_I_VALUE)
     {
-      Pid_params.integ = MAX_ESC_SPEED/Pid_params.ki;
+      Pid_params.integ = MAX_I_VALUE/Pid_params.ki;
     } 
-    else if(Pid_params.ki*int_integ < -1*MAX_ESC_SPEED)
+    else if(Pid_params.ki*int_integ < MIN_I_VALUE)
     {
-      Pid_params.integ = -1*MAX_ESC_SPEED/Pid_params.ki;
+      Pid_params.integ = MIN_I_VALUE/Pid_params.ki;
     }
     else 
     {
@@ -171,13 +199,13 @@ void PID()
 
   if(Pid_params.kd != 0)
   {
-    if(Pid_params.kd*int_derivative > MAX_ESC_SPEED)
+    if(Pid_params.kd*int_derivative > MAX_D_VALUE)
     {
-      Pid_params.derivative = MAX_ESC_SPEED/Pid_params.kd;
+      Pid_params.derivative = MAX_D_VALUE/Pid_params.kd;
     }
-    else if(Pid_params.kd*int_derivative < -1*MAX_ESC_SPEED)
+    else if(Pid_params.kd*int_derivative < MIN_D_VALUE)
     {
-      Pid_params.derivative = -1*MAX_ESC_SPEED/Pid_params.kd;
+      Pid_params.derivative = MIN_D_VALUE/Pid_params.kd;
     }
     else
     {
@@ -280,11 +308,13 @@ void data_init()
   Pid_params.current_speed = 0.0;
   Pid_params.err = 0;
   Pid_params.output = 0.0;
-  Pid_params.kp = 0.002;
-  Pid_params.ki = 0.0008;
+  Pid_params.kp = 0.001;
+  Pid_params.ki = 0.001;
   Pid_params.kd = 0.001;
-  Pid_params.max_speed = MAX_SPEED;
-  Pid_params.min_speed = MIN_SPEED;
+  Pid_params.max_speed = 5000;
+  Pid_params.min_speed = 0;
+  Pid_params.max_esc_out = MAX_ESC_OUT;
+  Pid_params.min_esc_out = MIN_ESC_OUT;
   #ifdef MACHINE_RESTART
     run_time = 0;
     start_time = capportal.epochTime();