diff --git a/vscode/Unendlichkeitsmaschine/include/json.hpp b/vscode/Unendlichkeitsmaschine/include/json.hpp
index ef180c4..e969131 100644
--- a/vscode/Unendlichkeitsmaschine/include/json.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/json.hpp
@@ -20,7 +20,7 @@ typedef struct {
   int max_speed;
   int min_speed;
   double max_esc_out;
-  double min_esc_out
+  double min_esc_out;
 }PIDStruct;
 
 typedef struct 
diff --git a/vscode/Unendlichkeitsmaschine/src/main.cpp b/vscode/Unendlichkeitsmaschine/src/main.cpp
index 79c9b73..d5be3c0 100644
--- a/vscode/Unendlichkeitsmaschine/src/main.cpp
+++ b/vscode/Unendlichkeitsmaschine/src/main.cpp
@@ -24,6 +24,7 @@ void data_store();
 void data_check();
 void data_init();
 void speed_set();
+void eval_max_min_speed();
 
 void PID();
 unsigned long  time_per_round_calc();
@@ -73,6 +74,7 @@ void setup()
   ESC.write(0);
   display.progressBar(100,"ETC init done!", true);
   delay(1000);  
+  display.progressBar(100,"Init data and IRQ!", true);
   data_init();
 
   #ifndef DUMMY_DATA
@@ -98,6 +100,10 @@ void setup()
   attachInterrupt(digitalPinToInterrupt(HALL8_PIN), ISR_HALL8, FALLING);  
 
   #endif
+
+  Serial.println(" Measuring min and max speed values ... ");
+  eval_max_min_speed();
+
   Serial.println(" Auf gehts ... ");
 }
 
@@ -115,35 +121,47 @@ void loop()
   mqtt.send_and_loop("infinity/data", json.create_json_string(AllData, ALL_DATA_COUNT, &Pid_params, run_time));
   #endif
   
-  display.show_values(Pid_params.speed, MIN_SPEED, MAX_SPEED, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
+  display.show_values(Pid_params.speed, Pid_params.min_speed, Pid_params.max_speed, HallData, HALL_SENSORS_COUNT, run_time, capportal.localIP());
  
 }
 
 void eval_max_min_speed()
 {
+  display.progressBar(0,"Min/Max measure!", true);
   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);
+    String esc_str = String("esc_out = " + String(out));
+    String speed_str = String("speed_out = " + String(HallData[0].value));
     delay(1000);
     for(uint8_t i=0;i<10;i++)
     {
+      display.progressBar(out*10+i,"Min/Max measure!", esc_str.c_str(), speed_str.c_str(), true);
       data_check();
-      delay(1000);
+      delay(100);
 
       if (0 == Pid_params.min_speed && HallData[0].value > 0)
       {
         Pid_params.min_speed = HallData[0].value;
-        Pid_params.min_esc_out = out
+        Pid_params.min_esc_out = out;
         break;
       }
     }
+    if (Pid_params.min_speed > 0)
+    {
+      break;
+    }
   }
+  display.progressBar(100,"Min speed/esc:", String("min_speed =" + String(Pid_params.min_speed) ).c_str(), String("min_esc_out =  " + String(Pid_params.min_esc_out)).c_str(), true);
   ESC.write(Pid_params.max_esc_out);
   delay(2000);
+  data_check();
   Pid_params.max_speed = HallData[0].value;
+  display.progressBar(100,"Max speed/esc:", String("max_speed =" + String(Pid_params.max_speed) ).c_str(), String("max_esc_out =  " + String(Pid_params.max_esc_out)).c_str(), true);
   ESC.write(0);
+  Serial.printf(">min_speed:%d\n>max_speed:%d\n>min_esc_out:%d\n>max_esc_out:%d\n",Pid_params.min_speed, Pid_params.max_speed, Pid_params.min_esc_out, Pid_params.max_esc_out );
   delay(2000);
 }
 
@@ -174,7 +192,7 @@ void PID()
     Pid_params.derivative = 0;
   }
 
-  Pid_params.err = constrain(Pid_params.speed - Pid_params.current_speed, -100, 100);
+  Pid_params.err = constrain(Pid_params.speed - Pid_params.current_speed, -1*Pid_params.max_speed, Pid_params.current_speed);
   double int_integ = Pid_params.integ + Pid_params.err;
   double int_derivative = Pid_params.err - last_error;
   if(Pid_params.ki != 0)
@@ -220,7 +238,7 @@ void PID()
   Pid_params.output = Pid_params.kp * Pid_params.err + Pid_params.ki * Pid_params.integ + Pid_params.kd * Pid_params.derivative;
   if(-1 == ser_esc_output ) 
   {
-    Pid_params.esc_output = constrain(Pid_params.output, MIN_ESC_SPEED, MAX_ESC_SPEED);
+    Pid_params.esc_output = constrain(Pid_params.output, Pid_params.min_esc_out, Pid_params.max_esc_out);
   }
   else
   {
@@ -290,7 +308,8 @@ void speed_set()
   if(0 == last_esc_write_ms || millis() - last_esc_write_ms > UPDATE_ESC_EVERY_MS)
   {
     PID();
-    Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06.3f\n",Pid_params.speed, Pid_params.current_speed, Pid_params.esc_output);
+    Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06.3f\n>prop:%06.3f\n>derive:%06.3f\n>integ:%06.3f\n",Pid_params.speed, Pid_params.current_speed, Pid_params.esc_output, Pid_params.err, Pid_params.derivative, Pid_params.integ);
+    //Serial.printf(">speed:%06.3f\n>current:%06.3f\n>esc:%06.3f\n",Pid_params.speed, Pid_params.current_speed, Pid_params.esc_output);
     ESC.write(Pid_params.esc_output);
     last_esc_write_ms = millis();
     Pid_params.timestamp = last_esc_write_ms;      
@@ -308,8 +327,8 @@ void data_init()
   Pid_params.current_speed = 0.0;
   Pid_params.err = 0;
   Pid_params.output = 0.0;
-  Pid_params.kp = 0.001;
-  Pid_params.ki = 0.001;
+  Pid_params.kp = 0.002;
+  Pid_params.ki = 0.003;
   Pid_params.kd = 0.001;
   Pid_params.max_speed = 5000;
   Pid_params.min_speed = 0;
@@ -384,7 +403,7 @@ void data_check()
         else
         {
           HallData[nr].value = HallData[nr].unit_factor / mid_time;
-          HallData[nr].value = HallData[nr].value > MAX_SPEED? MAX_SPEED:HallData[nr].value;
+          HallData[nr].value = HallData[nr].value > Pid_params.max_speed? Pid_params.max_speed:HallData[nr].value;
         }
       }
     }
@@ -450,11 +469,11 @@ void get_serial_cmd()
             Serial.printf("Set to drive PID control mode.\n");
         }
         else if(command.equals("max")){
-            ser_esc_output = MAX_ESC_SPEED;
+            ser_esc_output = Pid_params.max_esc_out;
             Serial.printf("Set to maximal speed. %f\n", ser_esc_output);
         }        
         else if(command.equals("min")){
-            ser_esc_output = MIN_ESC_SPEED;
+            ser_esc_output = Pid_params.min_esc_out;
             Serial.printf("Set to minimal speed %f .\n", ser_esc_output );
         }
         else if(command.equals("start")){