diff --git a/vscode/Unendlichkeitsmaschine/include/main.hpp b/vscode/Unendlichkeitsmaschine/include/main.hpp
index 9a35163..0726b25 100644
--- a/vscode/Unendlichkeitsmaschine/include/main.hpp
+++ b/vscode/Unendlichkeitsmaschine/include/main.hpp
@@ -55,7 +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 unsigned long UPDATE_ESC_EVERY_MS = 500;
 
 const uint8_t HALL_SENSORS_COUNT = 8; // input, sec, min, hour, day, week, month, year
 const uint8_t ALL_DATA_COUNT = HALL_SENSORS_COUNT;
@@ -101,10 +101,10 @@ const uint8_t HALL6_PIN = 26;
 const uint8_t HALL7_PIN = 27;
 const uint8_t HALL8_PIN = 14;
 
-const uint16_t MIN_SPEED = 500;
-const uint16_t MAX_SPEED = 3000;
+const uint16_t MIN_SPEED = 800;
+const uint16_t MAX_SPEED = 5000;
 const uint8_t MAX_ESC_SPEED = 100;
-const uint8_t MIN_ESC_SPEED = 36;
+const uint8_t MIN_ESC_SPEED = 10;
 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 605a220..e04a635 100644
--- a/vscode/Unendlichkeitsmaschine/src/main.cpp
+++ b/vscode/Unendlichkeitsmaschine/src/main.cpp
@@ -70,14 +70,16 @@ void setup()
   
   Serial.println("Init ETC ...");
   ESC.attach(ESC_PIN,1000,2000); 
-
+  display.progressBar(0);
+  ESC.write(180);
+  delay(5000);
+  ESC.write(0);
   for(uint8_t i=0;i<=100;i=i+10)
   {
     display.progressBar(i);
-    delay(500);
-    ESC.write(0);
+    delay(1000);
   }
-
+  ESC.write(0);
   data_init();
 
   // Initialise  timer
@@ -170,7 +172,15 @@ void PID()
   double int_integ = integ + int_err;
   double int_derivative = (int_err - last_error);
   double int_output = kp * int_err + ki * int_integ + kd * int_derivative;
-  if((int_output >= MIN_SPEED) && (int_output <= MAX_SPEED))
+  if( int_output <= MIN_SPEED)
+  {
+    output = MIN_SPEED;
+  }
+  else if( int_output > MAX_SPEED)
+  {
+    output = MAX_SPEED; 
+  }
+  else if((int_output >= MIN_SPEED) && (int_output <= MAX_SPEED))
   {
     err = int_err;
     integ = int_integ;
@@ -402,8 +412,15 @@ void get_serial_cmd()
             ser_esc_output = 0;
             Serial.printf("Stop drive.\n");
         }
+        else if(command.equals("pidreset")){
+            err = 0.0;
+            last_error = 0.0;
+            integ = 0.0;
+            Serial.printf("Reset PID variables.\n");
+        }
+
         else if(command.equals("help")){
-            Serial.printf("Commands: kp,ki,kd=x.xxxx | params | control | max | min | start | stop | speed=x | esc=x help \n");
+            Serial.printf("Commands: kp,ki,kd=x.xxxx | params | control | max | min | start | stop | speed=x | esc=x | reset | help \n");
         }
         else{
             Serial.printf("Invalid command.");