diff --git a/Code/Joystick_ohne_float/Joystick_ohne_float.ino b/Code/Joystick_ohne_float/Joystick_ohne_float.ino
index 2bcf183..c197786 100644
--- a/Code/Joystick_ohne_float/Joystick_ohne_float.ino
+++ b/Code/Joystick_ohne_float/Joystick_ohne_float.ino
@@ -2,18 +2,26 @@
 #define yPin A6
 int16_t xValue = 0;
 int16_t yValue = 0;
+int16_t leftPWM = 0;
+int16_t rightPWM = 0;
+
+const int16_t deadZone = 10;
 
 void setup() {
-  Serial.begin(9600);
+  Serial.begin(115200);
 }
 
 void loop() {
   koordinaten(analogRead(xPin), analogRead(yPin));
-
-  Serial.println("X: ");
+  motorPWM();
+  Serial.print("X: ");
   Serial.println(xValue);
-  Serial.println("Y: ");
+  Serial.print("Y: ");
   Serial.println(yValue);
+  Serial.print("links: ");
+  Serial.println(leftPWM);
+  Serial.print("rechts: ");
+  Serial.println(rightPWM);
 
   delay(200);
 
@@ -26,3 +34,52 @@ void koordinaten(uint16_t x, uint16_t y) {
   xValue = map(x, 0, 511, -255, 255);
   yValue = map(y, 0, 511, 255, -255);
 }
+
+void motorPWM() {
+ if((abs(xValue) > deadZone) || (abs(yValue) > deadZone)) {
+  if(yValue >= 0) {
+    if(xValue >= 0) {
+    //+y , +x  
+      leftPWM = yValue;
+      rightPWM = yValue - xValue;
+      if(xValue >= yValue) {
+        leftPWM = 255;
+        rightPWM = -255;
+      }
+    } else {
+      //+y , -x
+        leftPWM = yValue;
+        rightPWM = yValue + xValue;
+        if(abs(xValue) >= yValue) {
+          leftPWM = -255;
+          rightPWM = 255;
+        }
+    }
+  } else {
+      if(xValue >= 0) {
+      //-y , +x  
+        leftPWM = yValue;
+        rightPWM = yValue + xValue;
+        if(xValue >= abs(yValue)) {
+          leftPWM = 255;
+          rightPWM = -255;
+        }
+      } else {
+        //-y , -x
+          leftPWM = yValue;
+          rightPWM = yValue - xValue;
+          if(abs(xValue) >= abs(yValue)) {
+            leftPWM = -255;
+            rightPWM = 255;
+          }
+      }
+  }
+  if(abs(xValue) < deadZone) {
+    leftPWM = yValue;
+    rightPWM = yValue;
+  }
+ } else {
+    leftPWM = 0;
+    rightPWM = 0;
+ }
+}