diff --git a/.~lock.ideen_mechanik_und_elektronik.odt# b/.~lock.ideen_mechanik_und_elektronik.odt#
index affc95a..0e6d32f 100644
--- a/.~lock.ideen_mechanik_und_elektronik.odt#
+++ b/.~lock.ideen_mechanik_und_elektronik.odt#
@@ -1 +1 @@
-,yves,yves-UB,05.02.2020 13:15,file:///home/yves/.config/libreoffice/4;
\ No newline at end of file
+,yves,yves-UB,05.02.2020 13:51,file:///home/yves/.config/libreoffice/4;
\ No newline at end of file
diff --git a/Code/miniRobotRC/fahrsteuerung_old.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
index 915b3ba..ec64ad8 100644
--- a/Code/miniRobotRC/fahrsteuerung_old.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -3,35 +3,30 @@ void manualDigitalDrive() {
  // while(!tasten.getButtonCycle(buttonL1)) {
     clearCommands();
     if(!tasten.getAnyPressed()) {
-      lcd.clear();
-      lcd.println("Warte...");
+      lcdLines[0] = "Warte...";
     }
     if(tasten.checkButton(buttonB) || tasten.checkButton(buttonUp)) {
             pwmA = -215;
             pwmB = -255;
-            lcd.clear();
-            lcd.println("geradeaus fahren");
+            lcdLines[0] = "geradeaus fahren";
             goOn =true;
     }
     if(tasten.checkButton(buttonC) || tasten.checkButton(buttonDown)) {
             pwmA = 100;
             pwmB = 255;
-            lcd.clear();
-            lcd.println("rueckwaerts fahren");
+            lcdLines[0] = "rueckwaerts fahren";
             goOn =true;
      }
     if(tasten.checkButton(buttonRight)) {
         pwmA = -100;  //rechter Motor
         pwmB = 100;
-        lcd.clear();
-        lcd.println("rechts lenken");
+        lcdLines[0] = "rechts lenken";
             goOn =true;
     } 
     if(tasten.checkButton(buttonLeft)) {
         pwmB = -100;
         pwmA = 100;
-        lcd.clear();
-        lcd.println("links lenken");
+        lcdLines[0] = "links lenken";
             goOn =true;
     }
       if(goOn) {
diff --git a/Code/miniRobotRC/interruptRoutinen.ino b/Code/miniRobotRC/interruptRoutinen.ino
index cce5cf5..09ca807 100644
--- a/Code/miniRobotRC/interruptRoutinen.ino
+++ b/Code/miniRobotRC/interruptRoutinen.ino
@@ -3,6 +3,11 @@ ISR(TIMER2_COMPA_vect) {
   tasten.checkButtons();
   renderTime++;
   if(renderTime >= renderTimeout) {
+    lcd.clear();
+    for(uint8_t i = 0; i < sizeof(lcdLines); i++) {
+      lcd.gotoXY(0, i);
+      lcd.print(lcdLines[i]);  
+    }
     lcd.renderAll();
     renderTime = 0;
   }
diff --git a/Code/miniRobotRC/joystick.ino b/Code/miniRobotRC/joystick.ino
index 70d8392..c2329e2 100644
--- a/Code/miniRobotRC/joystick.ino
+++ b/Code/miniRobotRC/joystick.ino
@@ -10,28 +10,8 @@ volatile int16_t yValue = 0;
 volatile int16_t leftPWM = 0;
 volatile int16_t rightPWM = 0;
 
-const int16_t deadZone = 10;
-/*
-void setup() {
-  Serial.begin(115200);
-}
-
-void loop() {
-  koordinaten(analogRead(xPin), analogRead(yPin));
-  motorPWM();
-  Serial.print("X: ");
-  Serial.println(xValue);
-  Serial.print("Y: ");
-  Serial.println(yValue);
-  Serial.print("links: ");
-  Serial.println(leftPWM);
-  Serial.print("rechts: ");
-  Serial.println(rightPWM);
-
-  delay(200);
+const int16_t deadZone = 40;
 
-}
-*/
 void motorMapping() {
   static long temp = millis();
   koordinaten(analogRead(xPin), analogRead(yPin));
@@ -40,12 +20,14 @@ void motorMapping() {
   pwmB = map(leftPWM, -255,255,leftMin,leftMax);
   pwmA = map(rightPWM, -255,255,rightMin,rightMax);
   if((millis() - temp) > 100) {
-    lcd.clear();
-    lcd.println("Links: ");
-    lcd.println(pwmB);
-    lcd.gotoXY(0,2);
-    lcd.println("Rechts: ");
-    lcd.println(pwmA);
+ //   lcd.clear();
+ //   lcd.println("Links: ");
+    lcdLines[0] = "Links: " + String(pwmB, DEC);
+ //   lcd.println(pwmB);
+ //   lcd.gotoXY(0,2);
+ //   lcd.println("Rechts: ");
+    lcdLines[0] = "Rechts: " + String(pwmA, DEC);
+ //  lcd.println(pwmA);
   }
 
   senden();
diff --git a/Code/miniRobotRC/miniRobotRC.ino b/Code/miniRobotRC/miniRobotRC.ino
index 898b88b..038a595 100644
--- a/Code/miniRobotRC/miniRobotRC.ino
+++ b/Code/miniRobotRC/miniRobotRC.ino
@@ -4,7 +4,7 @@
 
 #define CLR_BIT(p,n) ((p) &= ~((1) << (n)))
 #define SET_BIT(p,n) ((p) |= (1 << (n)))
-
+//Pinzuordnungen
 #define BL 10         //backlight, Hintergrundbeleuchtung LCD
 #define SD_CARD_CS 2  //D2 ist Chip Enable
 #define BAT_VOLTAGE A7 //Akkuspannung an A7
@@ -17,7 +17,8 @@ volatile myInterrupts pwmBL;
 volatile shiftRegButton tasten;
 //LCD
 uint8_t renderTime = 0;
-#define renderTimeout 100
+#define renderTimeout 100   //es wird alle 100ms gerendert
+String lcdLines[6];         //Strings welche alle 100ms ausgegeben werden
 
 //Kommandos
 #define nothing 9 //reset/nichts tun
@@ -31,15 +32,15 @@ uint8_t renderTime = 0;
 #define timeToDrive 8 //Zeitdauer des fahrens
 #define getDistance 10 //Abstand zu Objekten
 
-int pwmA = 0;
-int pwmB = 0;
+int16_t pwmA = 0;
+int16_t pwmB = 0;
 bool forwardA = true;
 bool forwardB = true;
 bool driveOn = false;
 uint16_t driveTimeout = 0;
 
-int distance;
-int temperature;
+int16_t distance;
+int16_t temperature;
 
 //Funk
 #include <SPI.h>
@@ -51,23 +52,3 @@ RF24 radio(A2, A3); // CE, CSN
 const byte address[6] = "00001";
 
 uint8_t commands[32];
-/*
-const String mainMenu[] = {
-  "fahren",                   //0
-  "stoppen",               //1
-  "manuell fahren",           //2
-  "",            //3
-  "",          //4
-  "",         //5
-  "",          //6
-  "",          //7  
-  "",          //8
-  ""           //9
-};
-
-const String subMenuEntry0[] = {
-  "Zeitdauer",
-  "Speed A",
-  "Speed B",
-  "Starten"  
-}; */
diff --git a/ideen_mechanik_und_elektronik.odt b/ideen_mechanik_und_elektronik.odt
index dd56f82..7690502 100644
Binary files a/ideen_mechanik_und_elektronik.odt and b/ideen_mechanik_und_elektronik.odt differ