diff --git a/Code/Joystick/Joystick.ino b/Code/Joystick/Joystick.ino
deleted file mode 100644
index dc68c00..0000000
--- a/Code/Joystick/Joystick.ino
+++ /dev/null
@@ -1,42 +0,0 @@
-#include <Steuerung.h>
-//Informationen Joystick 
-Joystick *joystick;
-const uint16_t xAxisPin = 5;
-const uint16_t yAxisPin = 4;
-const int16_t lowestJoystickValue = 0;
-const int16_t highestJoystickValue = 511;
-const int16_t spaceing = 50;
-
-//Informationen linker Motor
-Motor *left;
-const int16_t lowestPWMValueLeftMotor = -255;
-const int16_t highestPWMValueLeftMotor = 255;
-
-//Informationen rechter Motor
-Motor *right;
-const int16_t lowestPWMValueRightMotor = -255;
-const int16_t highestPWMValueRightMotor = 255;
-
-
-Steuerung *steuerung;
-
-void setup() {
-  joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
-  left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
-  right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
-  steuerung = new Steuerung(joystick, left, right);
-  Serial.begin(9600);
-}
-
-void loop() {
-  steuerung -> updateValues();
-  
-  //DEBUG
-  Serial.print("Left motor PWMValue: ");
-  Serial.println(left -> PWMValue);
-  Serial.print("Right motor PWMValue: ");
-  Serial.println(right -> PWMValue);
-  //SendValues
-  delay(500);
-
-}
diff --git a/Code/Joystick/JoystickSteuerung.ino b/Code/Joystick/JoystickSteuerung.ino
new file mode 100644
index 0000000..e3d4db9
--- /dev/null
+++ b/Code/Joystick/JoystickSteuerung.ino
@@ -0,0 +1,45 @@
+#include <Steuerung.h>
+//Informationen Joystick
+
+Joystick *joystick;
+const uint16_t xAxisPin = 5;
+const uint16_t yAxisPin = 4;
+const int16_t lowestJoystickValue = 0;
+const int16_t highestJoystickValue = 511;
+const int16_t spaceing = 50;
+
+//Informationen linker Motor
+Motor *left;
+const int16_t lowestPWMValueLeftMotor = -255;
+const int16_t highestPWMValueLeftMotor = 255;
+
+//Informationen rechter Motor
+Motor *right;
+const int16_t lowestPWMValueRightMotor = -255;
+const int16_t highestPWMValueRightMotor = 255;
+
+
+Steuerung *steuerung;
+
+void joystickInit() {
+  
+    joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
+    left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
+    right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
+    steuerung = new Steuerung(joystick, left, right);
+    //Serial.begin(9600);
+  }
+
+  void joystickSteuerung() {
+    //Only updates if joystick is moved
+    steuerung -> updateValues();
+
+    //DEBUG
+    Serial.print("Left motor PWMValue: ");
+    Serial.println(left -> PWMValue);
+    Serial.print("Right motor PWMValue: ");
+    Serial.println(right -> PWMValue);
+    
+    //SendValues
+    send();
+  }
diff --git a/Code/miniRobotRC/JoystickSteuerung.ino b/Code/miniRobotRC/JoystickSteuerung.ino
new file mode 100644
index 0000000..dc88ca9
--- /dev/null
+++ b/Code/miniRobotRC/JoystickSteuerung.ino
@@ -0,0 +1,59 @@
+#include <Steuerung.h>
+//Informationen Joystick
+
+Joystick *joystick;
+const uint16_t xAxisPin = 5;
+const uint16_t yAxisPin = 4;
+const int16_t lowestJoystickValue = 0;
+const int16_t highestJoystickValue = 511;
+const int16_t spaceing = 50;
+
+//Informationen linker Motor
+Motor *left;
+const int16_t lowestPWMValueLeftMotor = -255;
+const int16_t highestPWMValueLeftMotor = 255;
+
+//Informationen rechter Motor
+Motor *right;
+const int16_t lowestPWMValueRightMotor = -255;
+const int16_t highestPWMValueRightMotor = 255;
+
+
+Steuerung *steuerung;
+
+void joystickInit() {
+  
+    joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
+    left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
+    right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
+    steuerung = new Steuerung(joystick, left, right);
+    //Serial.begin(9600);
+  }
+
+  void joystickSteuerung() {
+    //Only updates if joystick is moved
+    steuerung -> updateValues();
+
+    //DEBUG
+    Serial.print("Left motor PWMValue: ");
+    Serial.println(left -> PWMValue);
+    Serial.print("Right motor PWMValue: ");
+    Serial.println(right -> PWMValue);
+    
+    //SendValues
+    send();
+  }
+
+  void send(){
+        commands[0] = speedA;
+        commands[1] = highByte(left -> PWMValue);
+        commands[2] = lowByte(left -> PWMValue);
+        commands[3] = speedB;
+        commands[4] = highByte(right -> PWMValue);
+        commands[5] = lowByte(right -> PWMValue);
+        commands[6] = timeToDrive;
+        commands[7] = highByte(driveTimeout);
+        commands[8] = lowByte(driveTimeout);
+        commands[9] = goDrive;
+        radio.write(&commands, sizeof(commands));
+  }
diff --git a/Code/miniRobotRC/_main.ino b/Code/miniRobotRC/_main.ino
index 9f869fa..0311454 100644
--- a/Code/miniRobotRC/_main.ino
+++ b/Code/miniRobotRC/_main.ino
@@ -13,17 +13,23 @@ void setup() {
   funkInit();
   Serial.begin(115200);
   driveTimeout = 10;
-
+  joystickInit(); //TODO
   clearCommands();
 }
 
 void loop() {
   //lcdMenu();
-  while(!tasten.getButtonCycle(buttonStart)) {
+  /*while(!tasten.getButtonCycle(buttonStart)) {
     manualDigitalDrive();
-  } 
+  } */
+  tasten.clearButton(buttonStart);
+  while(!tasten.getButtonCycle(buttonStart)){
+    motorMapping();
+  }
   tasten.clearButton(buttonStart);
-  while(!tasten.getButtonCycle(buttonStart)) motorMapping();
+  while(!tasten.getButtonCycle(buttonStart)){
+    joystickSteuerung(); //TODO ()
+  }
   tasten.clearButton(buttonStart);
   
 }
diff --git a/Code/miniRobotRC/fahrsteuerung.ino b/Code/miniRobotRC/fahrsteuerung_old.ino
similarity index 97%
rename from Code/miniRobotRC/fahrsteuerung.ino
rename to Code/miniRobotRC/fahrsteuerung_old.ino
index 915b3ba..dd797fb 100644
--- a/Code/miniRobotRC/fahrsteuerung.ino
+++ b/Code/miniRobotRC/fahrsteuerung_old.ino
@@ -1,4 +1,4 @@
-void manualDigitalDrive() {
+/*void manualDigitalDrive() {
   bool goOn = false;
  // while(!tasten.getButtonCycle(buttonL1)) {
     clearCommands();
@@ -50,4 +50,4 @@ void manualDigitalDrive() {
       }
   //  }
   //  tasten.clearAllButtons();
-}
+}*/