diff --git a/src/motion/Motion.h b/src/motion/Motion.h
index d0a6eb2..8bb7cdf 100644
--- a/src/motion/Motion.h
+++ b/src/motion/Motion.h
@@ -23,16 +23,30 @@
 #define CHANNEL_RIGHT      LEDC_CHANNEL_4  
 #define DUTY_RES           LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
 #define FREQUENCY          (5000) // Frequency in Hertz. Set frequency at 5 kHz
-
-struct moveCMD{
-    uint32_t duration;
-    MotionDetection* imu;
-};
+#define DEFAULT_BASE_VALUE  3900
 class Motor{
     public:
         Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+        
+        /**
+         * @brief Initializes the motor 
+         */
         void begin(void);
+        
+        /**
+         * @brief Set the Speed by changing the pwm. To avoid current peaks, a linear ramp-up is used.
+         * 
+         * @attention it is requried at any time to use that method to access the motors or methods of the motionclass to avoid such peaks.
+         * 
+         * @param duty the duty cyle that should be set, can be between 0-8192
+         */
         void setSpeed(uint16_t duty);
+        
+        /**
+         * @brief returns the currently activ speed
+         * 
+         * @return current speedvalue of the motor
+         */
         uint16_t getSpeed(void); 
     protected:
         uint8_t pin;
@@ -45,8 +59,8 @@ class Motor{
 class Motion{
 protected:
     static MotionDetection* imuInst;
-    static inline uint16_t RIGHT_MOTOR_DUTY = 3900;
-    static inline uint16_t LEFT_MOTOR_DUTY = 3900;
+    static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
+    static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
     static const int MOTOR_RIGHT_PIN = 11; 
     static const int MOTOR_LEFT_PIN = 12;
     static void moveTask(void * args);
@@ -61,7 +75,7 @@ protected:
     static inline int correctionThreshold = 150; 
 
 public:
-    //Shared Timer to sync movement
+    //Instances of the motors, so they can also be used from outside to set values for the motors directly.
     static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
     static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
     
@@ -84,7 +98,7 @@ public:
      * @param baseValue The value that is used to start with the calibrated movement. Defaults to 3900. 
      * If the Dezibot is not moving forward at all increasing the value may help. If the robot is just jumping up and down but not forward, try a lower value. 
     */
-    static void move(uint32_t moveForMs=0,uint baseValue=3900);
+    static void move(uint32_t moveForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
     /**
      * @brief Rotate clockwise for a certain amount of time.
@@ -92,7 +106,7 @@ public:
      * @param rotateForMs Representing the duration of rotating clockwise in milliseconds, or 0 to rotate until another movecmd is issued. Default is 0
      * @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value)
     */
-    static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=3900);
+    static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
     
     /**
      * @brief Rotate anticlockwise for a certain amount of time.
@@ -100,7 +114,7 @@ public:
      * @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds or 0 to let the robot turn until another movecommand is issued. Default is 0.
      * @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value).
     */
-    static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=3900);
+    static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
     /**
      * @brief stops any current movement, no matter if timebased or endless
@@ -114,7 +128,7 @@ public:
      * @param moveForMs how many ms should the robot move, or 0 to let the robot move until another move command is mentioned, default is 0
      * @param baseValue the duty value that is used for the movement, default is 0
      */
-    static void moveWithoutCorrection(uint32_t moveForMs=0, uint baseValue = 3900);
+    static void moveWithoutCorrection(uint32_t moveForMs=0, uint baseValue = DEFAULT_BASE_VALUE);
 
 };
 
diff --git a/src/motion/Motor.cpp b/src/motion/Motor.cpp
index 4dfc3a4..0c26a58 100644
--- a/src/motion/Motor.cpp
+++ b/src/motion/Motor.cpp
@@ -23,9 +23,24 @@ void Motor::begin(void){
 };
 
 void Motor::setSpeed(uint16_t duty){
-    this->duty = duty;
-    ledc_set_duty(LEDC_MODE,this->channel,duty);
-    ledc_update_duty(LEDC_MODE,this->channel);
+    
+    int difference = duty-this->getSpeed();
+    if (difference > 0){
+        for(int i = 0;i<difference;i+=difference/20){
+            this->duty += difference/20;
+            ledc_set_duty(LEDC_MODE,this->channel,duty);
+            ledc_update_duty(LEDC_MODE,this->channel);
+            delayMicroseconds(5);
+        }
+    } else {
+        for(int i = 0;i>difference;i-=abs(difference/20)){
+            this->duty -= abs(difference/20);
+            ledc_set_duty(LEDC_MODE,this->channel,duty);
+            ledc_update_duty(LEDC_MODE,this->channel);
+            delayMicroseconds(5);
+        }
+    }
+
 };
 
 uint16_t Motor::getSpeed(void){