diff --git a/README.md b/README.md
index c77beff..15a1ca7 100644
--- a/README.md
+++ b/README.md
@@ -148,6 +148,14 @@ Using `arduino-cli` to compile and upload:
 `arduino-cli upload /Users/jo/Documents/Arduino/theSketch -p /dev/cu.usbmodem101 -b esp32:esp32:nora_w10`
 `arduino-cli compile /Users/jo/Documents/Arduino/theSketch -p /dev/cu.usbmodem101 -b esp32:esp32:nora_w10`
 
+##### Including Library
+
+Arduino IDE -> Sketch -> Include Library -> add .ZIP Library -> this library
+
+If there is any other error like 'Adafruit_SSD1306' not found, you have to include this library also. 
+
+Arduino IDE -> Sketch -> Manage Library -> Search for missing Library
+
 #### Display
 
 It is important to specify the SDA and SCL ports by using `Wire.begin(SDA, SCL)`.
diff --git a/example/IMU/Back_to_Origin/Back_to_Origin.ino b/example/IMU/Back_to_Origin/Back_to_Origin.ino
index beb6068..a86d1eb 100644
--- a/example/IMU/Back_to_Origin/Back_to_Origin.ino
+++ b/example/IMU/Back_to_Origin/Back_to_Origin.ino
@@ -18,7 +18,7 @@ void loop() {
 
   int zvalue = 0; 
   for(int i = 0; i<30;i++){
-    zvalue += dezibot.motionDetection.getAcceleration().z;
+    zvalue += dezibot.motion.detection.getAcceleration().z;
   }
   zvalue = zvalue/30; 
 
diff --git a/example/IMU/Detection_Print/Detection_Print.ino b/example/IMU/Detection_Print/Detection_Print.ino
index bf5898c..9d37099 100644
--- a/example/IMU/Detection_Print/Detection_Print.ino
+++ b/example/IMU/Detection_Print/Detection_Print.ino
@@ -3,8 +3,8 @@ Dezibot dezibot;
 void setup() {
 
   dezibot.begin();
-  dezibot.motionDetection.begin();
-  //dezibot.motionDetection.end();
+  dezibot.motion.detection.begin();
+  //dezibot.motion.detection.end();
   // put your setup code here, to run once:
   Serial.begin(115200);
 }
@@ -12,9 +12,9 @@ void setup() {
 void loop() {
   // put your main code here, to run repeatedly:
 
-  //Serial.println(dezibot.motionDetection.getTemperature());
-  Serial.println(dezibot.motionDetection.getAcceleration().z);
-  //Serial.println(dezibot.motionDetection.getRotation().x);
-  Serial.println(dezibot.motionDetection.getWhoAmI());
+  //Serial.println(dezibot.motion.detection.getTemperature());
+  Serial.println(dezibot.motion.detection.getAcceleration().z);
+  //Serial.println(dezibot.motion.detection.getRotation().x);
+  Serial.println(dezibot.motion.detection.getWhoAmI());
   delay(5000);
 }
diff --git a/example/IMU/Motion_Correction/motion_correction/.theia/launch.json b/example/IMU/Motion_Correction/motion_correction/.theia/launch.json
new file mode 100644
index 0000000..9a49ac9
--- /dev/null
+++ b/example/IMU/Motion_Correction/motion_correction/.theia/launch.json
@@ -0,0 +1,8 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  "version": "0.2.0",
+  "configurations": [
+    
+  ]
+}
diff --git a/example/IMU/Motion_Correction/motion_correction/motion_correction.ino b/example/IMU/Motion_Correction/motion_correction/motion_correction.ino
new file mode 100644
index 0000000..c33bcf0
--- /dev/null
+++ b/example/IMU/Motion_Correction/motion_correction/motion_correction.ino
@@ -0,0 +1,86 @@
+#include "Dezibot.h"
+Dezibot dezibot = Dezibot();
+#define maxDuty 6000
+#define minDuty 3500
+#define baseDuty 3900
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.begin();
+  Serial.begin(115200);
+  //dezibot.motion.move();
+  //analogWrite(11, 2000);
+  //analogWrite(12, 2000);
+}
+uint16_t leftDuty= baseDuty;
+uint16_t rightDuty = baseDuty;
+unsigned long previous = millis();
+unsigned long current = millis();
+long averageZRotation = 0;
+long averageXAccel = 0;
+int left=0;
+int right=0;
+int difference = 0;
+int changerate = 0;
+int interval = 40;
+int threshold =  150;
+int resultcounter = 0;
+void loop() {
+  // put your main code here, to run repeatedly:
+  current = millis();
+  IMUResult result = dezibot.motion.detection.getRotation();
+  averageXAccel += dezibot.motion.detection.getAcceleration().x;
+  averageZRotation += result.z;
+  //Serial.println(result.z);
+  if (result.z > threshold){
+    right++;
+  } else if(result.z < -threshold) {
+    left++;
+  }
+  resultcounter++;
+  if ((current - previous) > interval){
+    //averageZRotation = averageZRotation / resultcounter;
+    difference = abs(left-right);
+    if (difference>25){
+      changerate = 100;
+    } else if(difference>20){
+      changerate = 50;
+    } else if(difference >15){
+      changerate = 30;
+    } else if(difference > 10){
+      changerate = 10;
+    } else{
+      changerate = 5; 
+    }
+    //Serial.print("Z:");
+    //Serial.println(averageZRotation);
+    dezibot.display.clearDisplay();
+    dezibot.display.setCursor(0, 0);
+    dezibot.display.setTextColor(WHITE);
+    dezibot.display.setTextSize(2); // Draw 2X-scale text
+     dezibot.display.println(averageZRotation);
+    //dezibot.display.println(resultcounter);
+    dezibot.display.print(left);
+    dezibot.display.print("   ");
+    dezibot.display.println(right);
+    if(left>right){ //rotates anticlock
+      leftDuty+=changerate;
+      rightDuty-=changerate;
+    } else if(left<right){
+      leftDuty-=changerate;
+      rightDuty+=changerate;
+    } 
+    dezibot.motion.left.setSpeed(leftDuty);
+    dezibot.motion.right.setSpeed(rightDuty);
+    dezibot.display.println(leftDuty);
+    dezibot.display.println(rightDuty);
+    dezibot.display.display();
+
+
+    averageZRotation = 0;
+    averageXAccel = 0;
+    resultcounter = 0;
+    left = 0;
+    right = 0;
+    previous = current;
+  }
+}
diff --git a/example/display/Logo_und_Icon/Logo_und_Icon.ino b/example/display/Logo_und_Icon/Logo_und_Icon.ino
deleted file mode 100644
index 3277161..0000000
--- a/example/display/Logo_und_Icon/Logo_und_Icon.ino
+++ /dev/null
@@ -1,393 +0,0 @@
-/**************************************************************************
- This is an example for our Monochrome OLEDs based on SSD1306 drivers
-
- Pick one up today in the adafruit shop!
- ------> http://www.adafruit.com/category/63_98
-
- This example is for a 128x32 pixel display using I2C to communicate
- 3 pins are required to interface (two I2C and one reset).
-
- Adafruit invests time and resources providing this open
- source code, please support Adafruit and open-source
- hardware by purchasing products from Adafruit!
-
- Written by Limor Fried/Ladyada for Adafruit Industries,
- with contributions from the open source community.
- BSD license, check license.txt for more information
- All text above, and the splash screen below must be
- included in any redistribution.
- **************************************************************************/
-#include <Wire.h>
-#include <Adafruit_SSD1306.h>
-
-#define SCREEN_WIDTH 128 // OLED display width, in pixels
-#define SCREEN_HEIGHT 64 // OLED display height, in pixels
-
-Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);
-
-
-#define LOGO_HEIGHT   64
-#define LOGO_WIDTH    128
-const unsigned char logo_bmp [] = {
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xE0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xF0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFC, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0xC3, 0xFF, 0xFF, 0xC7, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x40, 0x7F, 0xFF, 0x00, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFE, 0x00, 0x3F, 0xFE, 0x00, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x3C, 0x3F, 0xFC, 0x3C, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x83, 0xFC, 0xE7, 0x1F, 0xF8, 0xE7, 0x1F, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF9, 0xC3, 0x9F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xF8, 0xE3, 0x9F, 0xF8, 0xC3, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x23, 0xF8, 0xFF, 0x1F, 0xF8, 0xFF, 0x1F, 0xC4, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x7F, 0x1F, 0xF8, 0x7E, 0x1F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFC, 0x1C, 0x3F, 0xFC, 0x1C, 0x3F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x00, 0x7F, 0xFE, 0x00, 0x7F, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0x01, 0xFF, 0xFF, 0x00, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFC, 0x62, 0x11, 0x8C, 0x42, 0x3F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x62, 0x11, 0x8C, 0x42, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x07, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xC3, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xC3, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x01, 0x07, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
-};
-const unsigned char Banner [] = {
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0x00, 0xFF, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x3F, 0xFF, 0xF8, 0x7F, 0x80, 0x00, 0x00,
-0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x0F, 0xFF, 0x80, 0x07, 0x80, 0x00, 0x00,
-0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x07, 0xFE, 0x00, 0x03, 0x80, 0x00, 0x00,
-0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFC, 0x00, 0x00, 0x80, 0x00, 0x00,
-0x0F, 0x00, 0xFC, 0x3F, 0xFF, 0xFF, 0xF0, 0x43, 0x0F, 0x03, 0xF8, 0x0F, 0x20, 0x7F, 0xE1, 0xFF,
-0x0F, 0xC0, 0x7C, 0x3F, 0xFF, 0xFF, 0xE0, 0x43, 0x0F, 0x83, 0xF0, 0x6F, 0x18, 0x3F, 0xE1, 0xFF,
-0x0F, 0xF0, 0x3C, 0x3F, 0xFF, 0xFF, 0xC0, 0xC3, 0x0F, 0xC1, 0xE0, 0xEF, 0x1C, 0x3F, 0xE1, 0xFF,
-0x0F, 0xF8, 0x1C, 0x3F, 0xFF, 0xFF, 0xC1, 0xC3, 0x0F, 0xC1, 0xE1, 0xEF, 0x3E, 0x1F, 0xE1, 0xFF,
-0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0xFF, 0x83, 0xC3, 0x0F, 0xC1, 0xC0, 0x00, 0x01, 0x0F, 0xE1, 0xFF,
-0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x03, 0xC3, 0x0F, 0x81, 0xC4, 0x00, 0x00, 0x0F, 0xE1, 0xFF,
-0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xFF, 0x07, 0xC3, 0x0F, 0x83, 0x85, 0xFF, 0xFE, 0x8F, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xFE, 0x0F, 0xC3, 0x0E, 0x03, 0x85, 0x87, 0x8E, 0x8F, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xFC, 0x0F, 0xC3, 0x00, 0x07, 0x89, 0xA3, 0x06, 0x07, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x1F, 0xC3, 0x00, 0x0F, 0x89, 0x83, 0x06, 0x07, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF8, 0x3F, 0xC3, 0x00, 0x07, 0x89, 0x87, 0x8E, 0x07, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x00, 0x1F, 0xF0, 0x3F, 0xC3, 0x00, 0x03, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0x7F, 0xC3, 0x00, 0x01, 0x89, 0xFF, 0xFE, 0x07, 0xE1, 0xFF,
-0x0F, 0xFF, 0x0C, 0x3F, 0xFF, 0xE0, 0xFF, 0xC3, 0x0F, 0x80, 0x81, 0xFF, 0xFE, 0x0F, 0xE1, 0xFF,
-0x0F, 0xFE, 0x0C, 0x3F, 0xFF, 0xC1, 0xFF, 0xC3, 0x0F, 0xE0, 0xC5, 0x00, 0x06, 0x8F, 0xE1, 0xFF,
-0x0F, 0xFE, 0x1C, 0x3F, 0xFF, 0x81, 0xFF, 0xC3, 0x0F, 0xF0, 0x41, 0x00, 0x06, 0x0F, 0xE1, 0xFF,
-0x0F, 0xFC, 0x1C, 0x3F, 0xFF, 0x83, 0xFF, 0xC3, 0x0F, 0xF0, 0x40, 0xFF, 0xFC, 0x1F, 0xE1, 0xFF,
-0x0F, 0xF8, 0x3C, 0x3F, 0xFF, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x60, 0x00, 0x00, 0x1F, 0xE1, 0xFF,
-0x0F, 0xF0, 0x3C, 0x3F, 0xFE, 0x07, 0xFF, 0xC3, 0x0F, 0xF0, 0x70, 0xFF, 0xF8, 0x3F, 0xE1, 0xFF,
-0x0F, 0xC0, 0x7C, 0x3F, 0xFE, 0x0F, 0xFF, 0xC3, 0x0F, 0xE0, 0x70, 0x3F, 0xF0, 0x7F, 0xE1, 0xFF,
-0x00, 0x00, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x0F, 0xC0, 0xF8, 0x0F, 0xC0, 0xFF, 0xE1, 0xFF,
-0x00, 0x01, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x00, 0xFC, 0x00, 0x01, 0xFF, 0xE1, 0xFF,
-0x00, 0x07, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x01, 0xFF, 0x00, 0x03, 0xFF, 0xE1, 0xFF,
-0x00, 0x1F, 0xFC, 0x00, 0x0C, 0x00, 0x00, 0x43, 0x00, 0x03, 0xFF, 0xC0, 0x1F, 0xFF, 0xE1, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
-};
-
-#define ICON_HEIGHT   64
-#define ICON_WIDTH    64
-
-const unsigned char icon_1 [] = {
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF0, 0xFF, 0xC1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0,
-0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0xFC, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00,
-0xF8, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0xE0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00,
-0xC0, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00,
-0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x20, 0x01, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x80, 0x60,
-0x03, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x81, 0xE0, 0x0F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x87, 0xE0,
-0x3F, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0x8F, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
-0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0, 0xFF, 0x81, 0xFF, 0xFE, 0x07, 0xFF, 0xFF, 0xE0,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
-};
-const unsigned char icon_2 [] = {
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x3F, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xE0, 0x3F, 0xFF,
-0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xE0, 0x7F, 0xFF, 0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF,
-0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xFB, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
-0xFE, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x03, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
-0xFF, 0x87, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0x9F, 0xFF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFF,
-0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xFF, 0x3F, 0xFF, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF,
-0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0xC1,
-0xFE, 0x7F, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80, 0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xE7, 0xFF, 0x80,
-0xFC, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x80, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFF, 0x00,
-0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xEF, 0xFC, 0x00, 0xF9, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xF0, 0xC1,
-0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0xCF, 0xC3, 0xFF, 0xF3, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0x0F, 0xFF,
-0xF3, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x3F, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFF, 0xFF,
-0x83, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFF, 0xFF, 0x01, 0xFF, 0xFF, 0xFF, 0xF8, 0x01, 0xFF, 0xFF,
-0x01, 0xFF, 0xFC, 0x0F, 0x80, 0x03, 0xFF, 0xFF, 0x01, 0xFF, 0xFC, 0x00, 0x0F, 0x03, 0xFF, 0xFF,
-0x01, 0xFF, 0xF8, 0x00, 0xFF, 0x8F, 0xFF, 0xFF, 0x01, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
-0x03, 0xFF, 0xF8, 0x07, 0xFF, 0xCF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFC, 0x07, 0xFF, 0xCF, 0xFF, 0xFF,
-0xF3, 0xFF, 0xFE, 0x0F, 0xFF, 0xEF, 0xFF, 0xFF, 0xF3, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
-0xF9, 0xFF, 0xFC, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF, 0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
-0xF9, 0xFF, 0xF9, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFC, 0xFF, 0xF3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
-0xFC, 0xFF, 0xE3, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xE7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF,
-0xFE, 0x7F, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFE, 0x7F, 0xCF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
-0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF, 0xFF, 0x3F, 0x9F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
-0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0x9F, 0x3F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF,
-0xFF, 0x9E, 0x7F, 0xFF, 0xFF, 0x80, 0x7F, 0xFF, 0xFF, 0xCE, 0x7F, 0xFF, 0xFF, 0xC0, 0xFF, 0xFF,
-0xFF, 0xCC, 0xFF, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xC0, 0x7F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
-};
-
-const unsigned char icon_3 [] = {
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF,
-0xFF, 0xFF, 0xC0, 0x00, 0x00, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x00, 0x00, 0x07, 0xFF, 0xFF,
-0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x00, 0x7F, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x01, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xC0, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE0, 0x07, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xF0, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x7F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xF0, 0x00, 0x00, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
-0xFF, 0xFE, 0x00, 0x1C, 0x18, 0x00, 0xFF, 0xFF, 0xFF, 0xFE, 0x01, 0xFC, 0x1F, 0x00, 0x7F, 0xFF,
-0xFF, 0xFE, 0x03, 0xFC, 0x1F, 0x81, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0x00, 0x04, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x3F, 0xFF, 0xFF,
-0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x00, 0x00, 0x7F, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0x00, 0x3F, 0xFF, 0xFF, 0xFF, 0x07, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF,
-0xFF, 0xFC, 0x03, 0xFC, 0x1F, 0xC0, 0x3F, 0xFF, 0xFF, 0xFC, 0x00, 0xFC, 0x1F, 0x80, 0x3F, 0xFF,
-0xFF, 0xFE, 0x00, 0x0C, 0x10, 0x00, 0x7F, 0xFF, 0xFF, 0xFF, 0x80, 0x00, 0x00, 0x01, 0xFF, 0xFF,
-0xFF, 0xFF, 0xF8, 0x00, 0x00, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF
-};
-const unsigned char icon_4 [] = {
-0x3F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8,
-0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1, 0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3,
-0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F,
-0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F, 0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F,
-0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F, 0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF,
-0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF, 0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF,
-0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF, 0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF,
-0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF, 0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF,
-0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF, 0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF,
-0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE3, 0xFF, 0xFF,
-0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xC0, 0x00, 0x7F, 0xFF, 0xFF, 0xF7, 0xFF, 0xFF, 0xEF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xF8, 0x07, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0x0F, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFC, 0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFE, 0x00, 0x07, 0xFF, 0xFF, 0xE0, 0x00, 0x7F,
-0xFF, 0xFF, 0xC7, 0xFF, 0xFF, 0xE7, 0xFF, 0xFF, 0xFF, 0xFF, 0x87, 0xFF, 0xFF, 0xE1, 0xFF, 0xFF,
-0xFF, 0xFF, 0x17, 0xFF, 0xFF, 0xE8, 0xFF, 0xFF, 0xFF, 0xFE, 0x37, 0xFF, 0xFF, 0xEC, 0x7F, 0xFF,
-0xFF, 0xFC, 0x77, 0xFF, 0xFF, 0xEE, 0x3F, 0xFF, 0xFF, 0xF8, 0xF7, 0xFF, 0xFF, 0xEF, 0x1F, 0xFF,
-0xFF, 0xF1, 0xF7, 0xFF, 0xFF, 0xEF, 0x8F, 0xFF, 0xFF, 0xE3, 0xF7, 0xFF, 0xFF, 0xEF, 0xC7, 0xFF,
-0xFF, 0xC7, 0xF7, 0xFF, 0xFF, 0xEF, 0xE3, 0xFF, 0xFF, 0x8F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF1, 0xFF,
-0xFF, 0x1F, 0xF7, 0xFF, 0xFF, 0xEF, 0xF8, 0xFF, 0xFE, 0x3F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFC, 0x7F,
-0xFC, 0x7F, 0xF7, 0xFF, 0xFF, 0xEF, 0xFE, 0x3F, 0xF8, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x1F,
-0xF1, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x8F, 0xE3, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC7,
-0xC7, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xE3, 0x8F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF1,
-0x1F, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xF8, 0xBF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD
-};
-
-void setup() {
-  Wire.begin(1,2);
-  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); 
-   
-}
-
-void loop() {
-
-  display.invertDisplay(true);
-  drawlogo();
-  delay(3000);
-  drawbanner();
-  delay(3000);
-  jiaText();
-  
-}
-
-
-void jiaText(void) {
-  display.invertDisplay(false);
-  display.clearDisplay();
-  display.setCursor(0, 0);
-  display.setTextColor(WHITE);
-  display.setTextSize(2); // Draw 2X-scale text
-  display.println("Hallo \nJunior-\nIngenieur-\nAkademie!");
-  display.display();      // Show initial text
-  delay(3000);
-
-  display.stopscroll();
- 
- 
-}
-
-void drawlogo(void) {
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width()  - LOGO_WIDTH ) / 2,
-    (display.height() - LOGO_HEIGHT) / 2,
-    logo_bmp, LOGO_WIDTH, LOGO_HEIGHT, 1);
-  display.display();
-  
-}
-void drawbanner(void) {
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width()  - LOGO_WIDTH ) / 2,
-    (display.height() - LOGO_HEIGHT) / 2,
-    Banner, LOGO_WIDTH, LOGO_HEIGHT, 1);
-  display.display();
-  
-}
-void drawicon1(void){
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width() - ICON_WIDTH) / 2,
-    (display.height() - ICON_HEIGHT) /2,
-    icon_1, ICON_WIDTH, ICON_HEIGHT, 1);
-    display.display();
-}
-void drawicon2(void){
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width() - ICON_WIDTH) / 2,
-    (display.height() - ICON_HEIGHT) /2,
-    icon_2, ICON_WIDTH, ICON_HEIGHT, 1);
-    display.display();
-}
-void drawicon3(void){
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width() - ICON_WIDTH) / 2,
-    (display.height() - ICON_HEIGHT) /2,
-    icon_3, ICON_WIDTH, ICON_HEIGHT, 1);
-    display.display();
-}
-void drawicon4(void){
-  display.clearDisplay();
-
-  display.drawBitmap(
-    (display.width() - ICON_WIDTH) / 2,
-    (display.height() - ICON_HEIGHT) /2,
-    icon_4, ICON_WIDTH, ICON_HEIGHT, 1);
-    display.display();
-}
diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index d26052d..5add5aa 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -5,7 +5,8 @@
 #include "Dezibot.h"
 #include <Wire.h>
 
-#define GPIO_LED 48
+
+Dezibot::Dezibot():multiColorLight(){};
 
 void Dezibot::begin(void) {
     Wire.begin(SDA_PIN,SCL_PIN);
@@ -15,7 +16,6 @@ void Dezibot::begin(void) {
     lightDetection.begin();
     colorDetection.begin();
     multiColorLight.begin();
-    motionDetection.begin();
     display.begin();
 };
 
diff --git a/src/Dezibot.h b/src/Dezibot.h
index 49763d9..97f17d0 100644
--- a/src/Dezibot.h
+++ b/src/Dezibot.h
@@ -29,7 +29,6 @@ public:
     LightDetection lightDetection;
     ColorDetection colorDetection;
     MultiColorLight multiColorLight;
-    MotionDetection motionDetection;
     InfraredLight infraredLight;
     Communication communication;
     Display display;
diff --git a/src/motion/Motion.cpp b/src/motion/Motion.cpp
index 812ca92..2448f04 100644
--- a/src/motion/Motion.cpp
+++ b/src/motion/Motion.cpp
@@ -11,11 +11,10 @@
 
 #include "Motion.h"
 
-TaskHandle_t xMoveTaskHandle = NULL;
-TaskHandle_t xClockwiseTaskHandle = NULL;
-TaskHandle_t xAntiClockwiseTaskHandle = NULL;
 
 // Initialize the movement component.
+
+
 void Motion::begin(void) {
     ledc_timer_config_t motor_timer = {
         .speed_mode       = LEDC_MODE,
@@ -27,37 +26,118 @@ void Motion::begin(void) {
     ledc_timer_config(&motor_timer);
     Motion::left.begin();
     Motion::right.begin();
+    detection.begin();
 };
 void Motion::moveTask(void * args) {
+    uint32_t runtime = (uint32_t)args;
+
     Motion::left.setSpeed(LEFT_MOTOR_DUTY);
     Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
-    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
-    Motion::left.setSpeed(0);
-    Motion::right.setSpeed(0);
-    vTaskDelete(xMoveTaskHandle);
-};
+    Motion::xLastWakeTime = xTaskGetTickCount();
+    while(1){
+        if(runtime>40||runtime==0){
+            vTaskDelayUntil(&xLastWakeTime,40);
+            runtime -= 40;
+            //calc new parameters
+            //set new parameters
+            int fifocount = detection.getDataFromFIFO(buffer);
+            int rightCounter = 0;
+            int leftCounter = 0;
+            int changerate = 0;
+            for(int i = 0;i<fifocount;i++){
+                if(buffer[i].gyro.z>correctionThreshold){
+                    rightCounter++;
+                } else if(buffer[i].gyro.z<-correctionThreshold){
+                    leftCounter++;
+                }
+            }
+            int difference = abs(leftCounter-rightCounter);
+            if (difference>25){
+                changerate = 200;
+            } else if(difference>20){
+                changerate = 100;
+            } else if(difference >15){
+                changerate = 50;
+            } else if(difference > 10){
+                changerate = 20;
+            } else{
+                changerate = 5; 
+            }
 
-// Move forward for a certain amount of time.
-void Motion::move(uint32_t moveForMs) {
-    if (moveForMs > 0){
-    xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
-    } else{
-        Motion::left.setSpeed(LEFT_MOTOR_DUTY);
-        Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
+            if(leftCounter>rightCounter){ //rotates anticlock
+                LEFT_MOTOR_DUTY+=changerate;
+                RIGHT_MOTOR_DUTY-=changerate;
+            } else if(leftCounter<rightCounter){
+                LEFT_MOTOR_DUTY-=changerate;
+                RIGHT_MOTOR_DUTY+=changerate;
+            } 
+
+            Motion::left.setSpeed(LEFT_MOTOR_DUTY);
+            Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
+        } else {
+            vTaskDelayUntil(&xLastWakeTime,runtime);
+            Motion::left.setSpeed(0);
+            Motion::right.setSpeed(0);
+            vTaskDelete(xMoveTaskHandle);
+        }
     }
 };
 
+// Move forward for a certain amount of time.
+void Motion::move(uint32_t moveForMs, uint baseValue) {    
+       if(xMoveTaskHandle){
+            vTaskDelete(xMoveTaskHandle);
+            xMoveTaskHandle = NULL;
+       }
+       if(xClockwiseTaskHandle){
+
+            vTaskDelete(xClockwiseTaskHandle);
+            xClockwiseTaskHandle = NULL;
+       }
+       if(xAntiClockwiseTaskHandle){
+            vTaskDelete(xAntiClockwiseTaskHandle);
+            xAntiClockwiseTaskHandle = NULL;
+
+       }
+       LEFT_MOTOR_DUTY = baseValue;
+       RIGHT_MOTOR_DUTY = baseValue;
+        xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
+        
+};
+
 void Motion::leftMotorTask(void * args) {
-    Motion::left.setSpeed(LEFT_MOTOR_DUTY);
+     uint32_t runtime = (uint32_t)args;
+     if(xMoveTaskHandle){
+        vTaskDelete(xMoveTaskHandle);
+        xMoveTaskHandle = NULL;
+    }
+    if(xAntiClockwiseTaskHandle){
+        vTaskDelete(xAntiClockwiseTaskHandle);
+        xAntiClockwiseTaskHandle = NULL;
+    }
     Motion::right.setSpeed(0);
-    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
-    Motion::left.setSpeed(0);
-    vTaskDelete(xClockwiseTaskHandle);
+    Motion::left.setSpeed(LEFT_MOTOR_DUTY);
+    while(1){
+        if((runtime>40)||(runtime==0)){
+            vTaskDelayUntil(&xLastWakeTime,40);
+            runtime -=40;
+        } else {
+            vTaskDelayUntil(&xLastWakeTime,runtime);
+            Motion::left.setSpeed(0);
+            vTaskDelete(xClockwiseTaskHandle);
+        }
+        vTaskDelayUntil(&xLastWakeTime,40);
+    }
 };
 
 // Rotate clockwise for a certain amount of time.
-void Motion::rotateClockwise(uint32_t rotateForMs) {
+void Motion::rotateClockwise(uint32_t rotateForMs,uint baseValue) {
+    LEFT_MOTOR_DUTY = baseValue;
+    RIGHT_MOTOR_DUTY = baseValue;
     if (rotateForMs > 0){
+        if(xClockwiseTaskHandle){
+            vTaskDelete(xClockwiseTaskHandle);
+        }
         xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
     } else {
         Motion::left.setSpeed(LEFT_MOTOR_DUTY);
@@ -66,16 +146,37 @@ void Motion::rotateClockwise(uint32_t rotateForMs) {
 };
 
 void Motion::rightMotorTask(void * args) {
+    uint32_t runtime = (uint32_t)args;
+     if(xMoveTaskHandle){
+        vTaskDelete(xMoveTaskHandle);
+        xMoveTaskHandle = NULL;
+    }
+    if(xClockwiseTaskHandle){
+        vTaskDelete(xClockwiseTaskHandle);
+        xClockwiseTaskHandle = NULL;
+    }
     Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
     Motion::left.setSpeed(0);
-    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
-    Motion::right.setSpeed(0);
-    vTaskDelete(xAntiClockwiseTaskHandle);
+    while(1){
+        if(runtime>40||runtime==0){
+            vTaskDelayUntil(&xLastWakeTime,40);
+            runtime -= 40;
+        } else {
+            vTaskDelayUntil(&xLastWakeTime,runtime);
+            Motion::right.setSpeed(0);
+            vTaskDelete(xAntiClockwiseTaskHandle);
+        }
+    }
 };
 
 // Rotate anticlockwise for a certain amount of time.
-void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
+void Motion::rotateAntiClockwise(uint32_t rotateForMs,uint baseValue) {
+    LEFT_MOTOR_DUTY = baseValue;
+    RIGHT_MOTOR_DUTY = baseValue;
     if(rotateForMs > 0){
+        if(xAntiClockwiseTaskHandle){
+            vTaskDelete(xAntiClockwiseTaskHandle);
+        }
         xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
     } else {
         Motion::right.setSpeed(RIGHT_MOTOR_DUTY);
@@ -84,6 +185,18 @@ void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
 };
 
 void Motion::stop(void){
+    if(xMoveTaskHandle){
+        vTaskDelete(xMoveTaskHandle);
+        xMoveTaskHandle = NULL;
+    }
+    if(xAntiClockwiseTaskHandle){
+        vTaskDelete(xAntiClockwiseTaskHandle);
+        xAntiClockwiseTaskHandle = NULL;
+    }
+    if(xClockwiseTaskHandle){
+        vTaskDelete(xClockwiseTaskHandle);
+        xClockwiseTaskHandle = NULL;
+    }
     Motion::left.setSpeed(0);
     Motion::right.setSpeed(0);
 }
diff --git a/src/motion/Motion.h b/src/motion/Motion.h
index 13ae523..2a7ed8a 100644
--- a/src/motion/Motion.h
+++ b/src/motion/Motion.h
@@ -16,17 +16,37 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include "driver/ledc.h"
+#include "motionDetection/MotionDetection.h"
 #define LEDC_MODE          LEDC_LOW_SPEED_MODE
 #define TIMER              LEDC_TIMER_2
 #define CHANNEL_LEFT       LEDC_CHANNEL_3 
 #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
+#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;
@@ -38,18 +58,28 @@ class Motor{
 
 class Motion{
 protected:
-    static const uint16_t RIGHT_MOTOR_DUTY = 4096;
-    static const uint16_t LEFT_MOTOR_DUTY = 4096;
+    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);
     static void leftMotorTask(void * args);
     static void rightMotorTask(void * args);
+    static inline TaskHandle_t xMoveTaskHandle = NULL;
+    static inline TaskHandle_t xClockwiseTaskHandle = NULL;
+    static inline TaskHandle_t xAntiClockwiseTaskHandle = NULL;
+    static inline TickType_t xLastWakeTime;
+
+    static inline FIFO_Package* buffer = new FIFO_Package[64];
+    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);
+    
+    //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
+    static inline MotionDetection detection;
 
     /**
      * @brief Initialize the movement component.
@@ -60,23 +90,30 @@ public:
     /**
      * @brief Move forward for a certain amount of time.
      * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
+     * The function applys a basic algorithm to improve the straigthness of the movement. 
+     * Lifting the robot from the desk may corrupt the results and is not recommended.
+     *  
      * @param moveForMs Representing the duration of forward moving in milliseconds.
+     * @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);
+    static void move(uint32_t moveForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
     /**
      * @brief Rotate clockwise for a certain amount of time.
      * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
-     * @param rotateForMs Representing the duration of rotating clockwise in milliseconds.
+     * @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);
+    static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
     
     /**
      * @brief Rotate anticlockwise for a certain amount of time.
      * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
-     * @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds.
+     * @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);
+    static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
     /**
      * @brief stops any current movement, no matter if timebased or endless
@@ -84,6 +121,14 @@ public:
      */
     static void stop(void);
 
+    /**
+     * @brief Does the same as the move function, but this function does not apply any kind of algorithm to improve the result.
+     * 
+     * @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 = 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){
diff --git a/src/motionDetection/IMU_CMDs.h b/src/motionDetection/IMU_CMDs.h
new file mode 100644
index 0000000..ab420c7
--- /dev/null
+++ b/src/motionDetection/IMU_CMDs.h
@@ -0,0 +1,49 @@
+#ifndef IMU_CMDs
+#define IMU_CMDs
+
+#define CMD_READ       0x80
+#define CMD_WRITE      0x00
+#define ADDR_MASK      0x7F
+
+//Registers
+#define MCLK_RDY    0x00
+
+#define REG_TEMP_LOW   0x0A
+#define REG_TEMP_HIGH  0X09
+
+#define ACCEL_DATA_X_HIGH  0x0B
+#define ACCEL_DATA_X_LOW   0x0C
+#define ACCEL_DATA_Y_HIGH  0x0D
+#define ACCEL_DATA_Y_LOW   0x0E
+#define ACCEL_DATA_Z_HIGH  0x0F
+#define ACCEL_DATA_Z_LOW   0x10
+
+#define GYRO_DATA_X_HIGH   0x11
+#define GYRO_DATA_X_LOW    0x12
+#define GYRO_DATA_Y_HIGH   0x13
+#define GYRO_DATA_Y_LOW    0x14
+#define GYRO_DATA_Z_HIGH   0x15
+#define GYRO_DATA_Z_LOW    0x16
+
+#define PWR_MGMT0          0x1F
+#define WHO_AM_I           0x75
+
+#define INTF_CONFIG0       0x35
+
+#define BLK_SEL_W          0x79
+#define BLK_SEL_R          0x7C
+#define MADDR_W            0x7A
+#define MADDR_R            0x7D
+#define M_W                0x7B
+#define M_R                0x7E
+
+#define FIFO_COUNTH        0x3D
+#define FIFO_COUNTL        0x3E
+#define FIFO_DATA          0x3F
+#define FIFO_CONFIG1       0x28
+#define FIFO_CONFIG2       0x29
+
+//MREG1
+#define FIFO_CONFIG5       0x01
+#define TMST_CONFIG1       0x00
+#endif
\ No newline at end of file
diff --git a/src/motionDetection/MotionDetection.cpp b/src/motionDetection/MotionDetection.cpp
index 77387e7..6386e2f 100644
--- a/src/motionDetection/MotionDetection.cpp
+++ b/src/motionDetection/MotionDetection.cpp
@@ -1,4 +1,5 @@
 #include "MotionDetection.h"
+#include <math.h>
 
 MotionDetection::MotionDetection(){
     handler = new SPIClass(FSPI);
@@ -8,32 +9,21 @@ void MotionDetection::begin(void){
     pinMode(34,OUTPUT);
     digitalWrite(34,HIGH);
     handler->begin(36,37,35,34);
-     
-     
-    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0)); 
-    digitalWrite(34,LOW);
     // set Accel and Gyroscop to Low Noise
-    handler->transfer(PWR_MGMT0);
-    handler->transfer(0x1F);
+    this->writeRegister(PWR_MGMT0,0x1F);
     //busy Wait for startup 
     delayMicroseconds(250);
+    //set accelconfig
+    this->writeRegister(0x21,0x05);
     //set Gyroconfig
-    handler->transfer(0x20);
-    handler->transfer(0x25);
+    this->writeRegister(0x20,0x25);
     //set Gyro Filter
-    handler->transfer(0x23);
-    handler->transfer(0x37);
-    digitalWrite(34,HIGH);
-    handler->endTransaction();
+    this->writeRegister(0x23,0x37);
+    //Enable Gyro and Acceldata in FIFO
+    this->initFIFO();
 };
 void MotionDetection::end(void){
-    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
-    digitalWrite(34,LOW);
-    handler->transfer(cmdWrite(PWR_MGMT0));
-    //turn Accel and Gyroscope off
-    handler->transfer(0x00);
-    digitalWrite(34,HIGH);
-    handler->end();
+    this->writeRegister(PWR_MGMT0,0x00);
 };
 IMUResult MotionDetection::getAcceleration(){
     IMUResult result;
@@ -175,7 +165,123 @@ uint8_t MotionDetection::readRegister(uint8_t reg){
     uint8_t result;
     result = handler->transfer(cmdRead(reg));
     result = handler->transfer(0x00);
-     digitalWrite(34,HIGH);
+    digitalWrite(34,HIGH);
     handler->endTransaction(); 
     return result;
+};
+
+uint8_t MotionDetection::readFromRegisterBank(registerBank bank,uint8_t reg){
+    uint8_t result = 0;
+    switch(bank){
+        case(MREG1):
+            this->writeRegister(BLK_SEL_R,0x00);
+            break;
+        case(MREG2):
+            this->writeRegister(BLK_SEL_R,0x28);
+            break;
+        case(MREG3):
+            this->writeRegister(BLK_SEL_R,0x50);
+            break;
+    }
+    this->writeRegister(MADDR_R,reg);
+    delayMicroseconds(10);
+    result=this->readRegister(M_R);
+    delayMicroseconds(10);
+    this->resetRegisterBankAccess();
+    return result;
+};
+
+void MotionDetection::writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value){
+    while((this->readRegister(MCLK_RDY))&0x08!=0x08){
+        Serial.println("CLK not rdy");
+        delay(100);
+    }
+    uint8_t result = this->readRegister(PWR_MGMT0);
+    Serial.print("MADDR_W: ");
+    Serial.println(readRegister(MADDR_W)); 
+    //set Idle Bit
+    this->writeRegister(PWR_MGMT0,result|0x10);
+    switch(bank){
+        case(MREG1):
+           this->writeRegister(BLK_SEL_W,0x00);
+            break;
+        case(MREG2):
+            this->writeRegister(BLK_SEL_W,0x28);
+            break;
+        case(MREG3):
+            this->writeRegister(BLK_SEL_W,0x50);
+            break;
+    }
+    this->writeRegister(MADDR_W,reg);
+    this->writeRegister(M_W,value);
+    delayMicroseconds(10);
+    this->writeRegister(PWR_MGMT0,result&0xEF);
+    Serial.print("MADDR_W: ");
+    Serial.println(readRegister(MADDR_W));
+    this->resetRegisterBankAccess();
+};
+
+void MotionDetection::resetRegisterBankAccess(){
+    this->writeRegister(BLK_SEL_R,0x00);
+    this->writeRegister(BLK_SEL_W,0x00);
+    this->writeRegister(MADDR_R,0x00);
+    this->writeRegister(MADDR_W,0x00);
+};
+
+void MotionDetection::initFIFO(){
+    delay(60);
+    //set INTF_CONFIG0 FIFO_COUNT_REC_RECORD und Little Endian
+    this->writeRegister(INTF_CONFIG0,0x60);
+    //set FIFO_CONFIG1 to Mode Snapshot and BYPASS Off
+    this->writeRegister(FIFO_CONFIG1,0x00);
+    //set TMST_CONFIG1_MREG1 TMST_CONFIIG1_TMST_EN
+    this->writeToRegisterBank(MREG1,TMST_CONFIG1,0x00);
+    //set FiFO config 5 GYRO_EN,TMST_FSYNC, ACCEL_EN, WM_GT_TH_EN
+    this->writeToRegisterBank(MREG1,FIFO_CONFIG5,0x23);
+    //set FOF_CONFIG2 0x1 (INT triggerd each packaged)
+    this->writeRegister(FIFO_CONFIG2,0x0A);
+};
+
+uint MotionDetection::getDataFromFIFO(FIFO_Package* buffer){
+    int16_t fifocount = 0;
+    int8_t fifohigh = this->readRegister(FIFO_COUNTH);
+    int8_t fifolow = this->readRegister(FIFO_COUNTL);  
+    fifocount = (fifohigh<<8)|fifolow;
+    //fifocount |= this->readRegister(FIFO_COUNTL);
+    //fifocount = (this->readRegister(FIFO_COUNTH)<<8);
+    Serial.println(fifolow);
+    Serial.println(fifohigh);
+    Serial.println(fifocount);
+    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+    digitalWrite(34,LOW);
+    handler->transfer(cmdRead(FIFO_DATA));
+    handler->transfer(buf,16*fifocount);
+    digitalWrite(34,HIGH);
+    handler->endTransaction();
+    
+    writeRegister(0x02,0x04);
+    delayMicroseconds(10);
+
+    for(int i = 0; i<fifocount;i++){
+        buffer[i].header = buf[0x00+16*i];
+        buffer[i].accel.x = (buf[0x02+16*i]<<8)|buf[0x01+16*i]; 
+        buffer[i].accel.y = (buf[0x04+16*i]<<8)|buf[0x03+16*i]; 
+        buffer[i].accel.z = (buf[0x06+16*i]<<8)|buf[0x05+16*i]; 
+        buffer[i].gyro.x = (buf[0x08+16*i]<<8)|buf[0x07+16*i]; 
+        buffer[i].gyro.y = (buf[0x0A+16*i]<<8)|buf[0x09+16*i]; 
+        buffer[i].gyro.z = (buf[0x0C+16*i]<<8)|buf[0x0B+16*i]; 
+        buffer[i].temperature = buf[0x0D+16*i]; 
+        buffer[i].timestamp = (buf[0x0F+16*i]<<8)|buf[0x0E +16*i]; 
+    }
+    return fifocount;
+};
+
+void MotionDetection::writeRegister(uint8_t reg, uint8_t value){
+    handler->beginTransaction(SPISettings(frequency,SPI_MSBFIRST,SPI_MODE0));
+    digitalWrite(34,LOW);
+    handler->transfer(reg);
+    handler->transfer(value);
+    digitalWrite(34,HIGH);
+    delayMicroseconds(10);
+    handler->endTransaction();
 };
\ No newline at end of file
diff --git a/src/motionDetection/MotionDetection.h b/src/motionDetection/MotionDetection.h
index eaa47b7..8fecbb6 100644
--- a/src/motionDetection/MotionDetection.h
+++ b/src/motionDetection/MotionDetection.h
@@ -12,6 +12,7 @@
 #define MotionDetection_h
 #include <SPI.h>
 #include <Arduino.h>
+#include "IMU_CMDs.h"
 struct IMUResult{
     int16_t x;
     int16_t y;
@@ -38,36 +39,25 @@ enum Direction{
     Error
 };
 
+struct FIFO_Package{
+    int8_t header;
+    IMUResult gyro;
+    IMUResult accel;
+    int16_t temperature;
+    int16_t timestamp;
+};
+
+
 class MotionDetection{
 protected:
-  
-    static const uint8_t CMD_READ =      0x80;
-    static const uint8_t CMD_WRITE =     0x00;
-    static const uint8_t ADDR_MASK =     0x7F;
-
-    //Registers
-    static const uint8_t REG_TEMP_LOW =  0x0A;
-    static const uint8_t REG_TEMP_HIGH = 0X09;
-
-    static const uint8_t ACCEL_DATA_X_HIGH = 0x0B;
-    static const uint8_t ACCEL_DATA_X_LOW =  0x0C;
-    static const uint8_t ACCEL_DATA_Y_HIGH = 0x0D;
-    static const uint8_t ACCEL_DATA_Y_LOW =  0x0E;
-    static const uint8_t ACCEL_DATA_Z_HIGH = 0x0F;
-    static const uint8_t ACCEL_DATA_Z_LOW =  0x10;
-
-    static const uint8_t GYRO_DATA_X_HIGH =  0x11;
-    static const uint8_t GYRO_DATA_X_LOW =   0x12;
-    static const uint8_t GYRO_DATA_Y_HIGH =  0x13;
-    static const uint8_t GYRO_DATA_Y_LOW =   0x14;
-    static const uint8_t GYRO_DATA_Z_HIGH =  0x15;
-    static const uint8_t GYRO_DATA_Z_LOW =   0x16;
-
-    static const uint8_t PWR_MGMT0 =         0x1F;
-    static const uint8_t WHO_AM_I =          0x75;
-
-    static const uint frequency = 10000000;
+    enum registerBank{MREG1,MREG2,MREG3};
+    static const uint frequency = 24000000;
     static const uint16_t defaultShakeThreshold = 500;
+    const uint bufferLength = 64*16;
+    int8_t* buf = new int8_t[bufferLength];
+    uint8_t readFromRegisterBank(registerBank bank,uint8_t reg);
+    void writeToRegisterBank(registerBank bank, uint8_t reg, uint8_t value);
+    void resetRegisterBankAccess();
 
     uint16_t cmdRead(uint8_t regHigh,uint8_t regLow);
     uint16_t cmdWrite(uint8_t regHigh,uint8_t regLow);
@@ -76,6 +66,8 @@ protected:
 
     uint8_t readRegister(uint8_t reg);
     int16_t readDoubleRegister(uint8_t lowerReg);
+    void writeRegister(uint8_t reg, uint8_t value);
+    void initFIFO();
 
     SPIClass * handler = NULL;
 
@@ -183,6 +175,13 @@ public:
     */
     void calibrateZAxis(uint gforceValue);
 
-
+    /**
+     * @brief will read all availible packages from fifo, after 40ms Fifo is full
+     * 
+     * @param buffer pointer to FIFO_Package Struct that at least must have size 64 (this is the max package count with APEX Enabled)
+     * 
+     * @return the amount of acutally fetched packages 
+    */
+    uint getDataFromFIFO(FIFO_Package* buffer);
 };
 #endif //MotionDetection
\ No newline at end of file