diff --git a/main/main_v2_clean.ino b/main/main_v2_clean.ino
deleted file mode 100644
index c1f6b76..0000000
--- a/main/main_v2_clean.ino
+++ /dev/null
@@ -1,469 +0,0 @@
-#include <prg_342.h>
-#include <Datalogger.h>
-#include <pid.h>
-#include <ArduinoJson.h>
-#include <string>
-#include <math.h>
-
-#define DEBUG_PRINT_TIME 500
-#define SPEEDCHECK_TIME 200
-#define PID_DELAY 0
-#define LOG_TIMER_DELAY 100
-#define MEAS_DELAY 0
-#define K_FAKTOR 1.0995380532183
-#define OFFSET 0
-#define ALPHA 0.0008
-#define N_SAMPLES 100
-#define BLOCK_DETECTION_VALUE setpoint
-#define ROTATION_DETECTION_VALUE 100
-
-#define _getTorque abs(prg.getTorque(false, ALPHA))
-#define _getAngle prg.getAngle()
-
-struct Timer {
-  unsigned long startMillis;
-  unsigned long interval;
-  bool active;
-};
-
-void waitStart(Timer &timer, unsigned long interval) {
-  timer.startMillis = millis();
-  timer.interval = interval;
-  timer.active = true;
-}
-
-bool waitIsOver(Timer &timer) {
-  if (timer.active && (millis() - timer.startMillis >= timer.interval)) {
-    timer.active = false;
-    return true;
-  }
-  return false;
-}
-
-Timer debug_timer;
-Timer pid_timer;
-Timer speedcheck_timer;
-Timer log_timer;
-Timer meas_timer;
-
-PRG_342 prg = PRG_342(K_FAKTOR);
-Datalogger datalogger = Datalogger();
-PID myPID(0.0, 0.0, 0.0);
-
-//Messung / Logging
-bool LOGGING = false;
-
-// Deklaration der Variablen für die Steuerung und Messung
-int angle;
-int lastAnglePID;
-int lastAngle;
-int actTorque;
-//int actTorqueArray[100];
-float filteredTorque = 0;  // gefilterter Wert
-float filteredSetpoint = 0;
-float setpoint;
-int oldSetpoint;
-static int lastOutput;
-float manVolt;
-unsigned char CW;
-unsigned char Richtungswechsel;
-float RotSpeed;
-unsigned char BLOCK;
-unsigned char BLOCK_SOLVED;
-
-bool In_Src_Sw = false;
-
-float Kp = 0.0;
-float Ki = 0.1;
-float Kd = 0.0;
-
-/*float Kp = 1.0;
-float Ki = 0.333;
-float Kd = 1.0;*/
-
-float WinkelArray[181];
-
-// Steuervariablen
-bool manOut = false;      // Manuelle Ausgabe aktivieren/deaktivieren
-bool Pon = true;          // PID-Regelung ein-/ausschalten
-bool DEBUG_MODE = false;  // Debug-Modus ein-/ausschalten
-
-// Initialisierung der verschiedenen Timer
-unsigned long logtime;
-
-void setup() {
-  setAnalogResolution(12);
-
-
-  waitStart(debug_timer, DEBUG_PRINT_TIME);
-  waitStart(pid_timer, PID_DELAY);
-  waitStart(speedcheck_timer, SPEEDCHECK_TIME);
-  waitStart(log_timer, LOG_TIMER_DELAY);
-  waitStart(meas_timer, MEAS_DELAY);
-
-  myPID.setOutputLimits(0, 4095);
-  myPID.setSampleTime(PID_DELAY);
-  myPID.setTunings(Kp, Ki, Kd);
-
-  //prg.safeShutdown(3);
-
-  UPDATE_VALUES();
-  /*for (int i = 0; i < N_SAMPLES; i++) {
-    actTorqueArray[i] = actTorque;
-  }*/
-  filteredTorque = actTorque;
-
-  lastAngle = lastAnglePID = angle;
-
-  for (int i = 0; i < 181; i++) {
-    WinkelArray[i] = -1;
-  }
-
-  Serial.begin(19200);  // Beginne serielle Kommunikation
-}
-
-void loop() {
-  /*if (waitIsOver(meas_timer)) {
-    UPDATE_VALUES();
-    for (int i = 0; i < N_SAMPLES - 1; i++) {
-      actTorqueArray[i] = actTorqueArray[i + 1];
-    }
-    actTorqueArray[N_SAMPLES - 1] = actTorque;
-    actTorque = 0;
-    for (int j = 0; j < N_SAMPLES; j++) {
-      actTorque += actTorqueArray[j];
-    }
-    actTorque = (float)actTorque / N_SAMPLES;
-    waitStart(meas_timer, MEAS_DELAY);
-  }*/
-  UPDATE_VALUES();
-  filteredTorque = exponentialFilter(actTorque, filteredTorque, ALPHA);  // Verwenden Sie einen geeigneten Alpha-Wert
-
-  COMMUNICATION_HANDLER();
-
-  if (DEBUG_MODE) {
-    if (waitIsOver(debug_timer)) {
-      DEBUG_PRINTER();
-      waitStart(debug_timer, DEBUG_PRINT_TIME);
-    }
-  }
-
-  if (waitIsOver(speedcheck_timer)) {
-    SPEEDCHECK();
-
-    BLOCK = BLOCK_DETECTION(abs(actTorque), abs(RotSpeed));
-
-    /*if (BLOCK == 0) {
-      if (BLOCK_SOLVED == 1) {
-        setpoint = oldSetpoint;
-        BLOCK_SOLVED = 0;
-      } else {
-        oldSetpoint = setpoint;
-      }
-    } else if (BLOCK == 1) {
-      if (BLOCK_SOLVED == 0) {
-        setpoint = 0;
-        BLOCK_SOLVED = 1;
-      }
-    }*/
-
-    waitStart(speedcheck_timer, SPEEDCHECK_TIME);
-  }
-
-
-  if (Richtungswechsel) {
-    myPID.reset();
-    Richtungswechsel = 0;
-  }
-
-  if (!BLOCK) {
-    // Aktualisieren des Setpoints basierend auf dem Winkel
-    int index = (float)angle * 0.002;  // 0.5 Grad pro Index
-    if (index >= 0 && index < 181) {
-      setpoint = WinkelArray[index];
-    }
-    if (In_Src_Sw) {
-      setpoint = float(prg.getSetPoint(1)) * 5.0;
-    }
-  }
-
-  /*if (abs(setpoint) - abs(actTorque) <= 1000) {
-    myPID.setTunings(Kp, Ki, Kd);
-  } else {
-    myPID.setTunings(Kp, Ki, Kd);
-  }*/
-  myPID.setTunings(Kp, Ki, Kd);
-
-  if (lastAnglePID != angle && Pon && !manOut && ((abs(actTorque) >= 1000 || abs(RotSpeed) >= 400) || abs(actTorque) > setpoint)) {
-    unsigned int output = myPID.compute(setpoint, actTorque);
-    prg.setOutput(output);
-    prg.ActOut = output;
-  } else if (abs(actTorque) < 1000) {
-    myPID.reset();
-  }
-  lastAnglePID = angle;
-
-  if (LOGGING) {
-    if (waitIsOver(log_timer)) {
-      sendDataToDatalogger();
-      waitStart(log_timer, LOG_TIMER_DELAY);
-    }
-  }
-  prg.isRunning == false;
-}
-
-void interpolateWinkelArray() {
-  int lastSetIndex = -1;
-
-  for (int i = 0; i < 180; i++) {
-    int start = i;
-    int k = i + 1;
-    while (WinkelArray[k] == -1) {
-      k++;
-    }
-    int end = k;
-    float startTorque = WinkelArray[start];
-    float endTorque = WinkelArray[end];
-
-    for (int j = start + 1; j < end; j++) {
-      float interpolatedTorque = startTorque + ((endTorque - startTorque) / (end - start)) * (j - start);
-      WinkelArray[j] = interpolatedTorque;
-    }
-  }
-
-  /*for (int i = 0; i < 181; i++) {
-    if (WinkelArray[i] != 0 || i == 0) {  // Sicherstellen, dass der Startwert berücksichtigt wird
-      if (lastSetIndex != -1) {
-        int start = lastSetIndex;
-        int end = i;
-        float startTorque = WinkelArray[start];
-        float endTorque = WinkelArray[end];
-
-        for (int j = start + 1; j < end; j++) {
-          float interpolatedTorque = startTorque + ((endTorque - startTorque) / (end - start)) * (j - start);
-          WinkelArray[j] = interpolatedTorque;
-        }
-      }
-      lastSetIndex = i;
-    }
-  }*/
-}
-
-
-
-float exponentialFilter(float currentValue, float previousFilteredValue, float alpha) {
-  return alpha * currentValue + (1.0 - alpha) * previousFilteredValue;
-}
-
-void sendDataToDatalogger() {
-  datalogger.addData((float)((float)millis() - (float)logtime) / 1000.0, (float)angle / 1000.0, setpoint / 1000.0, actTorque / 1000.0, (float)prg.getOutVolt() / 1000.0, RotSpeed);
-}
-
-unsigned char BLOCK_DETECTION(unsigned int torque, float speed) {
-  if (torque >= BLOCK_DETECTION_VALUE && speed < ROTATION_DETECTION_VALUE) {
-    return 1;
-  } else {
-    return 0;
-  }
-}
-
-void setAnalogResolution(unsigned char res) {
-  analogWriteResolution(res);
-  analogReadResolution(res);
-}
-
-void UPDATE_VALUES() {
-  angle = _getAngle;
-  actTorque = _getTorque;
-
-  prg.updateActOut(actTorque);
-}
-
-void COMMUNICATION_HANDLER() {
-  if (Serial.available() > 0) {
-    String command = receiveString();
-    parseCommand(command);
-    Serial.read();
-  }
-}
-
-void SPEEDCHECK() {
-  int deltaAngle = angle - lastAngle;
-  RotSpeed = deltaAngle * 5;  // Umrechnen in Winkel pro Sekunde
-  lastAngle = angle;
-
-  if (RotSpeed > 0) {
-    if (CW == 0) {
-      Richtungswechsel = 1;
-    }
-    CW = 1;
-  } else if (RotSpeed < 0) {
-    if (CW == 1) {
-      Richtungswechsel = 1;
-    }
-    CW = 0;
-  }
-}
-
-void DEBUG_PRINTER() {
-  // Debug-Informationen ausgeben
-  Serial.println("####################");
-  Serial.print("Winkel: ");
-  Serial.println((float)angle / 1000, 3);
-  Serial.print("Drehmoment: ");
-  Serial.println((float)actTorque / 1000, 3);
-  Serial.print("Geschwindigkeit: ");
-  Serial.println(RotSpeed);
-  Serial.print("Drehrichtung: ");
-  Serial.println(CW);
-  Serial.print("Ausgangsspannung: ");
-  Serial.println((float)prg.getOutVolt() / 1000, 3);
-  Serial.print("Setpoint: ");
-  Serial.println((float)setpoint / 1000, 3);
-  Serial.print("Kp: ");
-  Serial.println(Kp, 3);
-  Serial.print("Ki: ");
-  Serial.println(Ki, 3);
-  Serial.print("Kd: ");
-  Serial.println(Kd, 3);
-  Serial.print("output: ");
-  Serial.println((unsigned int)((float)prg.getOutVolt() * 0.1575));
-  Serial.print("Pon: ");
-  Serial.println(Pon);
-  Serial.print("manOut: ");
-  Serial.println(manOut);
-  Serial.print("manVolt: ");
-  Serial.println(manVolt);
-  Serial.print("LOGGING: ");
-  Serial.println(LOGGING);
-  Serial.println("####################");
-}
-
-
-String receiveString() {
-  String received = "";
-  unsigned long startTime = millis();
-  byte inByte[1];
-  while ((char)inByte[0] != '\n' || Serial.available() > 0) {
-    //c = Serial.read();
-    Serial.readBytes(inByte, 1);
-    received += (char)inByte[0];
-  }
-  //Serial.println(received);
-  return received;
-}
-
-void parseCommand(const String &command) {
-  if (command[0] == 'p') {
-    float tempKp;
-    setParameter(command, 'Kp', tempKp);
-    Kp = tempKp;
-    myPID.setTunings(Kp, Ki, Kd);            // Aktualisieren der Tunings
-    datalogger.addConfig("Kp", String(Kp));  // Konvertierung zu String
-  } else if (command[0] == 'i') {
-    float tempKi;
-    setParameter(command, 'Ki', tempKi);
-    Ki = tempKi;
-    myPID.setTunings(Kp, Ki, Kd);            // Aktualisieren der Tunings
-    datalogger.addConfig("Ki", String(Ki));  // Konvertierung zu String
-  } else if (command[0] == 'd') {
-    float tempKd;
-    setParameter(command, 'Kd', tempKd);
-    Kd = tempKd;
-    myPID.setTunings(Kp, Ki, Kd);            // Aktualisieren der Tunings
-    datalogger.addConfig("Kd", String(Kd));  // Konvertierung zu String
-  } else if (command[0] == 'a') {
-    Serial.print(angle);
-    Serial.print(";");
-    Serial.print(actTorque);
-    Serial.print(";");
-    Serial.print(prg.getSetPoint(1));
-    Serial.print(";");
-    Serial.print(setpoint);
-    Serial.print(";");
-    Serial.println(prg.ActOut);
-  } else if (command[0] == 'b') {
-    DEBUG_MODE = !DEBUG_MODE;
-  } else if (command[0] == 'e') {
-    prg.safeShutdown(5);
-  }
-  if (command[0] == 'f') {
-    prg.DynDecog(prg.ActOut);
-  } else if (command[0] == 'l') {
-    LOGGING = !LOGGING;
-    if (LOGGING) {
-      if (CW) {
-        datalogger.addConfig("Drehrichtung", "CW");
-      } else {
-        datalogger.addConfig("Drehrichtung", "CCW");
-      }
-      logtime = millis();
-      waitStart(log_timer, LOG_TIMER_DELAY);
-    } else {
-      datalogger.logToSerial();
-      datalogger.clear();
-    }
-  } else if (command[0] == 'm') {
-    manOut = !manOut;
-  } else if (command[0] == 'r') {
-    myPID.reset();
-  } else if (command[0] == 's') {
-    setParameter(command, 's', setpoint);
-    for (int i = 0; i < 180; i++) {
-      WinkelArray[i] = setpoint;
-    }
-  } else if (command[0] == 'S') {
-    In_Src_Sw = !In_Src_Sw;
-  } else if (command[0] == 't') {
-    prg.tareTorque();
-  } else if (command.startsWith("u") && command.endsWith("u\n")) {
-    Serial.println(command);  // Debug-Ausgabe
-    for (int i = 0; i < 181; i++) {
-      WinkelArray[i] = -1;
-    }
-    String data = command.substring(1, command.length() - 1);
-    int lastIndex = 0;
-    while (lastIndex != -1) {
-      int index = data.indexOf(';', lastIndex);
-      String pair = (index == -1) ? data.substring(lastIndex) : data.substring(lastIndex, index);
-      int commaIndex = pair.indexOf(',');
-      if (commaIndex != -1) {
-        int angleIndex = pair.substring(0, commaIndex).toInt();
-        float torqueValue = pair.substring(commaIndex + 1).toFloat();
-        if (angleIndex >= 0 && angleIndex < 181) {
-          WinkelArray[angleIndex] = torqueValue;
-          Serial.print("Set WinkelArray[");
-          Serial.print(angleIndex);
-          Serial.print("] to ");
-          Serial.println(torqueValue);
-        }
-      }
-      lastIndex = (index == -1) ? -1 : index + 1;
-    }
-    interpolateWinkelArray();
-  } else if (command[0] == 'v') {
-    if (manOut) {
-      setParameter(command, 'v', manVolt);  // Hier wurde 'manVolt' als float deklariert
-      manVolt = manVolt * 0.1575;
-      prg.ActOut = manVolt;
-      analogWrite(prg.TORQUE_OUT_PIN, manVolt);
-    }
-  } else if (command[0] == 'w') {
-    prg.tareAngle();
-  } else if (command[0] == 'x') {
-    Pon = !Pon;
-    myPID.reset();
-  }
-}
-
-
-void setParameter(const String &command, char prefix, float &parameter) {
-  int commaIndex = command.indexOf('.');
-  if (commaIndex > 1) {
-    String paramString = command.substring(1, commaIndex) + "." + command.substring(commaIndex + 1);
-    parameter = paramString.toFloat();  // Konvertierung innerhalb der Funktion
-    /*Serial.print(prefix);
-    Serial.print(" gesetzt auf: ");
-    Serial.println(parameter, 6);  // Sechs Dezimalstellen anzeigen*/
-  }
-}
\ No newline at end of file