diff --git a/Data.csv b/Data.csv
index 12b97d4..5ec41ef 100644
--- a/Data.csv
+++ b/Data.csv
@@ -2,1487 +2,1588 @@ Kp	0,110
 Ki	0,090
 Kd	0,001
 Zeit in s	Winkel in Grad	Sollwert in Nm	Istwert in Nm	Erregerspannung in V
-0,100	0,018	0,000	2,579	0,000
-0,264	0,018	0,000	2,687	0,000
-0,359	0,018	0,000	2,660	0,000
-0,453	0,018	0,000	2,660	0,000
-0,550	0,018	0,000	2,660	0,000
-0,639	0,018	0,000	2,633	0,000
-0,729	0,018	0,000	2,660	0,000
-0,824	0,018	0,000	2,633	0,000
-0,917	0,018	0,000	2,553	0,000
-1,011	0,018	0,000	2,472	0,000
-1,108	0,018	0,000	2,419	0,000
-1,194	0,018	0,000	2,391	0,000
-1,294	0,018	0,000	2,419	0,000
-1,396	0,018	0,000	2,445	0,000
-1,480	0,018	0,000	2,419	0,000
-1,573	0,018	0,000	2,419	0,000
-1,664	0,018	0,000	2,445	0,000
-1,758	0,018	0,000	2,419	0,000
-1,849	0,018	0,000	2,419	0,000
-1,944	0,018	0,000	2,445	0,000
-2,043	0,018	0,000	2,419	0,000
-2,144	0,018	0,000	2,419	0,000
-2,233	0,018	0,000	2,419	0,000
-2,320	0,018	0,000	2,445	0,000
-2,413	0,018	0,000	2,499	0,000
-2,507	0,018	0,000	2,553	0,000
-2,604	0,018	0,000	2,633	0,000
-2,694	0,018	0,000	2,714	0,000
-2,789	0,018	0,000	2,794	0,000
-2,881	0,018	0,000	2,876	0,000
-2,978	0,018	0,000	2,982	0,000
-3,067	0,018	0,000	3,144	0,000
-3,156	0,036	0,000	3,252	0,000
-3,262	0,036	0,000	3,305	0,000
-3,353	0,054	0,000	3,387	0,000
-3,444	0,072	0,000	3,493	0,000
-3,540	0,090	15,000	3,628	0,000
-3,630	0,090	15,000	3,709	9,524
-3,722	0,108	15,000	3,898	9,524
-3,817	0,126	15,000	4,058	9,016
-3,912	0,144	15,000	4,247	9,016
-4,009	0,162	15,000	4,461	9,384
-4,099	0,180	15,000	4,704	9,384
-4,189	0,180	15,000	4,919	9,644
-4,307	0,198	15,000	5,134	9,644
-4,457	0,216	15,000	5,565	9,911
-4,565	0,216	15,000	5,833	10,146
-4,662	0,234	15,000	6,048	10,146
-4,741	0,252	15,000	5,671	10,317
-4,834	0,342	15,000	5,617	10,317
-4,930	0,378	15,000	5,941	11,213
-5,026	0,396	15,000	6,102	11,213
-5,119	0,432	15,000	6,156	11,327
-5,212	0,468	15,000	6,371	11,327
-5,305	0,486	15,000	6,613	11,644
-5,396	0,504	15,000	6,855	11,644
-5,493	0,504	15,000	6,855	11,759
-5,583	0,576	15,000	6,667	11,759
-5,681	0,648	15,000	6,775	12,406
-5,771	0,684	15,000	7,070	12,406
-5,866	0,702	15,000	7,232	12,546
-5,959	0,720	15,000	7,150	12,546
-6,051	0,792	15,000	7,393	12,959
-6,142	0,810	15,000	7,527	12,959
-6,240	0,828	15,000	7,608	13,105
-6,332	0,882	15,000	7,743	13,105
-6,427	0,936	15,000	7,715	13,378
-6,523	0,972	15,000	7,957	13,378
-6,609	0,972	15,000	8,172	13,632
-6,705	1,008	15,000	8,306	13,632
-6,799	1,026	15,000	8,226	13,759
-6,895	1,080	15,000	8,442	13,759
-6,988	1,098	15,000	8,549	14,051
-7,076	1,152	15,000	8,630	14,051
-7,174	1,188	15,000	8,817	14,279
-7,267	1,206	15,000	8,925	14,279
-7,358	1,242	15,000	9,168	14,419
-7,452	1,242	15,000	9,382	14,419
-7,550	1,260	15,000	9,517	14,419
-7,637	1,278	15,000	9,598	14,298
-7,733	1,314	15,000	9,382	14,298
-7,828	1,386	15,000	9,517	14,756
-7,918	1,422	15,000	9,759	14,756
-8,014	1,440	15,000	10,028	14,762
-8,104	1,458	15,000	10,216	14,762
-8,200	1,476	15,000	10,432	14,711
-8,294	1,494	15,000	10,432	14,711
-8,378	1,548	15,000	10,432	14,838
-8,479	1,584	15,000	10,404	14,838
-8,575	1,656	15,000	10,270	15,137
-8,684	1,728	15,000	10,404	15,137
-8,837	1,818	15,000	10,673	15,397
-8,939	1,818	15,000	10,889	15,435
-9,042	1,836	15,000	11,023	15,435
-9,131	1,872	15,000	10,943	15,416
-9,224	1,944	15,000	10,861	15,416
-9,311	1,998	15,000	10,781	15,797
-9,408	2,052	15,000	10,889	15,797
-9,501	2,088	15,000	11,184	16,000
-9,596	2,106	15,000	11,400	16,000
-9,693	2,106	15,000	11,588	15,816
-9,788	2,124	15,000	11,722	15,816
-9,875	2,160	15,000	11,803	15,790
-9,968	2,196	15,000	11,856	15,790
-10,062	2,232	15,000	12,017	15,892
-10,153	2,250	15,000	12,233	15,892
-10,251	2,268	15,000	12,421	15,771
-10,347	2,268	15,000	12,610	15,771
-10,441	2,286	15,000	12,716	15,771
-10,529	2,340	15,000	12,071	15,556
-10,617	2,466	15,000	11,830	15,556
-10,717	2,538	15,000	11,964	16,444
-10,812	2,592	15,000	12,313	16,444
-10,902	2,592	15,000	12,610	16,171
-10,994	2,610	15,000	12,798	16,171
-11,086	2,646	15,000	12,636	15,962
-11,180	2,718	15,000	12,475	15,962
-11,276	2,808	15,000	12,636	16,381
-11,374	2,826	15,000	12,905	16,381
-11,467	2,844	15,000	13,093	16,152
-11,553	2,862	15,000	13,227	16,152
-11,648	2,898	15,000	13,255	16,038
-11,742	2,934	15,000	13,255	16,038
-11,843	2,988	15,000	13,443	16,133
-11,929	3,006	15,000	13,470	16,133
-12,022	3,042	15,000	13,093	16,063
-12,113	3,168	15,000	12,744	16,063
-12,209	3,258	15,000	12,851	16,756
-12,303	3,294	15,000	13,227	16,756
-12,390	3,312	15,000	13,497	16,444
-12,488	3,330	15,000	13,335	16,444
-12,584	3,402	15,000	13,416	16,489
-12,678	3,438	15,000	13,470	16,489
-12,768	3,510	15,000	13,389	16,476
-12,861	3,564	15,000	13,604	16,476
-12,954	3,582	15,000	13,550	16,463
-13,051	3,654	15,000	13,632	16,463
-13,144	3,690	15,000	13,712	16,527
-13,239	3,744	15,000	13,227	16,527
-13,326	3,852	15,000	13,227	16,940
-13,424	3,906	15,000	13,416	16,940
-13,515	3,942	15,000	13,766	16,863
-13,613	3,960	15,000	13,846	16,863
-13,701	3,978	15,000	13,954	16,616
-13,804	4,032	15,000	13,578	16,616
-13,890	4,122	15,000	13,820	16,927
-13,984	4,158	15,000	14,061	16,927
-14,077	4,176	15,000	14,035	16,597
-14,167	4,248	15,000	13,658	16,597
-14,263	4,320	15,000	13,712	17,010
-14,357	4,356	15,000	13,954	17,010
-14,454	4,392	15,000	14,195	16,819
-14,547	4,410	15,000	14,357	16,819
-14,637	4,428	15,000	14,492	16,565
-14,730	4,446	15,000	13,766	16,565
-14,822	4,626	15,000	13,362	17,111
-14,916	4,698	15,000	13,712	17,111
-15,011	4,698	15,000	14,008	17,187
-15,105	4,716	15,000	14,088	17,187
-15,197	4,788	15,000	14,035	16,952
-15,290	4,842	15,000	14,195	16,952
-15,385	4,878	15,000	14,142	16,940
-15,478	4,950	15,000	14,142	16,940
-15,570	4,986	15,000	14,277	17,035
-15,662	5,040	15,000	14,249	17,035
-15,760	5,094	15,000	14,492	16,997
-15,854	5,112	15,000	14,734	16,997
-15,943	5,130	15,000	14,384	16,648
-16,036	5,256	15,000	13,820	16,648
-16,137	5,346	15,000	14,008	17,441
-16,222	5,382	15,000	14,357	17,441
-16,316	5,400	15,000	14,760	17,010
-16,409	5,400	15,000	14,922	17,010
-16,504	5,436	15,000	14,599	17,010
-16,599	5,526	15,000	14,868	16,883
-16,691	5,544	15,000	14,788	16,883
-16,793	5,616	15,000	14,706	16,768
-16,873	5,670	15,000	14,842	16,768
-16,970	5,706	15,000	14,868	16,749
-17,070	5,760	15,000	15,083	16,749
-17,165	5,778	15,000	15,245	16,559
-17,255	5,814	15,000	15,353	16,559
-17,342	5,850	15,000	14,492	16,349
-17,434	6,012	15,000	14,142	16,349
-17,531	6,102	15,000	14,249	17,340
-17,626	6,138	15,000	14,572	17,340
-17,726	6,156	15,000	14,895	16,959
-17,812	6,174	15,000	15,164	16,959
-17,906	6,192	15,000	15,191	16,527
-17,997	6,264	15,000	14,599	16,527
-18,090	6,372	15,000	14,519	17,016
-18,177	6,426	15,000	14,734	17,016
-18,279	6,462	15,000	15,137	16,895
-18,371	6,480	15,000	15,353	16,895
-18,465	6,498	15,000	14,572	16,413
-18,560	6,678	15,000	13,846	16,413
-18,649	6,804	15,000	13,900	17,663
-18,747	6,840	15,000	14,277	17,663
-18,840	6,858	15,000	14,653	17,283
-18,933	6,858	15,000	15,056	17,283
-19,024	6,876	15,000	15,379	17,283
-19,115	6,876	15,000	15,487	16,451
-19,208	6,948	15,000	14,303	16,451
-19,307	7,128	15,000	14,519	17,378
-19,400	7,146	15,000	14,842	17,378
-19,498	7,164	15,000	15,191	16,908
-19,577	7,182	15,000	14,922	16,908
-19,676	7,290	15,000	14,680	16,883
-19,773	7,362	15,000	14,626	16,883
-19,869	7,416	15,000	14,788	17,137
-19,961	7,452	15,000	14,706	17,137
-20,052	7,524	15,000	14,948	17,073
-20,143	7,560	15,000	15,191	17,073
-20,234	7,578	15,000	14,922	16,698
-20,334	7,704	15,000	14,599	16,698
-20,423	7,776	15,000	14,706	17,206
-20,520	7,812	15,000	15,083	17,206
-20,616	7,830	15,000	15,459	16,794
-20,705	7,848	15,000	15,540	16,794
-20,799	7,884	15,000	14,734	16,444
-20,891	8,046	15,000	14,438	16,444
-20,981	8,136	15,000	14,438	17,346
-21,078	8,172	15,000	14,788	17,346
-21,173	8,190	15,000	15,191	17,022
-21,277	8,208	15,000	15,459	17,022
-21,435	8,262	15,000	14,814	16,508
-21,542	8,424	15,000	14,788	17,048
-21,636	8,460	15,000	15,137	17,048
-21,724	8,496	15,000	15,513	16,756
-21,819	8,496	15,000	15,810	16,756
-21,914	8,514	15,000	15,836	16,756
-22,005	8,568	15,000	14,788	16,197
-22,100	8,766	15,000	14,142	16,197
-22,191	8,874	15,000	14,384	17,581
-22,290	8,910	15,000	14,734	17,581
-22,381	8,928	15,000	15,164	17,035
-22,472	8,928	15,000	15,459	17,035
-22,567	8,946	15,000	15,513	17,035
-22,660	9,018	15,000	15,110	16,451
-22,754	9,126	15,000	14,734	16,451
-22,848	9,216	15,000	14,519	17,111
-22,944	9,288	15,000	14,922	17,111
-23,028	9,306	15,000	15,191	16,921
-23,126	9,324	15,000	14,842	16,921
-23,218	9,432	15,000	14,680	17,003
-23,316	9,504	15,000	14,653	17,003
-23,409	9,558	15,000	15,030	17,162
-23,501	9,576	15,000	15,299	17,162
-23,597	9,594	15,000	15,056	16,641
-23,688	9,702	15,000	14,734	16,641
-23,780	9,792	15,000	14,680	17,124
-23,873	9,828	15,000	15,083	17,124
-23,967	9,846	15,000	15,433	16,819
-24,060	9,864	15,000	15,325	16,819
-24,163	9,954	15,000	14,519	16,641
-24,243	10,098	15,000	14,357	16,641
-24,344	10,152	15,000	14,357	17,429
-24,426	10,206	15,000	14,706	17,429
-24,525	10,224	15,000	14,976	17,117
-24,623	10,242	15,000	15,379	17,117
-24,717	10,260	15,000	15,433	16,603
-24,810	10,332	15,000	14,492	16,603
-24,900	10,476	15,000	14,599	17,352
-24,994	10,512	15,000	15,002	17,352
-25,086	10,530	15,000	15,299	16,908
-25,181	10,548	15,000	15,217	16,908
-25,298	10,638	15,000	15,002	16,762
-25,442	10,782	15,000	14,680	17,117
-25,549	10,836	15,000	14,706	17,117
-25,647	10,908	15,000	15,030	17,168
-25,736	10,926	15,000	15,271	17,168
-25,831	10,944	15,000	15,325	16,717
-25,921	11,016	15,000	15,002	16,717
-26,016	11,088	15,000	15,164	16,959
-26,112	11,106	15,000	15,245	16,959
-26,202	11,160	15,000	15,513	16,743
-26,298	11,196	15,000	15,702	16,743
-26,391	11,214	15,000	15,353	16,368
-26,484	11,340	15,000	14,572	16,368
-26,578	11,466	15,000	14,626	17,283
-26,677	11,502	15,000	15,030	17,283
-26,767	11,520	15,000	15,191	16,863
-26,860	11,556	15,000	15,191	16,863
-26,949	11,610	15,000	15,217	16,756
-27,044	11,682	15,000	15,137	16,756
-27,136	11,736	15,000	15,271	16,800
-27,225	11,772	15,000	15,030	16,800
-27,328	11,862	15,000	15,083	16,876
-27,422	11,934	15,000	14,734	16,876
-27,508	12,024	15,000	14,653	17,111
-27,603	12,096	15,000	14,788	17,111
-27,698	12,132	15,000	14,895	17,067
-27,792	12,186	15,000	14,680	17,067
-27,888	12,258	15,000	14,814	17,168
-27,980	12,312	15,000	14,653	17,168
-28,075	12,384	15,000	15,002	17,200
-28,163	12,402	15,000	15,217	17,200
-28,257	12,420	15,000	14,922	16,756
-28,350	12,528	15,000	14,465	16,756
-28,443	12,636	15,000	14,519	17,397
-28,535	12,672	15,000	14,868	17,397
-28,626	12,690	15,000	15,137	17,048
-28,725	12,726	15,000	14,788	17,048
-28,816	12,834	15,000	14,599	17,149
-28,915	12,906	15,000	14,895	17,149
-29,002	12,924	15,000	15,137	17,067
-29,102	12,960	15,000	15,164	17,067
-29,192	13,032	15,000	15,083	16,857
-29,283	13,068	15,000	15,191	16,857
-29,376	13,122	15,000	15,030	16,844
-29,469	13,194	15,000	15,271	16,844
-29,569	13,230	15,000	15,083	16,768
-29,662	13,320	15,000	14,948	16,768
-29,753	13,392	15,000	14,842	17,022
-29,843	13,464	15,000	15,083	17,022
-29,936	13,482	15,000	15,056	16,895
-30,034	13,554	15,000	14,922	16,895
-30,127	13,626	15,000	14,948	17,035
-30,221	13,680	15,000	14,948	17,035
-30,311	13,716	15,000	15,271	17,003
-30,403	13,752	15,000	15,433	17,003
-30,498	13,788	15,000	15,110	16,616
-30,592	13,878	15,000	14,706	16,616
-30,684	13,986	15,000	14,788	17,213
-30,779	14,022	15,000	15,110	17,213
-30,876	14,040	15,000	15,299	16,857
-30,966	14,094	15,000	14,922	16,857
-31,062	14,202	15,000	14,760	17,029
-31,150	14,256	15,000	15,137	17,029
-31,244	14,274	15,000	15,299	16,844
-31,340	14,328	15,000	14,922	16,844
-31,441	14,418	15,000	15,056	17,029
-31,526	14,454	15,000	15,110	17,029
-31,614	14,508	15,000	15,299	16,863
-31,711	14,526	15,000	15,513	16,863
-31,804	14,562	15,000	14,814	16,540
-31,899	14,724	15,000	14,384	16,540
-31,992	14,814	15,000	14,465	17,460
-32,086	14,868	15,000	14,734	17,460
-32,178	14,886	15,000	14,948	17,137
-32,274	14,922	15,000	15,299	17,137
-32,365	14,940	15,000	15,110	16,711
-32,461	15,048	15,000	14,519	16,711
-32,556	15,156	15,000	14,626	17,371
-32,646	15,192	15,000	15,002	17,371
-32,739	15,192	15,000	15,271	16,952
-32,832	15,228	15,000	14,868	16,952
-32,922	15,354	15,000	14,384	17,092
-33,027	15,444	15,000	14,572	17,092
-33,115	15,480	15,000	14,760	17,333
-33,213	15,516	15,000	14,626	17,333
-33,300	15,588	15,000	14,895	17,295
-33,389	15,606	15,000	15,137	17,295
-33,482	15,642	15,000	14,734	16,902
-33,579	15,750	15,000	14,814	16,902
-33,674	15,786	15,000	14,842	17,187
-33,770	15,858	15,000	15,083	17,187
-33,858	15,876	15,000	15,459	16,959
-33,957	15,876	15,000	15,675	16,959
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diff --git a/conf.txt b/conf.txt
index a847b74..646b4a5 100644
--- a/conf.txt
+++ b/conf.txt
@@ -1,7 +1,7 @@
 227C-024-15{
     Kp:0.11
     Ki:0.09
-    Kd:0.001
+    Kd:0.00
 }
 328CS-024-10{
     Kp:0.3