diff --git a/Data.csv b/Data.csv
new file mode 100644
index 0000000..c275535
--- /dev/null
+++ b/Data.csv
@@ -0,0 +1,2881 @@
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diff --git a/conf.txt b/conf.txt
index 16097a4..b652212 100644
--- a/conf.txt
+++ b/conf.txt
@@ -1,5 +1,15 @@
-150 Sekunden / 90 Grad{
+227C-024-15 PID_Regler 1{
     Kp:0.068
     Ki:0.03
     Kd:0.00
+}
+227C-024-15 PID_Regler 2{
+    Kp:0.11
+    Ki:0.08
+    Kd:0.00
+}
+227C-024-15 I-Regler{
+    Kp:0.00
+    Ki:0.02
+    Kd:0.00
 }
\ No newline at end of file
diff --git a/main.py b/main.py
index 0f82445..38b2130 100644
--- a/main.py
+++ b/main.py
@@ -10,6 +10,7 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 import threading
 import time
 import numpy as np
+import csv
 
 class ArduinoGUI:
     def __init__(self, root):
@@ -42,6 +43,38 @@ class ArduinoGUI:
         # Start the communication thread
         self.communication_thread = threading.Thread(target=self.communication_loop)
         self.communication_thread.start()
+
+        self.logging = False
+        self.start_time = None
+        self.log_file = None
+        self.csv_writer = None
+
+    def toggle_datalogger(self):
+        if not self.logging:
+            self.start_logging()
+        else:
+            self.stop_logging()
+
+    def start_logging(self):
+        self.logging = True
+        self.start_time = time.time()
+        self.log_file = open("Data.csv", mode='w', newline='', encoding='utf-8')
+        self.csv_writer = csv.writer(self.log_file, delimiter='\t')
+        
+        # PID parameters under each other
+        self.csv_writer.writerow(["Kp", f"{self.pid_params[self.selected_pid]['Kp']:.3f}".replace('.', ',')])
+        self.csv_writer.writerow(["Ki", f"{self.pid_params[self.selected_pid]['Ki']:.3f}".replace('.', ',')])
+        self.csv_writer.writerow(["Kd", f"{self.pid_params[self.selected_pid]['Kd']:.3f}".replace('.', ',')])
+        
+        self.csv_writer.writerow(["Zeit in s", "Winkel in Grad", "Sollwert in Nm", "Istwert in Nm", "Erregerspannung in V"])
+        messagebox.showinfo("Info", "Datalogging gestartet")
+
+
+    def stop_logging(self):
+        self.logging = False
+        if self.log_file:
+            self.log_file.close()
+        messagebox.showinfo("Info", "Datalogging gestoppt")
     
     def create_widgets(self):
 
@@ -106,6 +139,10 @@ class ArduinoGUI:
         self.exit_button = customtkinter.CTkButton(self.root, text="Beenden", command=self.on_closing, font=self.my_font)
         self.exit_button.grid(row=5, column=2, padx=(0, 10), pady=(10, 0), sticky="sew")
 
+        #Datalogger
+        self.datalogger_button = customtkinter.CTkButton(self.root, text="Datenlogger", command=self.toggle_datalogger, font=self.my_font)
+        self.datalogger_button.grid(row=4, column=0, padx=(0, 10), pady=(10, 0), sticky="sew")
+
         # Plot
         self.figure, self.ax = plt.subplots()
         self.canvas = FigureCanvasTkAgg(self.figure, self.root)
@@ -336,20 +373,34 @@ class ArduinoGUI:
 
                 try:
                     data = self.arduino.readline().decode(errors='ignore').strip().split(";")
-                    self.current_angle = float(data[0]) / 1000
-                    self.current_torque = float(data[1]) / 1000
-                    self.analogInput = float(data[2]) / 1000
-                    self.currentSetpoint = float(data[3]) / 1000
+                    if len(data) >= 4 and all(data):  # Ensure all fields are not empty
+                        self.current_angle = float(data[0]) / 1000 if data[0] else 0
+                        self.current_torque = float(data[1]) / 1000 if data[1] else 0
+                        self.analogInput = float(data[2]) / 1000 if data[2] else 0
+                        self.currentSetpoint = float(data[3]) / 1000 if data[3] else 0
+                        self.currentOutput = float(data[4]) * 0.006349206 if data[4] else 0
+
+                        self.angle_label_var.set(f"Drehwinkel: {self.current_angle:.1f} °")
+                        self.torque_label_var.set(f"Istwert: {self.current_torque:.1f} Nm")
+                        self.analogread_label_var.set(f"Analogeingang: {self.analogInput:.1f} V")
+                        self.currentSetpoint_label_var.set(f"Aktueller Sollwert: {self.currentSetpoint:.1f} Nm")
+
+                        if self.current_point is not None:
+                            self.current_point.remove()
+                        self.current_point, = self.ax.plot([self.current_angle], [self.current_torque], 'ro')
+                        self.canvas.draw()
+
+                        if self.logging:
+                            elapsed_time = time.time() - self.start_time
+                            formatted_time = f"{elapsed_time:.3f}".replace('.', ',')
+                            formatted_angle = f"{self.current_angle:.3f}".replace('.', ',')
+                            formatted_setpoint = f"{self.currentSetpoint:.3f}".replace('.', ',')
+                            formatted_torque = f"{self.current_torque:.3f}".replace('.', ',')
+                            formatted_output = f"{self.currentOutput:.3f}".replace('.', ',')
+                            
+                            self.csv_writer.writerow([formatted_time, formatted_angle, formatted_setpoint, formatted_torque, formatted_output])
 
-                    self.angle_label_var.set(f"Drehwinkel: {self.current_angle:.1f} °")
-                    self.torque_label_var.set(f"Istwert: {self.current_torque:.1f} Nm")
-                    self.analogread_label_var.set(f"Analogeingang: {self.analogInput:.1f} V")
-                    self.currentSetpoint_label_var.set(f"Aktueller Sollwert: {self.currentSetpoint:.1f} Nm")
 
-                    if self.current_point is not None:
-                        self.current_point.remove()
-                    self.current_point, = self.ax.plot([self.current_angle], [self.current_torque], 'ro')
-                    self.canvas.draw()
                 except Exception as e:
                     print(e)