From 54196dd83133134f83dc417aae8918f56534b350 Mon Sep 17 00:00:00 2001
From: Armin <armin.arduino@gmail.com>
Date: Sun, 4 Apr 2021 11:46:57 +0200
Subject: [PATCH] Using IMU data

---
 .github/workflows/TestCompile.yml      |  37 +-
 README.md                              |  22 +-
 pictures/WIN_20161218_15_08_55_Pro.jpg | Bin 186326 -> 0 bytes
 src/ADCUtils.cpp                       | 142 +++--
 src/ADCUtils.h                         |  12 +-
 src/AutonomousDrive.cpp                |  43 +-
 src/AutonomousDrivePage.cpp            |  49 +-
 src/BTSensorDrivePage.cpp              | 178 +++---
 src/CarMotorControl.cpp                | 615 ------------------
 src/CarMotorControl.h                  | 162 -----
 src/CarPWMMotorControl.cpp             | 828 +++++++++++++++++++++++++
 src/CarPWMMotorControl.h               | 206 ++++++
 src/DebugLevel.h                       |  52 ++
 src/Distance.cpp                       |  84 ++-
 src/Distance.h                         |  19 +-
 src/EncoderMotor.cpp                   | 640 ++++++++++++-------
 src/EncoderMotor.h                     | 123 ++--
 src/HCSR04.cpp                         |   5 +-
 src/HomePage.cpp                       |  54 +-
 src/IMUCarData.cpp                     | 539 ++++++++++++++++
 src/IMUCarData.h                       | 158 +++++
 src/LightweightServo.cpp               | 220 +++++++
 src/LightweightServo.h                 |  78 +++
 src/LongUnion.h                        |  94 +++
 src/MPU6050Defines.h                   | 428 +++++++++++++
 src/PWMDcMotor.cpp                     | 656 ++++++++++++--------
 src/PWMDcMotor.h                       | 302 +++++----
 src/PathInfoPage.cpp                   |   6 +-
 src/RobotCar.h                         |  65 +-
 src/RobotCarBlueDisplay.ino            | 100 +--
 src/RobotCarCommonGui.cpp              | 477 ++++++++------
 src/RobotCarGui.h                      |  47 +-
 src/TestPage.cpp                       | 135 +++-
 src/digitalWriteFast.h                 | 105 ++--
 34 files changed, 4642 insertions(+), 2039 deletions(-)
 delete mode 100644 pictures/WIN_20161218_15_08_55_Pro.jpg
 delete mode 100644 src/CarMotorControl.cpp
 delete mode 100644 src/CarMotorControl.h
 create mode 100644 src/CarPWMMotorControl.cpp
 create mode 100644 src/CarPWMMotorControl.h
 create mode 100644 src/DebugLevel.h
 create mode 100644 src/IMUCarData.cpp
 create mode 100644 src/IMUCarData.h
 create mode 100644 src/LightweightServo.cpp
 create mode 100644 src/LightweightServo.h
 create mode 100644 src/LongUnion.h
 create mode 100644 src/MPU6050Defines.h

diff --git a/.github/workflows/TestCompile.yml b/.github/workflows/TestCompile.yml
index 82b288c..e1e5d2d 100644
--- a/.github/workflows/TestCompile.yml
+++ b/.github/workflows/TestCompile.yml
@@ -34,7 +34,6 @@ jobs:
             build-properties:
               RobotCarBlueDisplay:
                 -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DUSE_STANDARD_SERIAL
                 -DUSE_US_SENSOR_1_PIN_MODE
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
                 -DUSE_ADAFRUIT_MOTOR_SHIELD
@@ -44,7 +43,6 @@ jobs:
               RobotCarBlueDisplay:
                 -DUSE_LAYOUT_FOR_NANO
                 -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DUSE_STANDARD_SERIAL
                 -DUSE_US_SENSOR_1_PIN_MODE
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
                 -DCAR_HAS_PAN_SERVO
@@ -58,7 +56,6 @@ jobs:
             build-properties:
               RobotCarBlueDisplay:
                 -DBLUETOOTH_BAUD_RATE=BAUD_115200
-                -DUSE_STANDARD_SERIAL
                 -DUSE_US_SENSOR_1_PIN_MODE
                 -DDISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
                 -DCAR_HAS_TOF_DISTANCE_SENSOR
@@ -76,22 +73,20 @@ jobs:
           ref: master
           path: CustomLibrary_BD # must contain string "Custom"
 
-      - name: Checkout new PWMMotorControl library
-        uses: actions/checkout@v2
-        with:
-          repository: ArminJo/PWMMotorControl
-          ref: master
-          path: CustomLibrary_PWM # must contain string "Custom"
+# Currently included in source directory
+#      - name: Checkout new PWMMotorControl library
+#        uses: actions/checkout@v2
+#        with:
+#          repository: ArminJo/PWMMotorControl
+#          ref: master
+#          path: CustomLibrary_PWM # must contain string "Custom"
 
-      # Use the arduino-test-compile script, because it is faster
-      - name: Compile all examples using the bash script arduino-test-compile.sh
-        env:
-          # Passing parameters to the script by setting the appropriate ENV_* variables.
-          ENV_ARDUINO_BOARD_FQBN: ${{ matrix.arduino-boards-fqbn }}
-          ENV_REQUIRED_LIBRARIES: ${{ env.REQUIRED_LIBRARIES }}
-          ENV_EXAMPLES_BUILD_PROPERTIES: ${{ toJson(matrix.build-properties) }}
-        run: |
-          wget --quiet https://raw.githubusercontent.com/ArminJo/arduino-test-compile/master/arduino-test-compile.sh
-            ls -l arduino-test-compile.sh
-            chmod +x arduino-test-compile.sh
-            ./arduino-test-compile.sh
+      - name: Compile all examples using the arduino-test-compile action
+        uses: ArminJo/arduino-test-compile@master
+        with:
+          arduino-board-fqbn: ${{ matrix.arduino-boards-fqbn }}
+          arduino-platform: ${{ matrix.arduino-platform }}
+          platform-url: ${{ matrix.platform-url }}
+          required-libraries: ${{ env.REQUIRED_LIBRARIES }}
+          sketches-exclude: ${{ matrix.sketches-exclude }}
+          build-properties: ${{ toJson(matrix.build-properties) }}
diff --git a/README.md b/README.md
index 00ea452..d1c7dd6 100644
--- a/README.md
+++ b/README.md
@@ -13,9 +13,9 @@ Just overwrite the function doUserCollisionDetection() to test your own skill.
 
 You may also overwrite the function fillAndShowForwardDistancesInfo(), if you use your own scanning method.
 
-# Compile options / macros
+# Compile options / macros for this software
 To customize the software to different car extensions, there are some compile options / macros available.<br/>
-Modify it by commenting them out or in, or change the values if applicable. Or define the macro with the -D compiler option for gobal compile (the latter is not possible with the Arduino IDE, so consider to use [Sloeber](https://eclipse.baeyens.it).<br/>
+Modify it by commenting them out or in, or change the values if applicable. Or define the macro with the -D compiler option for global compile (the latter is not possible with the Arduino IDE, so consider using [Sloeber](https://eclipse.baeyens.it).<br/>
 Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR_CONTROL` are described [here](https://github.com/ArminJo/PWMMotorControl#compile-options--macros-for-this-library).
 
 | Option | Default | File | Description |
@@ -25,22 +25,24 @@ Compile options for the used **PWMMotorControl library** like `USE_ENCODER_MOTOR
 | `USE_US_SENSOR_1_PIN_MODE` | disabled | RobotCar.h | Use modified HC-SR04 modules or HY-SRF05 ones.</br>Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger pin. |
 | `CAR_HAS_IR_DISTANCE_SENSOR` | disabled | RobotCar.h | Use Sharp GP2Y0A21YK / 1080 IR distance sensor. |
 | `CAR_HAS_TOF_DISTANCE_SENSOR` | disabled | RobotCar.h | Use VL53L1X TimeOfFlight distance sensor. |
-| `DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN` | disabled | Distance.h | The distance servo is mounted head down to detect even small obstacles. |
+| `DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN` | disabled | Distance.h | The distance servo is mounted head down to detect even small obstacles. The Servo direction is reverse then. |
 | `CAR_HAS_CAMERA` | disabled | RobotCar.h | Enables the `Camera` button for the `PIN_CAMERA_SUPPLY_CONTROL` pin. |
 | `CAR_HAS_LASER` | disabled | RobotCar.h | Enables the `Laser` button for the `PIN_LASER_OUT` / `LED_BUILTIN` pin. |
 | `CAR_HAS_PAN_SERVO` | disabled | RobotCar.h | Enables the pan slider for the `PanServo` at the `PIN_PAN_SERVO` pin. |
-| `CAR_HAS_TILT_SERVO` | disabled | RobotCar.h | Enables the tilt slider for the `TiltServo` at the `PIN_TILT_SERVO` pin.. |
-| `MONITOR_LIPO_VOLTAGE` | disabled | RobotCar.h | Shows VIN voltage and monitors it for undervoltage. Requires 2 additional resistors at pin A2. |
-| `VIN_VOLTAGE_CORRECTION` | undefined | RobotCar.h | Voltage to be subtracted from VIN voltage. E.g. if there is a series diode between LIPO and VIN set it to 0.8. |
+| `CAR_HAS_TILT_SERVO` | disabled | RobotCar.h | Enables the tilt slider for the `TiltServo` at the `PIN_TILT_SERVO` pin. |
+| `ENABLE_RTTTL` | undefined | RobotCar.h | Plays melody after initial timeout has reached. Enables the Melody button, which plays a random melody. |
+| `MONITOR_VIN_VOLTAGE` | disabled | RobotCar.h | Shows VIN voltage and monitors it for undervoltage. VIN/11 at A2, 1MOhm to VIN, 100kOhm to ground. |
+| `VIN_VOLTAGE_CORRECTION` | undefined or 0.8 for UNO | RobotCar.h | Voltage to be subtracted from VIN voltage for voltage monitoring. E.g. if there is a series diode between LIPO and VIN as on the UNO boards, set it to 0.8. |
+| `SUPPORT_EEPROM_STORAGE` | disabled | RobotCar.h | Activates the buttons to store compensation and drive speed. |
 
-### Modifying library properties with Arduino IDE
-First use *Sketch/Show Sketch Folder (Ctrl+K)*.<br/>
+### Modifying compile options with Arduino IDE
+First, use *Sketch > Show Sketch Folder (Ctrl+K)*.<br/>
 If you did not yet stored the example as your own sketch, then you are instantly in the right library folder.<br/>
 Otherwise you have to navigate to the parallel `libraries` folder and select the library you want to access.<br/>
 In both cases the library files itself are located in the `src` directory.<br/>
 
-### Modifying library properties with Sloeber IDE
-If you are using Sloeber as your IDE, you can easily define global symbols with *Properties/Arduino/CompileOptions*.<br/>
+### Modifying compile options with Sloeber IDE
+If you are using Sloeber as your IDE, you can easily define global symbols with *Properties > Arduino > CompileOptions*.<br/>
 ![Sloeber settings](https://github.com/ArminJo/ServoEasing/blob/master/pictures/SloeberDefineSymbols.png)
 
 # Wall detection
diff --git a/pictures/WIN_20161218_15_08_55_Pro.jpg b/pictures/WIN_20161218_15_08_55_Pro.jpg
deleted file mode 100644
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GIT binary patch
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diff --git a/src/ADCUtils.cpp b/src/ADCUtils.cpp
index fde8b14..4d19337 100644
--- a/src/ADCUtils.cpp
+++ b/src/ADCUtils.cpp
@@ -22,8 +22,8 @@
  *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
  */
 
-#if defined(__AVR__) && (! defined(__AVR_ATmega4809__))
 #include "ADCUtils.h"
+#if defined(__AVR__) && defined(ADATE)
 
 // Union to speed up the combination of low and high bytes to a word
 // it is not optimal since the compiler still generates 2 unnecessary moves
@@ -35,7 +35,7 @@ union Myword {
     } byte;
     uint16_t UWord;
     int16_t Word;
-    uint8_t * BytePointer;
+    uint8_t *BytePointer;
 };
 
 /*
@@ -45,18 +45,18 @@ uint16_t readADCChannel(uint8_t aChannelNumber) {
     Myword tUValue;
     ADMUX = aChannelNumber | (DEFAULT << SHIFT_VALUE_FOR_REFERENCE);
 
-//  ADCSRB = 0; // free running mode  - is default
-// ADSC-StartConversion ADIF-Reset Interrupt Flag - NOT free running mode
+    // ADCSRB = 0; // Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADIF-Reset Interrupt Flag - NOT free running mode
     ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADIF) | ADC_PRESCALE);
 
-// wait for single conversion to finish
+    // wait for single conversion to finish
     loop_until_bit_is_clear(ADCSRA, ADSC);
 
-// Get value
+    // Get value
     tUValue.byte.LowByte = ADCL;
     tUValue.byte.HighByte = ADCH;
     return tUValue.UWord;
-//    return ADCL | (ADCH <<8); // needs 4 bytes more
+    //    return ADCL | (ADCH <<8); // needs 4 bytes more
 }
 
 /*
@@ -66,14 +66,14 @@ uint16_t readADCChannelWithReference(uint8_t aChannelNumber, uint8_t aReference)
     Myword tUValue;
     ADMUX = aChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
 
-// ADCSRB = 0; // free running mode if ADATE is 1 - is default
+    // ADCSRB = 0; // Only active if ADATE is set to 1.
     // ADSC-StartConversion ADIF-Reset Interrupt Flag - NOT free running mode
     ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADIF) | ADC_PRESCALE);
 
-// wait for single conversion to finish
+    // wait for single conversion to finish
     loop_until_bit_is_clear(ADCSRA, ADSC);
 
-// Get value
+    // Get value
     tUValue.byte.LowByte = ADCL;
     tUValue.byte.HighByte = ADCH;
     return tUValue.UWord;
@@ -81,31 +81,36 @@ uint16_t readADCChannelWithReference(uint8_t aChannelNumber, uint8_t aReference)
 
 /*
  * @return original ADMUX register content for optional later restoring values
+ * All experimental values are acquired by using the ADCSwitchingTest example from this library
  */
 uint8_t checkAndWaitForReferenceAndChannelToSwitch(uint8_t aChannelNumber, uint8_t aReference) {
     uint8_t tOldADMUX = ADMUX;
     /*
-     * Must wait >= 7 us if reference has to be switched from 1.1 volt to VCC (seen on oscilloscope)
-     * Must wait >= 6000 us for Nano board  >= 6200 for Uno board if reference has to be switched from VCC/DEFAULT to 1.1 volt/INTERNAL
-     * Must wait >= 1100 us if channel has to be switched to 1.1 volt internal channel from channel with read 5 volt input
+     * Must wait >= 7 us if reference has to be switched from 1.1 volt/INTERNAL to VCC/DEFAULT (seen on oscilloscope)
+     * This is done after the 2 ADC clock cycles required for Sample & Hold :-)
+     *
+     * Must wait >= 7600 us for Nano board  >= 6200 for Uno board if reference has to be switched from VCC/DEFAULT to 1.1 volt/INTERNAL
+     * Must wait >= 200 us if channel has to be switched to 1.1 volt internal channel if S&H was at 5 Volt
      */
     uint8_t tNewReference = (aReference << SHIFT_VALUE_FOR_REFERENCE);
     ADMUX = aChannelNumber | tNewReference;
-    if ((tOldADMUX & MASK_FOR_ADC_REFERENCE) != tNewReference) {
-        if (aReference == INTERNAL) {
+    if ((tOldADMUX & MASK_FOR_ADC_REFERENCE) != tNewReference && aReference == INTERNAL) {
+        /*
+         * Switch reference from DEFAULT to INTERNAL
+         */
+        delayMicroseconds(8000); // experimental value is >= 7600 us for Nano board and 6200 for UNO board
+    } else if ((tOldADMUX & 0x0F) != aChannelNumber) {
+        if (aChannelNumber == ADC_1_1_VOLT_CHANNEL_MUX) {
             /*
-             * Switch reference from DEFAULT to INTERNAL
+             * Internal 1.1 Volt channel requires  <= 200 us for Nano board
              */
-            delayMicroseconds(6500); // experimental value is >= 5000 us for Nano board and 6200 for UNO board
+            delayMicroseconds(200);
         } else {
-            // Switch reference from INTERNAL to DEFAULT
-            delayMicroseconds(10);
+            /*
+             * 100 kOhm requires < 100 us, 1 MOhm requires 120 us S&H switching time
+             */
+            delayMicroseconds(120); // experimental value is <= 1100 us for Nano board
         }
-    } else if (aChannelNumber == ADC_1_1_VOLT_CHANNEL_MUX && (tOldADMUX & 0x0F) != aChannelNumber) {
-        /*
-         * Switch to (high impedance) 1.1 volt channel
-         */
-        delayMicroseconds(1200); // experimental value is >= 1100 us for Nano board
     }
     return tOldADMUX;
 }
@@ -121,8 +126,8 @@ uint16_t readADCChannelWithReferenceOversample(uint8_t aChannelNumber, uint8_t a
     uint16_t tSumValue = 0;
     ADMUX = aChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
 
-// ADCSRB = 0; // free running mode if ADATE is 1 - is default
-// ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
     ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | ADC_PRESCALE);
 
     for (uint8_t i = 0; i < _BV(aOversampleExponent); i++) {
@@ -132,7 +137,34 @@ uint16_t readADCChannelWithReferenceOversample(uint8_t aChannelNumber, uint8_t a
          */
         loop_until_bit_is_set(ADCSRA, ADIF);
 
-        ADCSRA |= _BV(ADIF); // clear bit to recognize next conversion has finished
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
+        // Add value
+        tSumValue += ADCL | (ADCH << 8); // using myWord does not save space here
+        // tSumValue += (ADCH << 8) | ADCL; // this does NOT work!
+    }
+    ADCSRA &= ~_BV(ADATE); // Disable auto-triggering (free running mode)
+    return (tSumValue >> aOversampleExponent);
+}
+
+/*
+ * Use ADC_PRESCALE32 which gives 26 us conversion time and good linearity for 16 MHz Arduino
+ */
+uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aChannelNumber, uint8_t aReference, uint8_t aOversampleExponent) {
+    uint16_t tSumValue = 0;
+    ADMUX = aChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
+
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | ADC_PRESCALE32);
+
+    for (uint8_t i = 0; i < _BV(aOversampleExponent); i++) {
+        /*
+         * wait for free running conversion to finish.
+         * Do not wait for ADSC here, since ADSC is only low for 1 ADC Clock cycle on free running conversion.
+         */
+        loop_until_bit_is_set(ADCSRA, ADIF);
+
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
         // Add value
         tSumValue += ADCL | (ADCH << 8); // using myWord does not save space here
         // tSumValue += (ADCH << 8) | ADCL; // this does NOT work!
@@ -149,8 +181,8 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
     uint16_t tSumValue = 0;
     ADMUX = aChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
 
-// ADCSRB = 0; // free running mode if ADATE is 1 - is default
-// ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
     ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | ADC_PRESCALE);
 
     for (uint8_t i = 0; i < aNumberOfSamples; i++) {
@@ -160,7 +192,7 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
          */
         loop_until_bit_is_set(ADCSRA, ADIF);
 
-        ADCSRA |= _BV(ADIF); // clear bit to recognize next conversion has finished
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
         // Add value
         tSumValue += ADCL | (ADCH << 8); // using myWord does not save space here
         // tSumValue += (ADCH << 8) | ADCL; // this does NOT work!
@@ -170,16 +202,17 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
 }
 
 /*
- * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * use ADC_PRESCALE32 which gives 26 us conversion time and good linearity
+ * @return the maximum of aNumberOfSamples measurements.
  */
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples) {
     uint16_t tADCValue = 0;
     uint16_t tMaximum = 0;
     ADMUX = aChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
 
-// ADCSRB = 0; // free running mode if ADATE is 1 - is default
-// ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
-    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | ADC_PRESCALE16);
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | ADC_PRESCALE32);
 
     for (uint16_t i = 0; i < aNumberOfSamples; i++) {
         /*
@@ -188,7 +221,7 @@ uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReferen
          */
         loop_until_bit_is_set(ADCSRA, ADIF);
 
-        ADCSRA |= _BV(ADIF); // clear bit to recognize next conversion has finished
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
         // check value
         tADCValue = ADCL | (ADCH << 8);
         if (tADCValue > tMaximum) {
@@ -200,10 +233,10 @@ uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReferen
 }
 
 /*
- * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * use ADC_PRESCALE32 which gives 26 us conversion time and good linearity
  */
 uint16_t readADCChannelWithReferenceMaxMicros(uint8_t aChannelNumber, uint8_t aReference, uint16_t aMicrosecondsToAquire) {
-    uint16_t tNumberOfSamples = aMicrosecondsToAquire / 13;
+    uint16_t tNumberOfSamples = aMicrosecondsToAquire / 26;
     return readADCChannelWithReferenceMax(aChannelNumber, aReference, tNumberOfSamples);
 }
 
@@ -219,7 +252,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aChannelNumber, uint8_t aDe
 
     tValues[0] = readADCChannel(aChannelNumber);
     for (int i = 1; i < 4; ++i) {
-        delay(aDelay); // only 3 delays!
+        delay(aDelay); // Only 3 delays!
         tValues[i] = readADCChannel(aChannelNumber);
     }
 
@@ -261,30 +294,30 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aChannelNumber, uint8_t aDe
 }
 
 /*
- * Versions without handling of switched reference and channel.
- * Use only if reference (DEFAULT, INTERNAL) is known to be at the right value (DEFAULT for VCC and INTERNAL for temperature)
- * and register ADMUX may be overwritten.
- * Use it for example if you only call getVCCVoltageSimple() or getTemperatureSimple() in your program.
- * Calling both will lead to wrong values since of reference and channel switching.
+ * !!! Function without handling of switched reference and channel.!!!
+ * Use it ONLY if you only call getVCCVoltageSimple() or getVCCVoltageMillivoltSimple() in your program.
+ * !!! Resolution is only 20 millivolt !!!
  */
 float getVCCVoltageSimple(void) {
-// use AVCC with external capacitor at AREF pin as reference
+    // use AVCC with (optional) external capacitor at AREF pin as reference
     float tVCC = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     return ((1023 * 1.1 * 4) / tVCC);
 }
 
 /*
- * Will at most times be sufficient since switching reference to default is quite fast.
+ * !!! Function without handling of switched reference and channel.!!!
+ * Use it ONLY if you only call getVCCVoltageSimple() or getVCCVoltageMillivoltSimple() in your program.
+ * !!! Resolution is only 20 millivolt !!!
  */
 uint16_t getVCCVoltageMillivoltSimple(void) {
-// use AVCC with external capacitor at AREF pin as reference
+    // use AVCC with external capacitor at AREF pin as reference
     uint16_t tVCC = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     return ((1023L * 1100 * 4) / tVCC);
 }
 
 /*
- * Do not check for changing reference or channel.
- * Will give wrong result if used at any time after analogRead();
+ * !!! Function without handling of switched reference and channel.!!!
+ * Use it ONLY if you only use INTERNAL reference (call getTemperatureSimple()) in your program.
  */
 float getTemperatureSimple(void) {
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@@ -302,7 +335,8 @@ float getVCCVoltage(void) {
 
 /*
  * Read value of 1.1 volt internal channel using VCC as reference.
- * Waits for reference and channel switching.
+ * Handles reference and channel switching by introducing the appropriate delays.
+ * !!! Resolution is only 20 millivolt !!!
  */
 uint16_t getVCCVoltageMillivolt(void) {
     uint8_t tOldADMUX = checkAndWaitForReferenceAndChannelToSwitch(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT);
@@ -314,24 +348,28 @@ uint16_t getVCCVoltageMillivolt(void) {
     return ((1023L * 1100) / tVCC);
 }
 
-void printVCCVoltageMillivolt(Print* aSerial) {
+void printVCCVoltageMillivolt(Print *aSerial) {
     aSerial->print(F("VCC="));
     aSerial->print(getVCCVoltageMillivolt());
     aSerial->println(" mV");
 }
 
 /*
- * Version which restore the ADC Channel and handle reference switching.
+ * Handles reference and channel switching by introducing the appropriate delays.
  */
 float getTemperature(void) {
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     return 0.0;
 #else
-// use internal 1.1 volt as reference
+    // use internal 1.1 volt as reference
     uint8_t tOldADMUX = checkAndWaitForReferenceAndChannelToSwitch(ADC_TEMPERATURE_CHANNEL_MUX, INTERNAL);
     float tTemp = (readADCChannelWithReferenceOversample(ADC_TEMPERATURE_CHANNEL_MUX, INTERNAL, 2) - 317);
     ADMUX = tOldADMUX;
     return (tTemp / 1.22);
 #endif
 }
+#elif defined(ARDUINO_ARCH_APOLLO3)
+    void ADCUtilsDummyToAvoidBFDAssertions(){
+        ;
+    }
 #endif // defined(__AVR__)
diff --git a/src/ADCUtils.h b/src/ADCUtils.h
index 1e51918..c0fe1b2 100644
--- a/src/ADCUtils.h
+++ b/src/ADCUtils.h
@@ -1,7 +1,7 @@
 /*
  * ADCUtils.h
  *
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ *  Copyright (C) 2016-2021  Armin Joachimsmeyer
  *  Email: armin.joachimsmeyer@gmail.com
  *
  *  This file is part of Arduino-Utils https://github.com/ArminJo/Arduino-Utils.
@@ -26,14 +26,15 @@
 
 #if defined(__AVR__) && (! defined(__AVR_ATmega4809__))
 #include <Arduino.h>
+#if defined(ADATE)
 
 // PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz
 // PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 MHz Clock => 9,6 kHz
 #define ADC_PRESCALE8    3 // 104 microseconds per ADC conversion at 1 MHz
-#define ADC_PRESCALE16   4 // 208 microseconds per ADC conversion at 1 MHz
-#define ADC_PRESCALE32   5 // 416 microseconds per ADC conversion at 1 MHz
+#define ADC_PRESCALE16   4 // 13/208 microseconds per ADC conversion at 16/1 MHz - degradations in linearity at 16 MHz
+#define ADC_PRESCALE32   5 // 26/416 microseconds per ADC conversion at 16/1 MHz - very good linearity at 16 MHz
 #define ADC_PRESCALE64   6 // 52 microseconds per ADC conversion at 16 MHz
 #define ADC_PRESCALE128  7 // 104 microseconds per ADC conversion at 16 MHz --- Arduino default
 
@@ -102,12 +103,16 @@
 #define ADC_1_1_VOLT_CHANNEL_MUX    0x1E
 #define ADC_GND_CHANNEL_MUX         0x1F
 #define INTERNAL INTERNAL1V1
+
+#else
+#error "No temperature channel definitions specified for this AVR CPU"
 #endif
 
 uint16_t readADCChannel(uint8_t aChannelNumber);
 uint16_t readADCChannelWithReference(uint8_t aChannelNumber, uint8_t aReference);
 uint16_t readADCChannelWithOversample(uint8_t aChannelNumber, uint8_t aOversampleExponent);
 uint16_t readADCChannelWithReferenceOversample(uint8_t aChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
+uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
 uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples);
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples);
 uint16_t readADCChannelWithReferenceMaxMicros(uint8_t aChannelNumber, uint8_t aReference, uint16_t aMicrosecondsToAquire);
@@ -124,6 +129,7 @@ uint16_t getVCCVoltageMillivolt(void);
 void printVCCVoltageMillivolt(Print* aSerial);
 float getTemperature(void);
 
+#endif // defined(ADATE)
 #endif //  defined(__AVR__)
 #endif /* SRC_ADCUTILS_H_ */
 
diff --git a/src/AutonomousDrive.cpp b/src/AutonomousDrive.cpp
index 55bb579..f9894cf 100644
--- a/src/AutonomousDrive.cpp
+++ b/src/AutonomousDrive.cpp
@@ -26,9 +26,10 @@
 
 #include "RobotCar.h"
 #include "RobotCarGui.h"
+#include "Distance.h"
 
 #include "HCSR04.h"
-#include "Distance.h"
+#include "pitches.h"
 
 uint8_t sDriveMode = MODE_MANUAL_DRIVE; // one of MODE_MANUAL_DRIVE, MODE_AUTONOMOUS_DRIVE_BUILTIN, MODE_AUTONOMOUS_DRIVE_USER or MODE_FOLLOWER
 
@@ -97,7 +98,7 @@ void startStopAutomomousDrive(bool aDoStart, uint8_t aDriveMode) {
 #endif
         DistanceServoWriteAndDelay(90);
         sDriveMode = MODE_MANUAL_DRIVE;
-        RobotCarMotorControl.stopMotors(MOTOR_RELEASE);
+        RobotCarMotorControl.stop(MOTOR_RELEASE);
     }
 
     // manage on off buttons
@@ -141,11 +142,10 @@ void driveAutonomousOneStep() {
              */
             if (sNextDegreesToTurn == GO_BACK_AND_SCAN_AGAIN) {
                 // go backwards and do a new scan
-                RobotCarMotorControl.goDistanceCentimeter(10, DIRECTION_BACKWARD, &loopGUI);
+                RobotCarMotorControl.goDistanceMillimeter(100, DIRECTION_BACKWARD, &loopGUI);
             } else {
                 // rotate and go
-                RobotCarMotorControl.rotateCar(sNextDegreesToTurn, sTurnMode, true, &loopGUI);
-//                RobotCarMotorControl.rotateCar(sNextDegreesToTurn, TURN_FORWARD, true, &loopGUI);
+                RobotCarMotorControl.rotate(sNextDegreesToTurn, sTurnMode, &loopGUI);
                 // wait to really stop after turning
                 delay(100);
                 sLastDegreesTurned = sNextDegreesToTurn;
@@ -157,13 +157,13 @@ void driveAutonomousOneStep() {
              */
             if (sStepMode == MODE_SINGLE_STEP) {
                 // Go fixed distance
-                RobotCarMotorControl.goDistanceCentimeter(sCentimeterPerScan, DIRECTION_FORWARD, &loopGUI);
+                RobotCarMotorControl.goDistanceMillimeter(sCentimeterPerScan*10, DIRECTION_FORWARD, &loopGUI);
             } else
             /*
              * Continuous mode, start car or let it run
              */
             if (tCarIsStopped) {
-                RobotCarMotorControl.startRampUpAndWaitForDriveSpeed(DIRECTION_FORWARD, &loopGUI);
+                RobotCarMotorControl.startRampUpAndWaitForDriveSpeedPWM(DIRECTION_FORWARD, &loopGUI);
             }
         }
 
@@ -204,7 +204,7 @@ void driveAutonomousOneStep() {
                 char tStringBuffer[6];
                 sprintf_P(tStringBuffer, PSTR("%2d%s"), sCentimeterPerScan, "cm");
                 BlueDisplay1.drawText(0, BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_DECEND, tStringBuffer, TEXT_SIZE_11,
-                COLOR_BLACK, COLOR_WHITE);
+                COLOR16_BLACK, COLOR16_WHITE);
             }
         }
 
@@ -215,7 +215,7 @@ void driveAutonomousOneStep() {
             /*
              * Stop if rotation requested or single step
              */
-            RobotCarMotorControl.stopCarAndWaitForIt();
+            RobotCarMotorControl.stopAndWaitForIt();
 #ifdef USE_ENCODER_MOTOR_CONTROL
 #ifdef ENABLE_PATH_INFO_PAGE
 
@@ -303,11 +303,11 @@ int doBuiltInCollisionDetection() {
  ***************************************************/
 
 void checkSpeedAndGo(unsigned int aSpeed, uint8_t aRequestedDirection) {
-    if (aSpeed > RobotCarMotorControl.rightCarMotor.DriveSpeed * 2) {
-        aSpeed = RobotCarMotorControl.rightCarMotor.DriveSpeed * 2;
+    if (aSpeed > RobotCarMotorControl.rightCarMotor.DriveSpeedPWM * 2) {
+        aSpeed = RobotCarMotorControl.rightCarMotor.DriveSpeedPWM * 2;
     }
-    if (aSpeed > MAX_SPEED) {
-        aSpeed = MAX_SPEED;
+    if (aSpeed > MAX_SPEED_PWM) {
+        aSpeed = MAX_SPEED_PWM;
     }
     RobotCarMotorControl.startRampUpAndWait(aSpeed, aRequestedDirection, &loopGUI);
 
@@ -343,8 +343,7 @@ void driveFollowerModeOneStep() {
             /*
              * we had a pending turn
              */
-            RobotCarMotorControl.rotateCar(sNextDegreesToTurn, TURN_FORWARD, true);
-            //RobotCarMotorControl.rotateCar(sNextDegreesToTurn, TURN_IN_PLACE, true);
+            RobotCarMotorControl.rotate(sNextDegreesToTurn, TURN_FORWARD);
             sNextDegreesToTurn = 0;
 
         } else {
@@ -357,7 +356,7 @@ void driveFollowerModeOneStep() {
             if (tCentimeter > FOLLOWER_DISTANCE_TARGET_SCAN_CENTIMETER) {
                 // trigger scanning in the next loop
                 // Stop car, clear display area and show distance
-                RobotCarMotorControl.stopMotors();
+                RobotCarMotorControl.stop();
                 clearPrintedForwardDistancesInfos();
                 // show current distance (as US distance), which triggers the scan
                 showUSDistance(tCentimeter, true);
@@ -376,20 +375,20 @@ void driveFollowerModeOneStep() {
 //        if (RobotCarMotorControl.getCarDirectionOrBrakeMode() != DIRECTION_FORWARD) {
 //            Serial.println(F("Go forward"));
 //        }
-                tSpeed = RobotCarMotorControl.rightCarMotor.StartSpeed + (tCentimeter - FOLLOWER_DISTANCE_MAXIMUM_CENTIMETER) * 2;
+                tSpeed = RobotCarMotorControl.rightCarMotor.StartSpeedPWM + (tCentimeter - FOLLOWER_DISTANCE_MAXIMUM_CENTIMETER) * 2;
                 checkSpeedAndGo(tSpeed, DIRECTION_FORWARD);
 
             } else if (tCentimeter < FOLLOWER_DISTANCE_MINIMUM_CENTIMETER) {
 //        if (RobotCarMotorControl.getCarDirectionOrBrakeMode() != DIRECTION_BACKWARD) {
 //            Serial.println(F("Go backward"));
 //        }
-                tSpeed = RobotCarMotorControl.rightCarMotor.StartSpeed + (FOLLOWER_DISTANCE_MINIMUM_CENTIMETER - tCentimeter) * 4;
+                tSpeed = RobotCarMotorControl.rightCarMotor.StartSpeedPWM + (FOLLOWER_DISTANCE_MINIMUM_CENTIMETER - tCentimeter) * 4;
                 checkSpeedAndGo(tSpeed, DIRECTION_BACKWARD);
 
             } else {
                 if (RobotCarMotorControl.getCarDirectionOrBrakeMode() != MOTOR_RELEASE) {
 //        Serial.println(F("Stop"));
-                    RobotCarMotorControl.stopMotors(MOTOR_RELEASE);
+                    RobotCarMotorControl.stop(MOTOR_RELEASE);
                 }
             }
         }
@@ -401,11 +400,11 @@ unsigned int __attribute__((weak)) getDistanceAndPlayTone() {
     /*
      * Get distance; timeout is 1 meter
      */
-    unsigned int tCentimeter = getDistanceAsCentiMeter(true, DISTANCE_TIMEOUT_CM_FOLLOWER);
+    unsigned int tCentimeter = getDistanceAsCentiMeter(true, DISTANCE_TIMEOUT_CM_FOLLOWER, true);
     /*
      * play tone
      */
-    int tFrequency = map(tCentimeter, 0, 100, 100, 2000);
-    tone(PIN_BUZZER, tFrequency);
+    uint8_t tIndex = map(tCentimeter, 0, 100, 0, ARRAY_SIZE_NOTE_C5_TO_C7_PENTATONIC - 1);
+    tone(PIN_BUZZER, NoteC5ToC7Pentatonic[tIndex]);
     return tCentimeter;
 }
diff --git a/src/AutonomousDrivePage.cpp b/src/AutonomousDrivePage.cpp
index 0e61dd4..3dbb3d7 100644
--- a/src/AutonomousDrivePage.cpp
+++ b/src/AutonomousDrivePage.cpp
@@ -68,7 +68,7 @@ void setStepModeButtonCaption();
  */
 void setStepMode(uint8_t aStepMode) {
     if (aStepMode == MODE_SINGLE_STEP) {
-        RobotCarMotorControl.stopCarAndWaitForIt();
+        RobotCarMotorControl.stopAndWaitForIt();
     } else if (aStepMode > MODE_SINGLE_STEP) {
         aStepMode = MODE_CONTINUOUS;
     }
@@ -161,45 +161,46 @@ void handleAutomomousDriveRadioButtons() {
 }
 
 void initAutonomousDrivePage(void) {
-    TouchButtonStepMode.init(0, 0, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6 + 1, COLOR_BLUE,
+    TouchButtonStepMode.init(0, 0, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6 + 1, COLOR16_BLUE,
             reinterpret_cast<const __FlashStringHelper *>(sStepModeButtonStringContinuousStepToTurn), TEXT_SIZE_9,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doNextStepMode);
 
-    TouchButtonSingleScan.init(0, BUTTON_HEIGHT_6_LINE_2, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR_BLUE, F("Scan"),
+    TouchButtonSingleScan.init(0, BUTTON_HEIGHT_6_LINE_2, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR16_BLUE, F("Scan"),
     TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doSingleScan);
 
-    TouchButtonStep.init(0, BUTTON_HEIGHT_6_LINE_3, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR_BLUE, F("Step"),
+    TouchButtonStep.init(0, BUTTON_HEIGHT_6_LINE_3, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR16_BLUE, F("Step"),
     TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doStep);
 
     // use sDriveMode for reconnect during demo mode
-    TouchButtonFollower.init(0, BUTTON_HEIGHT_6_LINE_4, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR_RED, F("Follow"),
-    TEXT_SIZE_16, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, (sDriveMode == MODE_FOLLOWER),
-            &doStartStopFollowerMode);
+    TouchButtonStartStopUserAutonomousDrive.init(0, BUTTON_HEIGHT_6_LINE_4, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR16_RED, F("Start\nUser"),
+    TEXT_SIZE_13, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, (sDriveMode == MODE_AUTONOMOUS_DRIVE_USER),
+            &doStartStopTestUser);
+    TouchButtonStartStopUserAutonomousDrive.setCaptionForValueTrue(F("Stop\nUser"));
 
     TouchButtonScanSpeed.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER),
-    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR_BLACK, F("Scan slow"), TEXT_SIZE_16,
+    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_BLACK, F("Scan slow"), TEXT_SIZE_16,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doChangeScanSpeed);
     TouchButtonScanSpeed.setCaptionForValueTrue("Scan fast");
 
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
     TouchButtonScanMode.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER),
-    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR_RED, reinterpret_cast<const __FlashStringHelper *>(sScanModeButtonStringMinMax),
+    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED, reinterpret_cast<const __FlashStringHelper *>(sScanModeButtonStringMinMax),
     TEXT_SIZE_16, FLAG_BUTTON_DO_BEEP_ON_TOUCH, SCAN_MODE_MINIMUM, &doScanMode);
 #endif
 
     // use sDriveMode for reconnect during demo mode
-    TouchButtonStartStopBuiltInAutonomousDrive.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR_RED,
+    TouchButtonStartStopBuiltInAutonomousDrive.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED,
             F("Start\nBuiltin"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             (sDriveMode == MODE_AUTONOMOUS_DRIVE_BUILTIN), &doStartStopAutomomousDrive);
     TouchButtonStartStopBuiltInAutonomousDrive.setCaptionForValueTrue(F("Stop"));
 
-    TouchButtonStartStopUserAutonomousDrive.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
-    COLOR_RED, F("Start\nUser"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false,
-            &doStartStopTestUser);
-    TouchButtonStartStopUserAutonomousDrive.setCaptionForValueTrue(F("Stop\nUser"));
+    TouchButtonFollower.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
+    COLOR16_RED, F("Start\nFollow"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, (sDriveMode == MODE_FOLLOWER),
+            &doStartStopFollowerMode);
+    TouchButtonFollower.setCaptionForValueTrue(F("Stop\nFollow"));
 
 #ifdef ENABLE_PATH_INFO_PAGE
-    TouchButtonPathInfoPage.init(BUTTON_WIDTH_4_POS_4, 0, BUTTON_WIDTH_4, BUTTON_HEIGHT_6, COLOR_RED, F("Show\nPath"), TEXT_SIZE_22,
+    TouchButtonPathInfoPage.init(BUTTON_WIDTH_4_POS_4, 0, BUTTON_WIDTH_4, BUTTON_HEIGHT_6, COLOR16_RED, F("Show\nPath"), TEXT_SIZE_22,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_SHOW_PATH, &GUISwitchPages);
 #endif
 }
@@ -254,7 +255,7 @@ void stopAutonomousDrivePage(void) {
  */
 void clearPrintedForwardDistancesInfos() {
     BlueDisplay1.fillRect(BUTTON_WIDTH_3_5 + 1, BUTTON_HEIGHT_4 + 1, LAYOUT_320_WIDTH,
-    BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER) - 1, COLOR_WHITE);
+    BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER) - 1, COLOR16_WHITE);
 }
 
 /*
@@ -273,15 +274,15 @@ void drawForwardDistancesInfos() {
          * Determine color
          */
         uint8_t tDistance = sForwardDistancesInfo.RawDistancesArray[i];
-        tColor = COLOR_ORANGE;
+        tColor = COLOR16_ORANGE;
         if (tDistance >= DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE) {
             tDistance = DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE;
-            tColor = COLOR_GREEN;
+            tColor = COLOR16_GREEN;
         }
         if (tDistance > sCentimeterPerScanTimesTwo) {
-            tColor = COLOR_GREEN;
+            tColor = COLOR16_GREEN;
         } else if (tDistance < sCentimeterPerScan) {
-            tColor = COLOR_RED;
+            tColor = COLOR16_RED;
         }
 
         /*
@@ -298,15 +299,15 @@ void drawForwardDistancesInfos() {
 void drawCollisionDecision(int aDegreeToTurn, uint8_t aLengthOfVector, bool aDoClearVector) {
 
     if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-        color16_t tColor = COLOR_BLUE;
+        color16_t tColor = COLOR16_BLUE;
         int tDegreeToDisplay = aDegreeToTurn;
 
         if (tDegreeToDisplay == 180) {
-            tColor = COLOR_RED;
+            tColor = COLOR16_RED;
             tDegreeToDisplay = 0;
         }
         if (aDoClearVector) {
-            tColor = COLOR_WHITE;
+            tColor = COLOR16_WHITE;
         }
 
         BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, aLengthOfVector, tDegreeToDisplay + 90,
@@ -315,7 +316,7 @@ void drawCollisionDecision(int aDegreeToTurn, uint8_t aLengthOfVector, bool aDoC
             sprintf_P(sStringBuffer, PSTR("wall%4d\xB0 rotation: %3d\xB0 wall%4d\xB0"), sForwardDistancesInfo.WallLeftAngleDegrees,
                     aDegreeToTurn, sForwardDistancesInfo.WallRightAngleDegrees); // \xB0 is degree character
             BlueDisplay1.drawText(BUTTON_WIDTH_3_5_POS_2, US_DISTANCE_MAP_ORIGIN_Y + TEXT_SIZE_11, sStringBuffer, TEXT_SIZE_11,
-            COLOR_BLACK, COLOR_WHITE);
+            COLOR16_BLACK, COLOR16_WHITE);
         }
     }
 }
diff --git a/src/BTSensorDrivePage.cpp b/src/BTSensorDrivePage.cpp
index 5419664..f6edd6d 100644
--- a/src/BTSensorDrivePage.cpp
+++ b/src/BTSensorDrivePage.cpp
@@ -23,26 +23,25 @@
 #include "RobotCar.h"
 #include "RobotCarGui.h"
 
-//#pragma GCC diagnostic ignored "-Wunused-parameter"
-
 // 4 Sliders for accelerometer
 BDSlider SliderForward;     // Y negative
 BDSlider SliderBackward;    // Y positive
 BDSlider SliderRight;       // X negative
 BDSlider SliderLeft;        // X positive
 
-#define SLIDER_BACKGROUND_COLOR     COLOR_YELLOW
-#define SLIDER_BAR_COLOR            COLOR_GREEN
-#define SLIDER_THRESHOLD_COLOR      COLOR_BLUE
+#define SLIDER_BACKGROUND_COLOR     COLOR16_YELLOW
+#define SLIDER_BAR_COLOR            COLOR16_GREEN
+#define SLIDER_THRESHOLD_COLOR      COLOR16_BLUE
 
 #define SENSOR_SLIDER_WIDTH         (DISPLAY_WIDTH / 16)
 #define VERTICAL_SLIDER_LENTGH      ((DISPLAY_HEIGHT / 4) + (DISPLAY_HEIGHT / 10))
-#define SLIDER_SPEED_THRESHOLD      DEFAULT_START_SPEED
-#define SPEED_DEAD_BAND             (DEFAULT_START_SPEED / 2)
+#define SLIDER_SPEED_THRESHOLD      DEFAULT_START_SPEED_PWM
+#define SPEED_SENSOR_DEAD_BAND      20
+#define SPEED_DEAD_BAND             (DEFAULT_START_SPEED_PWM / 2)
 
 #define HORIZONTAL_SLIDER_LENTGH    (DISPLAY_HEIGHT / 4)
 #define SLIDER_LEFT_RIGHT_THRESHOLD (HORIZONTAL_SLIDER_LENTGH / 4)
-#define LEFT_RIGHT_DEAD_BAND        4
+#define LEFT_RIGHT_SENSOR_DEAD_BAND 10
 
 #define SENSOR_SLIDER_CENTER_X      ((DISPLAY_WIDTH - SENSOR_SLIDER_WIDTH) / 2)
 #define SENSOR_SLIDER_CENTER_Y      ((DISPLAY_HEIGHT / 2) + (DISPLAY_HEIGHT / 16))
@@ -55,18 +54,72 @@ uint8_t sSensorChangeCallCountForZeroAdjustment;
 float sYZeroValueAdded; // The accumulator for the values of the first 8 calls.
 float sYZeroValue = 0;
 
-int sLastSpeedValue = 0;
-int sLastLeftRightValue = 0;
+#if (VERSION_BLUE_DISPLAY_MAJOR <= 2) && (VERSION_BLUE_DISPLAY_MINOR <= 1)
+// positiveNegativeSlider is available since 2.2
+/*
+ * To show a signed value on two sliders positioned back to back (one of it is inverse or has a negative length value)
+ */
+struct positiveNegativeSlider {
+    BDSlider *positiveSliderPtr;
+    BDSlider *negativeSliderPtr;
+    int lastSliderValue;      // positive value with sensor dead band applied
+    BDSlider *lastZeroSlider; // to decide if we draw new zero slider
+};
+/*
+ * @return aValue with aSliderDeadBand applied
+ */
+int setPositiveNegativeSliders(struct positiveNegativeSlider *aSliderStructPtr, int aValue, uint8_t aSliderDeadBand) {
+    BDSlider *tValueSlider = aSliderStructPtr->positiveSliderPtr;
+    BDSlider *tZeroSlider = aSliderStructPtr->negativeSliderPtr;
+    if (aValue < 0) {
+        aValue = -aValue;
+        tValueSlider = tZeroSlider;
+        tZeroSlider = aSliderStructPtr->positiveSliderPtr;
+    }
 
-uint8_t speedOverflowAndDeadBandHandling(unsigned int aSpeed) {
-    // overflow handling since analogWrite only accepts byte values
-    if (aSpeed > 0xFF) {
-        aSpeed = 0xFF;
+    /*
+     * Now we have a positive value for dead band and slider length
+     */
+    if (aValue > aSliderDeadBand) {
+        // dead band subtraction -> resulting values start at 0
+        aValue -= aSliderDeadBand;
+    } else {
+        aValue = 0;
     }
-    if (aSpeed <= SPEED_DEAD_BAND) {
-        aSpeed = 0;
+
+    /*
+     * Draw slider value if values changed
+     */
+    if (aSliderStructPtr->lastSliderValue != aValue) {
+        aSliderStructPtr->lastSliderValue = aValue;
+        tValueSlider->setValueAndDrawBar(aValue);
+        if (aSliderStructPtr->lastZeroSlider != tZeroSlider) {
+            aSliderStructPtr->lastZeroSlider = tZeroSlider;
+            // the sign has changed, clear old value
+            tZeroSlider->setValueAndDrawBar(0);
+        }
+    }
+
+    /*
+     * Restore sign for aValue with dead band applied
+     */
+    if (tZeroSlider == aSliderStructPtr->positiveSliderPtr) {
+        aValue = -aValue;
     }
-    return aSpeed;
+    return aValue;
+}
+#endif
+
+struct positiveNegativeSlider sAccelerationLeftRightSliders;
+struct positiveNegativeSlider sAccelerationForwardBackwardSliders;
+
+uint8_t speedOverflowAndDeadBandHandling(unsigned int aSpeedPWM) {
+    aSpeedPWM += SPEED_DEAD_BAND;
+    // overflow handling since analogWrite only accepts byte values
+    if (aSpeedPWM > MAX_SPEED_PWM) {
+        aSpeedPWM = MAX_SPEED_PWM;
+    }
+    return aSpeedPWM;
 }
 
 /*
@@ -79,13 +132,15 @@ uint8_t speedOverflowAndDeadBandHandling(unsigned int aSpeed) {
  * positive -> left down
  * negative -> right down
  */
-void doSensorChange(uint8_t aSensorType, struct SensorCallback * aSensorCallbackInfo) {
+void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackInfo) {
+    (void) aSensorType; // to avoid -Wunused-parameter
+
     if (sSensorChangeCallCountForZeroAdjustment < CALLS_FOR_ZERO_ADJUSTMENT) {
         if (sSensorChangeCallCountForZeroAdjustment == 0) {
             // init values
             sYZeroValueAdded = 0;
         }
-        // Add for zero adjustment
+        // Sum for zero adjustment
         sYZeroValueAdded += aSensorCallbackInfo->ValueY;
         sSensorChangeCallCountForZeroAdjustment++;
     } else if (sSensorChangeCallCountForZeroAdjustment == CALLS_FOR_ZERO_ADJUSTMENT) {
@@ -95,69 +150,43 @@ void doSensorChange(uint8_t aSensorType, struct SensorCallback * aSensorCallback
         sYZeroValue = sYZeroValueAdded / CALLS_FOR_ZERO_ADJUSTMENT;
         BlueDisplay1.playTone(24); // feedback for zero value acquired
     } else {
+
         /*
          * regular operation here
          * left right handling
          */
-        // Scale value
-        int tLeftRightValue = aSensorCallbackInfo->ValueX * 8.0;
-
-        BDSlider * tValueSlider = &SliderLeft;
-        BDSlider * tZeroSlider = &SliderRight;
-        if (tLeftRightValue < 0) {
-            tLeftRightValue = -tLeftRightValue;
-            tValueSlider = &SliderRight;
-            tZeroSlider = &SliderLeft;
-        }
-        if (tLeftRightValue > LEFT_RIGHT_DEAD_BAND) {
-            // dead band subtraction
-            tLeftRightValue -= LEFT_RIGHT_DEAD_BAND;
-        } else {
-            tLeftRightValue = 0;
-        }
+#ifdef CAR_HAS_4_WHEELS
+        int tLeftRightValue = aSensorCallbackInfo->ValueX * 12.0;
+#else
+        int tLeftRightValue = aSensorCallbackInfo->ValueX * 8.0; // Scale value
+#endif
+        tLeftRightValue = setPositiveNegativeSliders(&sAccelerationLeftRightSliders, tLeftRightValue, LEFT_RIGHT_SENSOR_DEAD_BAND);
 
-        if (sLastLeftRightValue != tLeftRightValue) {
-            sLastLeftRightValue = tLeftRightValue;
-
-            tValueSlider->setValueAndDrawBar(tLeftRightValue);
-            tZeroSlider->setValueAndDrawBar(0);
-        }
+        /*
+         * forward backward handling
+         */
+        int tSpeedPWMValue = -((aSensorCallbackInfo->ValueY - sYZeroValue) * (MAX_SPEED_PWM / 10)); // Scale value
+        tSpeedPWMValue = setPositiveNegativeSliders(&sAccelerationForwardBackwardSliders, tSpeedPWMValue, SPEED_SENSOR_DEAD_BAND);
 
         /*
-         * restore sign for speed setting below
+         * Print speed as value of bottom slider
          */
-        if (tZeroSlider == &SliderLeft) {
-            tLeftRightValue = -tLeftRightValue;
-        }
+        sprintf(sStringBuffer, "%4d", tSpeedPWMValue);
+        SliderBackward.printValue(sStringBuffer);
 
         /*
-         * forward backward handling
+         * Get direction
          */
-        int tSpeedValue = -((aSensorCallbackInfo->ValueY - sYZeroValue) * (MAX_SPEED / 7));
-        if (sLastSpeedValue != tSpeedValue) {
-            sLastSpeedValue = tSpeedValue;
-            if (tSpeedValue >= 0) {
-                // Forward
-                tSpeedValue = speedOverflowAndDeadBandHandling(tSpeedValue);
-
-                RobotCarMotorControl.setSpeedCompensated(tSpeedValue, DIRECTION_FORWARD, tLeftRightValue);
-                SliderBackward.setValueAndDrawBar(0);
-                SliderForward.setValueAndDrawBar(tSpeedValue);
-
-            } else {
-                // Backward
-                tSpeedValue = speedOverflowAndDeadBandHandling(-tSpeedValue);
-
-                RobotCarMotorControl.setSpeedCompensated(tSpeedValue, DIRECTION_BACKWARD, tLeftRightValue);
-                SliderForward.setValueAndDrawBar(0);
-                SliderBackward.setValueAndDrawBar(tSpeedValue);
-            }
-            /*
-             * Print speed as value of bottom slider
-             */
-            sprintf(sStringBuffer, "%3d", tSpeedValue);
-            SliderBackward.printValue(sStringBuffer);
+        uint8_t tDirection = DIRECTION_FORWARD;
+        if (tSpeedPWMValue < 0) {
+            tSpeedPWMValue = -tSpeedPWMValue;
+            tDirection = DIRECTION_BACKWARD;
         }
+
+        RobotCarMotorControl.rightCarMotor.setSpeedPWMCompensated(speedOverflowAndDeadBandHandling(tSpeedPWMValue + tLeftRightValue),
+                tDirection);
+        RobotCarMotorControl.leftCarMotor.setSpeedPWMCompensated(speedOverflowAndDeadBandHandling(tSpeedPWMValue - tLeftRightValue),
+                tDirection);
     }
 }
 
@@ -176,8 +205,10 @@ void initBTSensorDrivePage(void) {
     SliderBackward.init(SENSOR_SLIDER_CENTER_X, SENSOR_SLIDER_CENTER_Y, SENSOR_SLIDER_WIDTH, -(VERTICAL_SLIDER_LENTGH),
     SLIDER_SPEED_THRESHOLD, 0, SLIDER_BACKGROUND_COLOR, SLIDER_BAR_COLOR, FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
 //    SliderBackward.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
-    SliderForward.setScaleFactor((float) MAX_SPEED / (float) VERTICAL_SLIDER_LENTGH);
-    SliderBackward.setScaleFactor((float) MAX_SPEED / (float) VERTICAL_SLIDER_LENTGH);
+    SliderForward.setScaleFactor((float) MAX_SPEED_PWM / (float) VERTICAL_SLIDER_LENTGH);
+    SliderBackward.setScaleFactor((float) MAX_SPEED_PWM / (float) VERTICAL_SLIDER_LENTGH);
+    sAccelerationForwardBackwardSliders.positiveSliderPtr = &SliderForward;
+    sAccelerationForwardBackwardSliders.negativeSliderPtr = &SliderBackward;
 
 // Position slider right from  at middle of screen
     SliderRight.init(SENSOR_SLIDER_CENTER_X + SENSOR_SLIDER_WIDTH, SENSOR_SLIDER_CENTER_Y - (SENSOR_SLIDER_WIDTH / 2),
@@ -192,6 +223,8 @@ void initBTSensorDrivePage(void) {
 //    SliderLeft.setBarThresholdColor(SLIDER_THRESHOLD_COLOR);
     SliderRight.setScaleFactor(1.2);
     SliderLeft.setScaleFactor(1.2);
+    sAccelerationLeftRightSliders.positiveSliderPtr = &SliderLeft;
+    sAccelerationLeftRightSliders.negativeSliderPtr = &SliderRight;
 }
 
 void drawBTSensorDrivePage(void) {
@@ -207,6 +240,7 @@ void drawBTSensorDrivePage(void) {
 }
 
 void startBTSensorDrivePage(void) {
+    doReset(NULL, 0);
     drawBTSensorDrivePage();
 }
 
diff --git a/src/CarMotorControl.cpp b/src/CarMotorControl.cpp
deleted file mode 100644
index 6775907..0000000
--- a/src/CarMotorControl.cpp
+++ /dev/null
@@ -1,615 +0,0 @@
-/*
- * CarMotorControl.cpp
- *
- *  Contains functions for control of the 2 motors of a car like setDirection, goDistanceCentimeter() and rotateCar().
- *  Checks input of PIN aPinFor2WDDetection since we need different factors for rotating a 4 wheel and a 2 wheel car.
- *
- *  Requires EncoderMotor.cpp
- *
- *  Created on: 16.09.2016
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
- *  armin.joachimsmeyer@gmail.com
- *
- *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
- */
-
-#include <Arduino.h>
-#include "CarMotorControl.h"
-
-//#define DEBUG // Only for development
-
-CarMotorControl * sCarMotorControlPointerForISR;
-
-CarMotorControl::CarMotorControl() { // @suppress("Class members should be properly initialized")
-    sCarMotorControlPointerForISR = this;
-}
-
-#ifdef USE_ADAFRUIT_MOTOR_SHIELD
-void CarMotorControl::init(bool aReadFromEeprom) {
-    leftCarMotor.init(1, aReadFromEeprom);
-    rightCarMotor.init(2, aReadFromEeprom);
-
-#if defined(CAR_HAS_4_WHEELS)
-    FactorDegreeToCount = FACTOR_DEGREE_TO_COUNT_4WD_CAR_DEFAULT;
-#else
-    FactorDegreeToCount = FACTOR_DEGREE_TO_COUNT_2WD_CAR_DEFAULT;
-#endif
-
-#  ifdef USE_ENCODER_MOTOR_CONTROL
-    /*
-     * For slot type optocoupler interrupts on pin PD2 + PD3
-     */
-    EncoderMotor::enableINT0AndINT1Interrupts();
-#  endif
-}
-
-#else
-void CarMotorControl::init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin,
-        uint8_t aLeftMotorForwardPin, uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin, bool aReadFromEeprom) {
-    if (aReadFromEeprom) {
-        leftCarMotor.init(aLeftMotorForwardPin, LeftMotorBackwardPin, aLeftMotorPWMPin, 1);
-        rightCarMotor.init(aRightMotorForwardPin, aRightMotorBackwardPin, aRightPWMPin, 2);
-    } else {
-        leftCarMotor.init(aLeftMotorForwardPin, LeftMotorBackwardPin, aLeftMotorPWMPin);
-        rightCarMotor.init(aRightMotorForwardPin, aRightMotorBackwardPin, aRightPWMPin);
-    }
-
-    FactorDegreeToCount = FACTOR_DEGREE_TO_COUNT_DEFAULT;
-
-#  ifdef USE_ENCODER_MOTOR_CONTROL
-    /*
-     * For slot type optocoupler interrupts on pin PD2 + PD3
-     */
-    EncoderMotor::enableINT0AndINT1Interrupts();
-#  endif
-}
-#endif
-
-/*
- * Sets default values for min and max speed, factor for distance to time conversion for non encoder motors and reset speed compensation
- * Is called automatically at init if parameter aReadFromEeprom is set to false
- */
-void CarMotorControl::setDefaultsForFixedDistanceDriving() {
-    rightCarMotor.setDefaultsForFixedDistanceDriving();
-    leftCarMotor.setDefaultsForFixedDistanceDriving();
-}
-
-/**
- * @param aSpeedCompensationRight if positive, this value is added to the compensation value of the right motor, or subtracted from the left motor value.
- *  If negative, -value is added to the compensation value the left motor, or subtracted from the right motor value.
- */
-void CarMotorControl::setValuesForFixedDistanceDriving(uint8_t aStartSpeed, uint8_t aDriveSpeed, int8_t aSpeedCompensationRight) {
-    if (aSpeedCompensationRight > 0) {
-        rightCarMotor.setValuesForFixedDistanceDriving(aStartSpeed, aDriveSpeed, aSpeedCompensationRight);
-        leftCarMotor.setValuesForFixedDistanceDriving(aStartSpeed, aDriveSpeed, 0);
-    } else {
-        rightCarMotor.setValuesForFixedDistanceDriving(aStartSpeed, aDriveSpeed, 0);
-        leftCarMotor.setValuesForFixedDistanceDriving(aStartSpeed, aDriveSpeed, -aSpeedCompensationRight);
-    }
-}
-
-/**
- * @param aSpeedCompensationRight if positive, this value is added to the compensation value of the right motor, or subtracted from the left motor value.
- *  If negative, -value is added to the compensation value the left motor, or subtracted from the right motor value.
- */
-void CarMotorControl::setSpeedCompensation(int8_t aSpeedCompensationRight) {
-    if (aSpeedCompensationRight > 0) {
-        if (leftCarMotor.SpeedCompensation >= aSpeedCompensationRight) {
-            leftCarMotor.SpeedCompensation -= aSpeedCompensationRight;
-        } else {
-            rightCarMotor.SpeedCompensation += aSpeedCompensationRight;
-        }
-    } else {
-        aSpeedCompensationRight = -aSpeedCompensationRight;
-        if (rightCarMotor.SpeedCompensation >= aSpeedCompensationRight) {
-            rightCarMotor.SpeedCompensation -= aSpeedCompensationRight;
-        } else {
-            leftCarMotor.SpeedCompensation += aSpeedCompensationRight;
-        }
-    }
-    PWMDcMotor::MotorValuesHaveChanged = true;
-}
-
-void CarMotorControl::setDriveSpeed(uint8_t aDriveSpeed) {
-    rightCarMotor.setDriveSpeed(aDriveSpeed);
-    leftCarMotor.setDriveSpeed(aDriveSpeed);
-}
-
-/*
- * @return true if direction has changed and motor has stopped
- */
-bool CarMotorControl::checkAndHandleDirectionChange(uint8_t aRequestedDirection) {
-    bool tReturnValue = false;
-    uint8_t tRequestedDirection = aRequestedDirection & DIRECTION_MASK;
-    if (CarDirectionOrBrakeMode != tRequestedDirection) {
-#ifdef DEBUG
-        Serial.print(F("Motor mode change to "));
-        Serial.println(tRequestedDirection);
-#endif
-        uint8_t tMaxSpeed = max(rightCarMotor.CurrentSpeed, leftCarMotor.CurrentSpeed);
-        if (tMaxSpeed > 0) {
-            /*
-             * Direction change requested but motor still running-> first stop motor
-             */
-#ifdef DEBUG
-            Serial.println(F("First stop motor and wait"));
-#endif
-            stopMotors(MOTOR_BRAKE);
-            delay(tMaxSpeed / 2); // to let motors stop
-            tReturnValue = true;
-        }
-        CarDirectionOrBrakeMode = tRequestedDirection; // The only statement which changes CarDirectionOrBrakeMode to DIRECTION_FORWARD or DIRECTION_BACKWARD
-    }
-    return tReturnValue;
-}
-
-/*
- *  Direct motor control, no state or flag handling
- */
-void CarMotorControl::setSpeed(uint8_t aRequestedSpeed, uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.setSpeed(aRequestedSpeed, aRequestedDirection);
-    leftCarMotor.setSpeed(aRequestedSpeed, aRequestedDirection);
-}
-
-/*
- * Sets speed adjusted by current compensation value and handle motor state and flags
- */
-void CarMotorControl::setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-    leftCarMotor.setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-}
-
-/*
- * Sets speed adjusted by current compensation value and handle motor state and flags
- * @param aLeftRightSpeed if positive, this value is subtracted from the left motor value, if negative subtracted from the right motor value
- *
- */
-void CarMotorControl::setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection, int8_t aLeftRightSpeed) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    EncoderMotor * tMotorWithModifiedSpeed;
-#else
-    PWMDcMotor * tMotorWithModifiedSpeed;
-#endif
-    if (aLeftRightSpeed >= 0) {
-        rightCarMotor.setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-        tMotorWithModifiedSpeed = &leftCarMotor;
-    } else {
-        aLeftRightSpeed = -aLeftRightSpeed;
-        leftCarMotor.setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-        tMotorWithModifiedSpeed = &rightCarMotor;
-    }
-
-    if (aRequestedSpeed >= aLeftRightSpeed) {
-        tMotorWithModifiedSpeed->setSpeedCompensated(aRequestedSpeed - aLeftRightSpeed, aRequestedDirection);
-    } else {
-        tMotorWithModifiedSpeed->setSpeedCompensated(0, aRequestedDirection);
-    }
-}
-
-/*
- *  Direct motor control, no state or flag handling
- */
-void CarMotorControl::setSpeed(int aRequestedSpeed) {
-    rightCarMotor.setSpeed(aRequestedSpeed);
-    leftCarMotor.setSpeed(aRequestedSpeed);
-}
-
-/*
- * Sets signed speed adjusted by current compensation value and handle motor state and flags
- */
-void CarMotorControl::setSpeedCompensated(int aRequestedSpeed) {
-    rightCarMotor.setSpeedCompensated(aRequestedSpeed);
-    leftCarMotor.setSpeedCompensated(aRequestedSpeed);
-}
-
-uint8_t CarMotorControl::getCarDirectionOrBrakeMode() {
-    return CarDirectionOrBrakeMode;;
-}
-
-void CarMotorControl::writeMotorvaluesToEeprom(){
-    rightCarMotor.writeMotorvaluesToEeprom();
-    leftCarMotor.writeMotorvaluesToEeprom();
-}
-
-/*
- * Stop car
- * @param aStopMode STOP_MODE_KEEP (take previously defined StopMode) or MOTOR_BRAKE or MOTOR_RELEASE
- */
-void CarMotorControl::stopMotors(uint8_t aStopMode) {
-    CarDirectionOrBrakeMode = aStopMode;
-    rightCarMotor.stop(aStopMode);
-    leftCarMotor.stop(aStopMode);
-}
-
-/*
- * @param aStopMode MOTOR_BRAKE or MOTOR_RELEASE
- */
-void CarMotorControl::setStopMode(uint8_t aStopMode) {
-    rightCarMotor.setStopMode(aStopMode);
-    leftCarMotor.setStopMode(aStopMode);
-}
-
-/*
- * Stop car and reset all control values as speed, distances, debug values etc. to 0x00
- */
-void CarMotorControl::resetControlValues() {
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    rightCarMotor.resetControlValues();
-    leftCarMotor.resetControlValues();
-#endif
-}
-
-/*
- * If motor is accelerating or decelerating then updateMotor needs to be called at a fast rate otherwise it will not work correctly
- * Used to suppress time consuming display of motor values
- */
-bool CarMotorControl::isStateRamp() {
-#ifdef SUPPORT_RAMP_UP
-    return (rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_DOWN || rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_UP
-            || leftCarMotor.MotorRampState == MOTOR_STATE_RAMP_DOWN || leftCarMotor.MotorRampState == MOTOR_STATE_RAMP_UP);
-#else
-    return false;
-#endif
-}
-
-/*
- * @return true if not stopped (motor expects another update)
- */
-bool CarMotorControl::updateMotors() {
-    bool tMotorsNotStopped = rightCarMotor.updateMotor();
-    tMotorsNotStopped |= leftCarMotor.updateMotor();
-    return tMotorsNotStopped;
-}
-
-void CarMotorControl::delayAndUpdateMotors(unsigned int aDelayMillis) {
-    uint32_t tStartMillis = millis();
-    do {
-        updateMotors();
-    } while (millis() - tStartMillis <= aDelayMillis);
-}
-
-#ifdef SUPPORT_RAMP_UP
-void CarMotorControl::startRampUp(uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.startRampUp(aRequestedDirection);
-    leftCarMotor.startRampUp(aRequestedDirection);
-}
-
-void CarMotorControl::startRampUp(uint8_t aRequestedSpeed, uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.startRampUp(aRequestedSpeed, aRequestedDirection);
-    leftCarMotor.startRampUp(aRequestedSpeed, aRequestedDirection);
-}
-
-/*
- * Blocking wait until both motors are at drive speed. 256 milliseconds for ramp up.
- */
-void CarMotorControl::waitForDriveSpeed(void (*aLoopCallback)(void)) {
-
-    bool tMotorsNotStopped;
-    do {
-        if (aLoopCallback != NULL) {
-            aLoopCallback();
-        }
-        tMotorsNotStopped = rightCarMotor.updateMotor();
-        tMotorsNotStopped |= leftCarMotor.updateMotor();
-    } while (tMotorsNotStopped
-            && (rightCarMotor.MotorRampState != MOTOR_STATE_DRIVE_SPEED || leftCarMotor.MotorRampState != MOTOR_STATE_DRIVE_SPEED));
-}
-#endif
-
-/*
- * If ramp up is not supported, this functions just sets the speed and returns immediately.
- * 256 milliseconds for ramp up.
- */
-void CarMotorControl::startRampUpAndWait(uint8_t aRequestedSpeed, uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
-#ifdef SUPPORT_RAMP_UP
-    startRampUp(aRequestedSpeed, aRequestedDirection);
-    waitForDriveSpeed(aLoopCallback);
-#else
-    checkAndHandleDirectionChange(aRequestedDirection);
-    (void) aLoopCallback;
-    rightCarMotor.setSpeedCompensated(aDriveSpeed, aRequestedDirection);
-    leftCarMotor.setSpeedCompensated(aDriveSpeed, aRequestedDirection);
-#endif
-}
-
-void CarMotorControl::startRampUpAndWaitForDriveSpeed(uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
-#ifdef SUPPORT_RAMP_UP
-    startRampUp(aRequestedDirection);
-    waitForDriveSpeed(aLoopCallback);
-#else
-    (void) aLoopCallback;
-    rightCarMotor.setSpeedCompensated(rightCarMotor.DriveSpeed, aRequestedDirection);
-    leftCarMotor.setSpeedCompensated(leftCarMotor.DriveSpeed, aRequestedDirection);
-#endif
-}
-
-/*
- * initialize motorInfo fields DirectionForward, CurrentDriveSpeed, DistanceTickCounter and optional NextChangeMaxTargetCount.
- * Motor is started by the first call to updateMotors().
- */
-void CarMotorControl::startGoDistanceCentimeter(unsigned int aDistanceCentimeter, uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.startGoDistanceCount(aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT, aRequestedDirection);
-    leftCarMotor.startGoDistanceCount(aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT, aRequestedDirection);
-}
-
-/*
- * initialize motorInfo fields DirectionForward, CurrentDriveSpeed, DistanceTickCounter and optional NextChangeMaxTargetCount.
- */
-void CarMotorControl::startGoDistanceCentimeter(uint8_t aRequestedSpeed, unsigned int aDistanceCentimeter,
-        uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.startGoDistanceCount(aRequestedSpeed, aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT,
-            aRequestedDirection);
-    leftCarMotor.startGoDistanceCount(aRequestedSpeed, aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT,
-            aRequestedDirection);
-}
-
-void CarMotorControl::goDistanceCentimeter(unsigned int aDistanceCentimeter, uint8_t aRequestedDirection,
-        void (*aLoopCallback)(void)) {
-    startGoDistanceCentimeter(aDistanceCentimeter, aRequestedDirection);
-    waitUntilCarStopped(aLoopCallback);
-}
-
-/*
- * initialize motorInfo fields DirectionForward, CurrentDriveSpeed, DistanceTickCounter and optional NextChangeMaxTargetCount.
- */
-void CarMotorControl::startGoDistanceCentimeter(int aDistanceCentimeter) {
-    rightCarMotor.startGoDistanceCount(aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT);
-    leftCarMotor.startGoDistanceCount(aDistanceCentimeter * FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT);
-}
-/**
- * Wait until distance is reached
- * @param  aLoopCallback called until car has stopped to avoid blocking
- */
-void CarMotorControl::goDistanceCentimeter(int aDistanceCentimeter, void (*aLoopCallback)(void)) {
-    startGoDistanceCentimeter(aDistanceCentimeter);
-    waitUntilCarStopped(aLoopCallback);
-}
-
-/*
- * Stop car with ramp and give DistanceCountAfterRampUp counts for braking.
- */
-void CarMotorControl::stopCarAndWaitForIt(void (*aLoopCallback)(void)) {
-    if (isStopped()) {
-        return;
-    }
-#if defined(USE_ENCODER_MOTOR_CONTROL) && defined(SUPPORT_RAMP_UP)
-    /*
-     * Set NextChangeMaxTargetCount to change state from MOTOR_STATE_DRIVE_SPEED to MOTOR_STATE_RAMP_DOWN
-     * Use DistanceCountAfterRampUp as ramp down count
-     */
-    rightCarMotor.NextChangeMaxTargetCount = rightCarMotor.EncoderCount;
-    rightCarMotor.TargetDistanceCount = rightCarMotor.EncoderCount + rightCarMotor.DistanceCountAfterRampUp;
-    leftCarMotor.NextChangeMaxTargetCount = leftCarMotor.EncoderCount;
-    leftCarMotor.TargetDistanceCount = leftCarMotor.EncoderCount + leftCarMotor.DistanceCountAfterRampUp;
-    /*
-     * blocking wait for stop
-     */
-    waitUntilCarStopped(aLoopCallback);
-#else
-    (void) aLoopCallback;
-    rightCarMotor.stop();
-    leftCarMotor.stop();
-    CarDirectionOrBrakeMode = rightCarMotor.CurrentDirectionOrBrakeMode; // get right stopMode
-#endif
-}
-
-/*
- * Wait with optional wait loop callback
- */
-void CarMotorControl::waitUntilCarStopped(void (*aLoopCallback)(void)) {
-    do {
-        rightCarMotor.updateMotor();
-        leftCarMotor.updateMotor();
-        if (aLoopCallback != NULL) {
-            aLoopCallback();
-        }
-    } while (!isStopped());
-    CarDirectionOrBrakeMode = rightCarMotor.CurrentDirectionOrBrakeMode; // get right stopMode
-}
-
-bool CarMotorControl::isState(uint8_t aState) {
-#if defined(SUPPORT_RAMP_UP)
-    return (rightCarMotor.MotorRampState == aState && leftCarMotor.MotorRampState == aState);
-#else
-    (void) aState;
-    return false;
-#endif
-}
-
-bool CarMotorControl::isStopped() {
-    return (rightCarMotor.CurrentSpeed == 0 && leftCarMotor.CurrentSpeed == 0);
-}
-
-void CarMotorControl::setFactorDegreeToCount(float aFactorDegreeToCount) {
-    FactorDegreeToCount = aFactorDegreeToCount;
-}
-
-/**
- * Set distances and speed for 2 motors to turn the requested angle
- * @param  aRotationDegrees positive -> turn left, negative -> turn right
- * @param  aTurnDirection direction of turn TURN_FORWARD, TURN_BACKWARD or TURN_IN_PLACE
- * @param  aUseSlowSpeed true -> use slower speed (1.5 times StartSpeed) instead of DriveSpeed for rotation to be more exact
- */
-void CarMotorControl::startRotateCar(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed) {
-    int tDistanceCountRight;
-    int tDistanceCountLeft;
-    unsigned int tDistanceCount;
-
-    uint8_t tTurnDirectionRightMotor = aTurnDirection; // set turn direction as start direction
-    uint8_t tTurnDirectionLeftMotor = aTurnDirection;
-    if (aTurnDirection == TURN_BACKWARD) {
-        // swap turn sign / (left / right) to move other motor
-        aRotationDegrees = -aRotationDegrees;
-    }
-
-    /*
-     * Here aRotationDegrees is modified for TURN_FORWARD
-     */
-    if (aRotationDegrees > 0) {
-        tDistanceCount = (aRotationDegrees * FactorDegreeToCount) + 0.5;
-        /*
-         * Move right motor (except for TURN_IN_PLACE)
-         * Here we have a left turn and a direction TURN_FORWARD or TURN_IN_PLACE
-         * OR a right turn and a direction TURN_BACKWARD
-         */
-        tDistanceCountRight = tDistanceCount;
-        tDistanceCountLeft = 0;
-
-        if (aTurnDirection == TURN_IN_PLACE) {
-            tDistanceCountRight /= 2;
-            tDistanceCountLeft = tDistanceCountRight;
-            // The right motor has turn direction TURN_IN_PLACE which is masked to TURN_FORWARD by startGoDistanceCount()
-            tTurnDirectionLeftMotor = TURN_BACKWARD;
-        }
-    } else {
-        tDistanceCount = (-aRotationDegrees * FactorDegreeToCount) + 0.5;
-        /*
-         * Move left motor (except for TURN_IN_PLACE)
-         * Here we have a right turn and a direction TURN_FORWARD or TURN_IN_PLACE
-         * OR a left turn and a direction TURN_BACKWARD
-         */
-        tDistanceCountLeft = tDistanceCount;
-        tDistanceCountRight = 0;
-        if (aTurnDirection == TURN_IN_PLACE) {
-            tDistanceCountLeft /= 2;
-            tDistanceCountRight = tDistanceCountLeft;
-            tTurnDirectionRightMotor = TURN_BACKWARD;
-        }
-    }
-
-    // This in turn sets CurrentDriveSpeed to DriveSpeed.
-    rightCarMotor.startGoDistanceCount(tDistanceCountRight, tTurnDirectionRightMotor);
-    leftCarMotor.startGoDistanceCount(tDistanceCountLeft, tTurnDirectionLeftMotor);
-    if (aUseSlowSpeed) {
-        // adjust CurrentDriveSpeed
-#if defined(SUPPORT_RAMP_UP)
-        // avoid overflow, the reduced speed is almost max speed then.
-        if (rightCarMotor.StartSpeed < 160) {
-            rightCarMotor.CurrentDriveSpeed = rightCarMotor.StartSpeed + rightCarMotor.StartSpeed / 2;
-        }
-        if (leftCarMotor.StartSpeed < 160) {
-            leftCarMotor.CurrentDriveSpeed = leftCarMotor.StartSpeed + leftCarMotor.StartSpeed / 2;
-        }
-#else
-        if (tDistanceCountRight > 0) {
-            rightCarMotor.setSpeedCompensated(rightCarMotor.StartSpeed + rightCarMotor.StartSpeed / 2,
-                    rightCarMotor.CurrentDirectionOrBrakeMode);
-        }
-        if (tDistanceCountLeft > 0) {
-            leftCarMotor.setSpeedCompensated(leftCarMotor.StartSpeed + leftCarMotor.StartSpeed / 2,
-                    leftCarMotor.CurrentDirectionOrBrakeMode);
-        }
-#endif
-    }
-}
-
-/**
- * @param  aRotationDegrees positive -> turn left, negative -> turn right
- * @param  aTurnDirection direction of turn TURN_FORWARD, TURN_BACKWARD or TURN_IN_PLACE (default)
- * @param  aUseSlowSpeed true (default) -> use slower speed (1.5 times StartSpeed) instead of DriveSpeed for rotation to be more exact
- * @param  aLoopCallback avoid blocking and call aLoopCallback on waiting for stop
- */
-void CarMotorControl::rotateCar(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed, void (*aLoopCallback)(void)) {
-    if (aRotationDegrees != 0) {
-        startRotateCar(aRotationDegrees, aTurnDirection, aUseSlowSpeed);
-        waitUntilCarStopped(aLoopCallback);
-    }
-}
-
-#ifndef USE_ENCODER_MOTOR_CONTROL
-void CarMotorControl::setDistanceToTimeFactorForFixedDistanceDriving(unsigned int aDistanceToTimeFactor) {
-    rightCarMotor.setDistanceToTimeFactorForFixedDistanceDriving(aDistanceToTimeFactor);
-    leftCarMotor.setDistanceToTimeFactorForFixedDistanceDriving(aDistanceToTimeFactor);
-}
-
-#else
-
-/*
- * Get count / distance value from right motor
- */
-unsigned int CarMotorControl::getDistanceCount() {
-    return (rightCarMotor.EncoderCount);
-}
-
-int CarMotorControl::getDistanceCentimeter() {
-    return (rightCarMotor.EncoderCount / FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT);
-}
-
-/*
- * generates a rising ramp and detects the first movement -> this sets dead band / minimum Speed
- */
-void CarMotorControl::calibrate() {
-    stopMotors();
-    resetControlValues();
-
-    rightCarMotor.StartSpeed = 0;
-    leftCarMotor.StartSpeed = 0;
-
-    uint8_t tMotorMovingCount = 0;
-
-    /*
-     * increase motor speed by 1 until motor moves
-     */
-    for (uint8_t tSpeed = 20; tSpeed != 0xFF; ++tSpeed) {
-        if (rightCarMotor.StartSpeed == 0) {
-            rightCarMotor.setSpeed(tSpeed, DIRECTION_FORWARD);
-        }
-        if (leftCarMotor.StartSpeed == 0) {
-            leftCarMotor.setSpeed(tSpeed, DIRECTION_FORWARD);
-        }
-
-        delay(100);
-        /*
-         * Check if wheel moved
-         */
-
-        /*
-         * Store speed after 6 counts (3cm)
-         */
-        if (rightCarMotor.StartSpeed == 0 && rightCarMotor.EncoderCount > 6) {
-            rightCarMotor.StartSpeed = tSpeed;
-            tMotorMovingCount++;
-        }
-        if (leftCarMotor.StartSpeed == 0 && leftCarMotor.EncoderCount > 6) {
-            leftCarMotor.StartSpeed = tSpeed;
-            tMotorMovingCount++;
-        }
-        if (tMotorMovingCount >= 2) {
-            // Do not end loop if one motor still not moving
-            break;
-        }
-    }
-
-    /*
-     * TODO calibrate StopSpeed separately
-     */
-
-    writeMotorvaluesToEeprom();
-    stopMotors();
-}
-
-// ISR for PIN PD2 / RIGHT
-ISR(INT0_vect) {
-    sCarMotorControlPointerForISR->rightCarMotor.handleEncoderInterrupt();
-}
-
-// ISR for PIN PD3 / LEFT
-ISR(INT1_vect) {
-    sCarMotorControlPointerForISR->leftCarMotor.handleEncoderInterrupt();
-}
-#endif // USE_ENCODER_MOTOR_CONTROL
diff --git a/src/CarMotorControl.h b/src/CarMotorControl.h
deleted file mode 100644
index 795977c..0000000
--- a/src/CarMotorControl.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
- * CarMotorControl.h
- *
- *  Motor control for a car with 2 encoder motors
- *
- *  Created on: 16.09.2016
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
- *  armin.joachimsmeyer@gmail.com
- *
- *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
- */
-
-#ifndef CARMOTORCONTROL_H_
-#define CARMOTORCONTROL_H_
-
-#include "EncoderMotor.h"
-#include <stdint.h>
-
-/*
- * Some factors depending on wheel diameter and encoder resolution
- */
-#if ! defined(FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT)
-#define FACTOR_CENTIMETER_TO_COUNT_INTEGER_DEFAULT  2 // Exact value is 1.86, but integer saves program space and time
-#endif
-// Values for 20 slot encoder discs -> 40 ticks per turn. Circumference of the wheel is 21.5 cm, Distance between two wheels is around 13 cm
-#define FACTOR_DEGREE_TO_COUNT_2WD_CAR_DEFAULT      0.4277777
-#define FACTOR_DEGREE_TO_COUNT_4WD_CAR_DEFAULT      0.8 // estimated, with slip
-
-#if ! defined(FACTOR_DEGREE_TO_COUNT_DEFAULT)
-#  if defined(CAR_HAS_4_WHEELS)
-#define FACTOR_DEGREE_TO_COUNT_DEFAULT  FACTOR_DEGREE_TO_COUNT_4WD_CAR_DEFAULT
-#  else
-#define FACTOR_DEGREE_TO_COUNT_DEFAULT  FACTOR_DEGREE_TO_COUNT_2WD_CAR_DEFAULT
-#  endif
-#endif
-
-// turn directions
-#define TURN_FORWARD    DIRECTION_FORWARD  // 0
-#define TURN_BACKWARD   DIRECTION_BACKWARD // 1
-#define TURN_IN_PLACE   2
-
-class CarMotorControl {
-public:
-
-    CarMotorControl();
-//    virtual ~CarMotorControl();
-
-#ifdef USE_ADAFRUIT_MOTOR_SHIELD
-    void init(bool aReadFromEeprom = false);
-#else
-    void init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin, uint8_t aLeftMotorForwardPin,
-            uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin, bool aReadFromEeprom = false);
-#endif
-
-    void setDefaultsForFixedDistanceDriving();
-    void setValuesForFixedDistanceDriving(uint8_t aStartSpeed, uint8_t aDriveSpeed, int8_t aSpeedCompensationRight);
-    void setSpeedCompensation(int8_t aSpeedCompensationRight);
-    void setDriveSpeed(uint8_t aDriveSpeed);
-    void writeMotorvaluesToEeprom();
-
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    void calibrate();
-    // retrieves values from right motor
-    unsigned int getDistanceCount();
-    int getDistanceCentimeter();
-#else
-    // makes no sense for encoder motor
-    void setDistanceToTimeFactorForFixedDistanceDriving(unsigned int aDistanceToTimeFactor);
-#endif
-
-#ifdef SUPPORT_RAMP_UP
-    void startRampUp(uint8_t aRequestedDirection = DIRECTION_FORWARD);
-    void startRampUp(uint8_t aRequestedSpeed, uint8_t aRequestedDirection);
-    void waitForDriveSpeed(void (*aLoopCallback)(void) = NULL);
-#endif
-    // If ramp up is not supported, these functions just sets the speed and return immediately
-    void startRampUpAndWait(uint8_t aRequestedSpeed, uint8_t aRequestedDirection = DIRECTION_FORWARD,
-            void (*aLoopCallback)(void) = NULL);
-    void startRampUpAndWaitForDriveSpeed(uint8_t aRequestedDirection = DIRECTION_FORWARD, void (*aLoopCallback)(void) = NULL);
-
-    /*
-     * For car direction handling
-     */
-    uint8_t getCarDirectionOrBrakeMode();
-    uint8_t CarDirectionOrBrakeMode;
-
-    /*
-     * Functions for moving a fixed distance
-     */
-    // With signed distance
-    void startGoDistanceCentimeter(uint8_t aRequestedSpeed, unsigned int aDistanceCentimeter, uint8_t aRequestedDirection); // only setup values
-    void startGoDistanceCentimeter(unsigned int aDistanceCentimeter, uint8_t aRequestedDirection); // only setup values
-    void startGoDistanceCentimeter(int aDistanceCentimeter); // only setup values, no movement -> use updateMotors()
-
-    void goDistanceCentimeter(int aDistanceCentimeter, void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilCarStopped
-    void goDistanceCentimeter(unsigned int aDistanceCentimeter, uint8_t aRequestedDirection, void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilCarStopped
-
-    bool checkAndHandleDirectionChange(uint8_t aRequestedDirection); // used internally
-
-    /*
-     * Functions for rotation
-     */
-    void setFactorDegreeToCount(float aFactorDegreeToCount);
-    void startRotateCar(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed = true);
-    void rotateCar(int aRotationDegrees, uint8_t aTurnDirection = TURN_IN_PLACE, bool aUseSlowSpeed = true,
-            void (*aLoopCallback)(void) = NULL);
-    float FactorDegreeToCount;
-
-    bool updateMotors();
-    void delayAndUpdateMotors(unsigned int aDelayMillis);
-
-    /*
-     * Start/Stop functions for infinite distance
-     */
-    void stopCarAndWaitForIt(void (*aLoopCallback)(void) = NULL); // uses waitUntilCarStopped()
-    void waitUntilCarStopped(void (*aLoopCallback)(void) = NULL);
-
-    /*
-     * Check motor state functions
-     */
-    bool isStopped();
-    bool isState(uint8_t aState);
-    bool isStateRamp(); // MOTOR_STATE_RAMP_UP OR MOTOR_STATE_RAMP_DOWN
-
-    void resetControlValues();
-
-    /*
-     * Functions, which directly call motor functions for both motors
-     */
-    void setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection);
-    void setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection, int8_t aLeftRightSpeed);
-    void stopMotors(uint8_t aStopMode = STOP_MODE_KEEP);
-
-    void setSpeed(uint8_t aRequestedSpeed, uint8_t aRequestedDirection);
-    void setStopMode(uint8_t aStopMode);
-    void setSpeed(int aRequestedSpeed);
-    void setSpeedCompensated(int aRequestedSpeed);
-
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    EncoderMotor rightCarMotor; // 40 bytes RAM
-    EncoderMotor leftCarMotor;
-#else
-    PWMDcMotor rightCarMotor;
-    PWMDcMotor leftCarMotor;
-#endif
-};
-
-// Pointer to the last and only! instance for use by ISR
-extern CarMotorControl * sCarMotorControlPointerForISR;
-
-#endif /* CARMOTORCONTROL_H_ */
-
-#pragma once
-
diff --git a/src/CarPWMMotorControl.cpp b/src/CarPWMMotorControl.cpp
new file mode 100644
index 0000000..98ebbc9
--- /dev/null
+++ b/src/CarPWMMotorControl.cpp
@@ -0,0 +1,828 @@
+/*
+ * CarPWMMotorControl.cpp
+ *
+ *  Contains functions for control of the 2 motors of a car like setDirection, goDistanceMillimeter() and rotate().
+ *  Checks input of PIN aPinFor2WDDetection since we need different factors for rotating a 4 wheel and a 2 wheel car.
+ *
+ *  Requires EncoderMotor.cpp
+ *
+ *  Created on: 12.05.2019
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
+ *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ */
+
+#include <Arduino.h>
+#include "CarPWMMotorControl.h"
+
+#define DEBUG // Only for development
+
+CarPWMMotorControl::CarPWMMotorControl() { // @suppress("Class members should be properly initialized")
+}
+
+#ifdef USE_MPU6050_IMU
+/*
+ * This must be done when the car is not moving, best after at least 100 ms after boot up.
+ */
+void CarPWMMotorControl::calculateAndPrintIMUOffsets(Print *aSerial) {
+    IMUData.calculateSpeedAndTurnOffsets();
+    IMUData.printSpeedAndTurnOffsets(aSerial);
+}
+#endif
+/*
+ * If no parameter and we have encoder motors, we use a fixed assignment of rightCarMotor interrupts to INT0 / Pin2 and leftCarMotor to INT1 / Pin3
+ */
+#ifdef USE_ADAFRUIT_MOTOR_SHIELD
+void CarPWMMotorControl::init() {
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+    leftCarMotor.init(1, INT1);
+    rightCarMotor.init(2, INT0);
+#  else
+    leftCarMotor.init(1);
+    rightCarMotor.init(2);
+#  endif
+
+#  ifdef USE_MPU6050_IMU
+    CarRequestedRotationDegrees = 0;
+    CarRequestedDistanceMillimeter = 0;
+    IMUData.initMPU6050FifoForCarData();
+#  else
+#    if defined(CAR_HAS_4_WHEELS)
+    FactorDegreeToMillimeter = FACTOR_DEGREE_TO_MILLIMETER_4WD_CAR_DEFAULT;
+#    else
+    FactorDegreeToMillimeter = FACTOR_DEGREE_TO_MILLIMETER_2WD_CAR_DEFAULT;
+#    endif
+#  endif
+}
+
+#else // USE_ADAFRUIT_MOTOR_SHIELD
+void CarPWMMotorControl::init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin,
+        uint8_t aLeftMotorForwardPin, uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin) {
+    leftCarMotor.init(aLeftMotorForwardPin, LeftMotorBackwardPin, aLeftMotorPWMPin);
+    rightCarMotor.init(aRightMotorForwardPin, aRightMotorBackwardPin, aRightPWMPin);
+
+#    ifdef USE_MPU6050_IMU
+    CarRequestedRotationDegrees = 0;
+    CarRequestedDistanceMillimeter = 0;
+    IMUData.initMPU6050FifoForCarData();
+
+#    else
+    FactorDegreeToMillimeter = FACTOR_DEGREE_TO_MILLIMETER_DEFAULT;
+#    endif
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+    /*
+     * For slot type optocoupler interrupts on pin PD2 + PD3
+     */
+    rightCarMotor.attachInterrupt(INT0);
+    leftCarMotor.attachInterrupt(INT1);
+#  endif
+}
+
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+/*
+ * With parameters aRightInterruptNumber + aLeftInterruptNumber
+ */
+void CarPWMMotorControl::init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin,
+        uint8_t aRightInterruptNumber, uint8_t aLeftMotorForwardPin, uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin,
+        uint8_t aLeftInterruptNumber) {
+    leftCarMotor.init(aLeftMotorForwardPin, LeftMotorBackwardPin, aLeftMotorPWMPin, aLeftInterruptNumber);
+    rightCarMotor.init(aRightMotorForwardPin, aRightMotorBackwardPin, aRightPWMPin, aRightInterruptNumber);
+
+#    ifdef USE_MPU6050_IMU
+    CarRequestedRotationDegrees = 0;
+    CarRequestedDistanceMillimeter = 0;
+    IMUData.initMPU6050FifoForCarData();
+#    else
+    FactorDegreeToMillimeter = FACTOR_DEGREE_TO_MILLIMETER_DEFAULT;
+#    endif
+}
+#  endif // USE_ENCODER_MOTOR_CONTROL
+#endif // USE_ADAFRUIT_MOTOR_SHIELD
+
+/*
+ * Sets default values for min and max speed, factor for distance to time conversion for non encoder motors and reset speed compensation
+ * Is called automatically at init if parameter aReadFromEeprom is set to false
+ */
+void CarPWMMotorControl::setDefaultsForFixedDistanceDriving() {
+    rightCarMotor.setDefaultsForFixedDistanceDriving();
+    leftCarMotor.setDefaultsForFixedDistanceDriving();
+}
+
+/**
+ * @param aSpeedPWMCompensationRight if positive, this value is added to the compensation value of the right motor, or subtracted from the left motor value.
+ *  If negative, -value is added to the compensation value the left motor, or subtracted from the right motor value.
+ */
+void CarPWMMotorControl::setValuesForFixedDistanceDriving(uint8_t aStartSpeedPWM, uint8_t aDriveSpeedPWM,
+        int8_t aSpeedPWMCompensationRight) {
+    if (aSpeedPWMCompensationRight >= 0) {
+        rightCarMotor.setValuesForFixedDistanceDriving(aStartSpeedPWM, aDriveSpeedPWM, aSpeedPWMCompensationRight);
+        leftCarMotor.setValuesForFixedDistanceDriving(aStartSpeedPWM, aDriveSpeedPWM, 0);
+    } else {
+        rightCarMotor.setValuesForFixedDistanceDriving(aStartSpeedPWM, aDriveSpeedPWM, 0);
+        leftCarMotor.setValuesForFixedDistanceDriving(aStartSpeedPWM, aDriveSpeedPWM, -aSpeedPWMCompensationRight);
+    }
+}
+
+/**
+ * @param aSpeedPWMCompensationRight if positive, this value is added to the compensation value of the right motor, or subtracted from the left motor value.
+ *  If negative, -value is added to the compensation value the left motor, or subtracted from the right motor value.
+ */
+void CarPWMMotorControl::changeSpeedPWMCompensation(int8_t aSpeedPWMCompensationRight) {
+    if (aSpeedPWMCompensationRight > 0) {
+        if (leftCarMotor.SpeedPWMCompensation >= aSpeedPWMCompensationRight) {
+            leftCarMotor.SpeedPWMCompensation -= aSpeedPWMCompensationRight;
+        } else {
+            rightCarMotor.SpeedPWMCompensation += aSpeedPWMCompensationRight;
+        }
+    } else {
+        aSpeedPWMCompensationRight = -aSpeedPWMCompensationRight;
+        if (rightCarMotor.SpeedPWMCompensation >= aSpeedPWMCompensationRight) {
+            rightCarMotor.SpeedPWMCompensation -= aSpeedPWMCompensationRight;
+        } else {
+            leftCarMotor.SpeedPWMCompensation += aSpeedPWMCompensationRight;
+        }
+    }
+    PWMDcMotor::MotorControlValuesHaveChanged = true;
+}
+
+void CarPWMMotorControl::setStartSpeedPWM(uint8_t aStartSpeedPWM) {
+    rightCarMotor.setStartSpeedPWM(aStartSpeedPWM);
+    leftCarMotor.setStartSpeedPWM(aStartSpeedPWM);
+}
+
+void CarPWMMotorControl::setDriveSpeedPWM(uint8_t aDriveSpeedPWM) {
+    rightCarMotor.setDriveSpeedPWM(aDriveSpeedPWM);
+    leftCarMotor.setDriveSpeedPWM(aDriveSpeedPWM);
+}
+
+/*
+ * @return true if direction has changed and motor has stopped
+ */
+bool CarPWMMotorControl::checkAndHandleDirectionChange(uint8_t aRequestedDirection) {
+    bool tReturnValue = false;
+    if (CarDirectionOrBrakeMode != aRequestedDirection) {
+        uint8_t tMaxCurrentSpeedPWM = max(rightCarMotor.CurrentSpeedPWM, leftCarMotor.CurrentSpeedPWM);
+        if (tMaxCurrentSpeedPWM > 0) {
+            /*
+             * Direction change requested but motor still running-> first stop motor
+             */
+#ifdef DEBUG
+            Serial.println(F("First stop motor and wait"));
+#endif
+            stop(MOTOR_BRAKE);
+//            delay(((tMaxCurrentSpeedPWM * tMaxCurrentSpeedPWM) >> 8) * 2); // to let motors stop
+            delay(tMaxCurrentSpeedPWM); // to let motors stop
+            tReturnValue = true;
+        }
+#ifdef DEBUG
+        Serial.print(F("Change car mode from "));
+        Serial.print(CarDirectionOrBrakeMode);
+        Serial.print(F(" to "));
+        Serial.println(aRequestedDirection);
+#endif
+        CarDirectionOrBrakeMode = aRequestedDirection; // The only statement which changes CarDirectionOrBrakeMode to DIRECTION_FORWARD or DIRECTION_BACKWARD
+    }
+    return tReturnValue;
+}
+
+/*
+ *  Direct motor control, no state or flag handling
+ */
+void CarPWMMotorControl::setSpeedPWM(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection) {
+    checkAndHandleDirectionChange(aRequestedDirection);
+    rightCarMotor.setSpeedPWM(aRequestedSpeedPWM, aRequestedDirection);
+    leftCarMotor.setSpeedPWM(aRequestedSpeedPWM, aRequestedDirection);
+}
+
+/*
+ * Sets speed adjusted by current compensation value and keeps direction
+ */
+void CarPWMMotorControl::changeSpeedPWMCompensated(uint8_t aRequestedSpeedPWM) {
+    rightCarMotor.changeSpeedPWMCompensated(aRequestedSpeedPWM);
+    leftCarMotor.changeSpeedPWMCompensated(aRequestedSpeedPWM);
+}
+
+/*
+ * Sets speed adjusted by current compensation value and handle motor state and flags
+ */
+void CarPWMMotorControl::setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection) {
+    checkAndHandleDirectionChange(aRequestedDirection);
+    rightCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
+    leftCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
+}
+
+/*
+ * Sets speed adjusted by current compensation value and handle motor state and flags
+ * @param aLeftRightSpeedPWM if positive, this value is subtracted from the left motor value, if negative subtracted from the right motor value
+ *
+ */
+void CarPWMMotorControl::setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection, int8_t aLeftRightSpeedPWM) {
+    checkAndHandleDirectionChange(aRequestedDirection);
+#ifdef USE_ENCODER_MOTOR_CONTROL
+    EncoderMotor *tMotorWithModifiedSpeedPWM;
+#else
+    PWMDcMotor *tMotorWithModifiedSpeedPWM;
+#endif
+    if (aLeftRightSpeedPWM >= 0) {
+        rightCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
+        tMotorWithModifiedSpeedPWM = &leftCarMotor;
+    } else {
+        aLeftRightSpeedPWM = -aLeftRightSpeedPWM;
+        leftCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
+        tMotorWithModifiedSpeedPWM = &rightCarMotor;
+    }
+
+    if (aRequestedSpeedPWM >= aLeftRightSpeedPWM) {
+        tMotorWithModifiedSpeedPWM->setSpeedPWMCompensated(aRequestedSpeedPWM - aLeftRightSpeedPWM, aRequestedDirection);
+    } else {
+        tMotorWithModifiedSpeedPWM->setSpeedPWMCompensated(0, aRequestedDirection);
+    }
+}
+
+/*
+ *  Direct motor control, no state or flag handling
+ */
+void CarPWMMotorControl::setSpeedPWM(int aRequestedSpeedPWM) {
+    rightCarMotor.setSpeedPWM(aRequestedSpeedPWM);
+    leftCarMotor.setSpeedPWM(aRequestedSpeedPWM);
+}
+
+/*
+ * Sets signed SpeedPWM adjusted by current compensation value and handle motor state and flags
+ */
+void CarPWMMotorControl::setSpeedPWMCompensated(int aRequestedSpeedPWM) {
+    rightCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM);
+    leftCarMotor.setSpeedPWMCompensated(aRequestedSpeedPWM);
+}
+
+uint8_t CarPWMMotorControl::getCarDirectionOrBrakeMode() {
+    return CarDirectionOrBrakeMode;;
+}
+
+void CarPWMMotorControl::readMotorValuesFromEeprom() {
+    leftCarMotor.readMotorValuesFromEeprom(0);
+    rightCarMotor.readMotorValuesFromEeprom(1);
+}
+
+void CarPWMMotorControl::writeMotorValuesToEeprom() {
+    leftCarMotor.writeMotorValuesToEeprom(0);
+    rightCarMotor.writeMotorValuesToEeprom(1);
+}
+
+/*
+ * Stop car
+ * @param aStopMode STOP_MODE_KEEP (take previously defined StopMode) or MOTOR_BRAKE or MOTOR_RELEASE
+ */
+void CarPWMMotorControl::stop(uint8_t aStopMode) {
+    rightCarMotor.stop(aStopMode);
+    leftCarMotor.stop(aStopMode);
+    CarDirectionOrBrakeMode = rightCarMotor.CurrentDirectionOrBrakeMode; // get right stopMode, STOP_MODE_KEEP is evaluated here
+}
+
+/*
+ * @param aStopMode MOTOR_BRAKE or MOTOR_RELEASE
+ */
+void CarPWMMotorControl::setStopMode(uint8_t aStopMode) {
+    rightCarMotor.setStopMode(aStopMode);
+    leftCarMotor.setStopMode(aStopMode);
+}
+
+/*
+ * Stop car and reset all control values as SpeedPWM, distances, debug values etc. to 0x00
+ */
+void CarPWMMotorControl::resetControlValues() {
+#ifdef USE_ENCODER_MOTOR_CONTROL
+    rightCarMotor.resetEncoderControlValues();
+    leftCarMotor.resetEncoderControlValues();
+#endif
+}
+
+/*
+ * If motor is accelerating or decelerating then updateMotor needs to be called at a fast rate otherwise it will not work correctly
+ * Used to suppress time consuming display of motor values
+ */
+bool CarPWMMotorControl::isStateRamp() {
+    return (rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_DOWN || rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_UP
+            || leftCarMotor.MotorRampState == MOTOR_STATE_RAMP_DOWN || leftCarMotor.MotorRampState == MOTOR_STATE_RAMP_UP);
+}
+
+#ifdef USE_MPU6050_IMU
+void CarPWMMotorControl::updateIMUData() {
+    if (IMUData.readCarDataFromMPU6050Fifo()) {
+        if (IMUData.AcceleratorForwardOffset != 0) {
+            if (CarTurn2DegreesPerSecondFromIMU != IMUData.getGyroscopePan2DegreePerSecond()) {
+                CarTurn2DegreesPerSecondFromIMU = IMUData.getGyroscopePan2DegreePerSecond();
+//                PWMDcMotor::SensorValuesHaveChanged = true; is not displayed
+            }
+            if (CarTurnAngleHalfDegreesFromIMU != IMUData.getTurnAngleHalfDegree()) {
+                CarTurnAngleHalfDegreesFromIMU = IMUData.getTurnAngleHalfDegree();
+                PWMDcMotor::SensorValuesHaveChanged = true;
+            }
+            if (CarSpeedCmPerSecondFromIMU != (unsigned int) abs(IMUData.getSpeedCmPerSecond())) {
+                CarSpeedCmPerSecondFromIMU = abs(IMUData.getSpeedCmPerSecond());
+                PWMDcMotor::SensorValuesHaveChanged = true;
+            }
+            if (CarDistanceMillimeterFromIMU != (unsigned int) abs(IMUData.getDistanceMillimeter())) {
+                CarDistanceMillimeterFromIMU = abs(IMUData.getDistanceMillimeter());
+                PWMDcMotor::SensorValuesHaveChanged = true;
+            }
+        }
+    }
+}
+#endif
+
+/*
+ * @return true if not stopped (motor expects another update)
+ */
+#define TURN_OVERRUN_HALF_ANGLE     1 // 1/2 degree overrun after stop(MOTOR_BRAKE)
+#define RAMP_DOWN_MILLIMETER       50
+#define STOP_OVERRUN_MILLIMETER    10 // 1 cm overrun after stop(MOTOR_BRAKE)
+/*
+ * If IMU data are available, rotation is always handled here.
+ * For non encoder motors also distance driving is handled here.
+ * @return true if not stopped (motor expects another update)
+ */
+bool CarPWMMotorControl::updateMotors() {
+#ifdef USE_MPU6050_IMU
+    bool tReturnValue = true;
+    updateIMUData();
+    if (CarRequestedRotationDegrees != 0) {
+        /*
+         * Using ramps for the rotation SpeedPWMs used makes no sense
+         */
+#  ifdef TRACE
+        Serial.println(CarTurnAngleHalfDegreesFromIMU);
+        delay(10);
+#  endif
+        // putting abs(CarTurnAngleHalfDegreesFromIMU) also into a variable increases code size by 8
+        int tRequestedRotationDegreesForCompare = abs(CarRequestedRotationDegrees * 2);
+        int tCarTurnAngleHalfDegreesFromIMUForCompare = abs(CarTurnAngleHalfDegreesFromIMU);
+        if ((tCarTurnAngleHalfDegreesFromIMUForCompare + TURN_OVERRUN_HALF_ANGLE) >= tRequestedRotationDegreesForCompare) {
+            stop(MOTOR_BRAKE);
+            CarRequestedRotationDegrees = 0;
+            tReturnValue = false;
+        } else if ((tCarTurnAngleHalfDegreesFromIMUForCompare + getTurnDistanceHalfDegree())
+                >= tRequestedRotationDegreesForCompare) {
+            Serial.print(getTurnDistanceHalfDegree());
+            // Reduce SpeedPWM just before target angle is reached if motors are not stopped we run for extra 2 to 4 degree
+            changeSpeedPWMCompensated(rightCarMotor.StartSpeedPWM);
+        }
+    } else {
+        if (CarRequestedDistanceMillimeter != 0) {
+#  ifndef USE_ENCODER_MOTOR_CONTROL
+            if (rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_UP || rightCarMotor.MotorRampState == MOTOR_STATE_DRIVE
+                    || rightCarMotor.MotorRampState == MOTOR_STATE_RAMP_DOWN) {
+                unsigned int tBrakingDistanceMillimeter = getBrakingDistanceMillimeter();
+#ifdef DEBUG
+                Serial.print(F("Dist="));
+                Serial.print(CarDistanceMillimeterFromIMU);
+                Serial.print(F(" Breakdist="));
+                Serial.print(tBrakingDistanceMillimeter);
+                Serial.print(F(" St="));
+                Serial.print(rightCarMotor.MotorRampState);
+                Serial.print(F(" Ns="));
+                Serial.println(rightCarMotor.CurrentSpeedPWM);
+#endif
+                if (CarDistanceMillimeterFromIMU >= CarRequestedDistanceMillimeter) {
+                    CarRequestedDistanceMillimeter = 0;
+                    stop(MOTOR_BRAKE);
+                }
+                // Transition criteria to brake/ramp down is: Target distance - braking distance reached
+                if (rightCarMotor.MotorRampState != MOTOR_STATE_RAMP_DOWN
+                        && (CarDistanceMillimeterFromIMU + tBrakingDistanceMillimeter) >= CarRequestedDistanceMillimeter) {
+                    // Start braking
+                    startRampDown();
+                }
+            }
+#  endif // USE_ENCODER_MOTOR_CONTROL
+        }
+        /*
+         * In case of IMU distance driving only ramp up and down are managed by these calls
+         */
+        tReturnValue = rightCarMotor.updateMotor();
+        tReturnValue |= leftCarMotor.updateMotor();
+    }
+
+#else // USE_MPU6050_IMU
+bool tReturnValue = rightCarMotor.updateMotor();
+tReturnValue |= leftCarMotor.updateMotor();
+#endif // USE_MPU6050_IMU
+
+    return tReturnValue;;
+}
+
+/*
+ * @return true if not stopped (motor expects another update)
+ */
+bool CarPWMMotorControl::updateMotors(void (*aLoopCallback)(void)) {
+    if (aLoopCallback != NULL) {
+        aLoopCallback();
+    }
+    return updateMotors();
+}
+
+void CarPWMMotorControl::delayAndUpdateMotors(unsigned int aDelayMillis) {
+    uint32_t tStartMillis = millis();
+    do {
+        updateMotors();
+    } while (millis() - tStartMillis <= aDelayMillis);
+}
+
+void CarPWMMotorControl::startRampUp(uint8_t aRequestedDirection) {
+    checkAndHandleDirectionChange(aRequestedDirection);
+    rightCarMotor.startRampUp(aRequestedDirection);
+    leftCarMotor.startRampUp(aRequestedDirection);
+}
+
+void CarPWMMotorControl::startRampUp(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection) {
+    checkAndHandleDirectionChange(aRequestedDirection);
+    rightCarMotor.startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+    leftCarMotor.startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+}
+
+/*
+ * Blocking wait until both motors are at drive SpeedPWM. 256 milliseconds for ramp up.
+ */
+void CarPWMMotorControl::waitForDriveSpeedPWM(void (*aLoopCallback)(void)) {
+    while (updateMotors(aLoopCallback)
+            && (rightCarMotor.MotorRampState != MOTOR_STATE_DRIVE || leftCarMotor.MotorRampState != MOTOR_STATE_DRIVE)) {
+        ;
+    }
+}
+
+/*
+ * If ramp up is not supported, this functions just sets the SpeedPWM and returns immediately.
+ * 256 milliseconds for ramp up.
+ */
+void CarPWMMotorControl::startRampUpAndWait(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
+    startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+    waitForDriveSpeedPWM(aLoopCallback);
+}
+
+void CarPWMMotorControl::startRampUpAndWaitForDriveSpeedPWM(uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
+    startRampUp(aRequestedDirection);
+    waitForDriveSpeedPWM(aLoopCallback);
+}
+
+void CarPWMMotorControl::startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection) {
+    startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+}
+
+/*
+ * initialize motorInfo fields LastDirection and CurrentSpeedPWM
+ */
+void CarPWMMotorControl::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+        uint8_t aRequestedDirection) {
+
+    checkAndHandleDirectionChange(aRequestedDirection);
+
+#ifdef USE_MPU6050_IMU
+    IMUData.resetCarData();
+    CarRequestedDistanceMillimeter = aRequestedDistanceMillimeter;
+#endif
+
+#if defined(USE_MPU6050_IMU) && !defined(USE_ENCODER_MOTOR_CONTROL)
+    // for non encoder motor we use the IMU distance, and require only the ramp up
+    startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+#else
+    rightCarMotor.startGoDistanceMillimeter(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+    leftCarMotor.startGoDistanceMillimeter(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+#endif
+}
+
+void CarPWMMotorControl::goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection,
+        void (*aLoopCallback)(void)) {
+    startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+    waitUntilStopped(aLoopCallback);
+}
+
+void CarPWMMotorControl::startGoDistanceMillimeter(int aRequestedDistanceMillimeter) {
+    if (aRequestedDistanceMillimeter < 0) {
+        aRequestedDistanceMillimeter = -aRequestedDistanceMillimeter;
+        startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
+    } else {
+        startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_FORWARD);
+    }
+}
+
+/**
+ * Wait until distance is reached
+ * @param  aLoopCallback called until car has stopped to avoid blocking
+ */
+void CarPWMMotorControl::goDistanceMillimeter(int aRequestedDistanceMillimeter, void (*aLoopCallback)(void)) {
+    startGoDistanceMillimeter(aRequestedDistanceMillimeter);
+    waitUntilStopped(aLoopCallback);
+}
+
+/*
+ * Stop car with ramp and give DistanceCountAfterRampUp counts for braking.
+ */
+void CarPWMMotorControl::stopAndWaitForIt(void (*aLoopCallback)(void)) {
+    if (isStopped()) {
+        return;
+    }
+
+    rightCarMotor.startRampDown();
+    leftCarMotor.startRampDown();
+    /*
+     * blocking wait for stop
+     */
+    waitUntilStopped(aLoopCallback);
+}
+
+void CarPWMMotorControl::startRampDown() {
+    if (isStopped()) {
+        return;
+    }
+    /*
+     * Set NextChangeMaxTargetCount to change state from MOTOR_STATE_DRIVE to MOTOR_STATE_RAMP_DOWN
+     * Use DistanceCountAfterRampUp as ramp down count
+     */
+    rightCarMotor.startRampDown();
+    leftCarMotor.startRampDown();
+}
+
+/*
+ * Wait with optional wait loop callback
+ */
+void CarPWMMotorControl::waitUntilStopped(void (*aLoopCallback)(void)) {
+    while (updateMotors(aLoopCallback)) {
+        ;
+    }
+    CarDirectionOrBrakeMode = rightCarMotor.CurrentDirectionOrBrakeMode; // get right stopMode
+}
+
+bool CarPWMMotorControl::isState(uint8_t aState) {
+    return (rightCarMotor.MotorRampState == aState && leftCarMotor.MotorRampState == aState);
+}
+
+bool CarPWMMotorControl::isStopped() {
+    return (rightCarMotor.CurrentSpeedPWM == 0 && leftCarMotor.CurrentSpeedPWM == 0);
+}
+
+void CarPWMMotorControl::setFactorDegreeToMillimeter(float aFactorDegreeToMillimeter) {
+#ifndef USE_MPU6050_IMU
+    FactorDegreeToMillimeter = aFactorDegreeToMillimeter;
+#else
+    (void) aFactorDegreeToMillimeter;
+#endif
+}
+
+/**
+ * Set distances and SpeedPWM for 2 motors to turn the requested angle
+ * @param  aRotationDegrees positive -> turn left, negative -> turn right
+ * @param  aTurnDirection direction of turn TURN_FORWARD, TURN_BACKWARD or TURN_IN_PLACE
+ * @param  aUseSlowSpeed true -> use slower SpeedPWM (1.5 times StartSpeedPWM) instead of DriveSpeedPWM for rotation to be more exact
+ */
+void CarPWMMotorControl::startRotate(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed) {
+    /*
+     * We have 6 cases
+     * - aTurnDirection = TURN_FORWARD      + -> left, right motor F, left 0    - -> right, right motor 0, left F
+     * - aTurnDirection = TURN_BACKWARD     + -> left, right motor 0, left B    - -> right, right motor B, left 0
+     * - aTurnDirection = TURN_IN_PLACE     + -> left, right motor F, left B    - -> right, right motor B, left F
+     * Turn direction TURN_IN_PLACE is masked to TURN_FORWARD
+     */
+
+#ifdef DEBUG
+    Serial.print(F("RotationDegrees="));
+    Serial.print(aRotationDegrees);
+    Serial.print(F(" TurnDirection="));
+    Serial.println(aTurnDirection);
+    Serial.flush();
+#endif
+
+#ifdef USE_MPU6050_IMU
+    IMUData.resetCarData();
+    CarRequestedRotationDegrees = aRotationDegrees;
+#endif
+
+    /*
+     * Handle positive and negative rotation degrees
+     */
+#ifdef USE_ENCODER_MOTOR_CONTROL
+    EncoderMotor *tRightMotorIfPositiveTurn;
+    EncoderMotor *tLeftMotorIfPositiveTurn;
+#else
+    PWMDcMotor *tRightMotorIfPositiveTurn;
+    PWMDcMotor *tLeftMotorIfPositiveTurn;
+#endif
+    if (aRotationDegrees >= 0) {
+        tRightMotorIfPositiveTurn = &rightCarMotor;
+        tLeftMotorIfPositiveTurn = &leftCarMotor;
+    } else {
+// swap turn sign and left / right motors
+        aRotationDegrees = -aRotationDegrees;
+        tRightMotorIfPositiveTurn = &leftCarMotor;
+        tLeftMotorIfPositiveTurn = &rightCarMotor;
+    }
+
+    /*
+     * Here aRotationDegrees is positive
+     * Now handle different turn directions
+     */
+#ifdef USE_MPU6050_IMU
+    unsigned int tDistanceMillimeter = 2000; // Dummy value for distance - equivalent to #define tDistanceCount 200 give a timeout of around 10 wheel rotations
+#else
+    unsigned int tDistanceMillimeter = (aRotationDegrees * FactorDegreeToMillimeter) + 0.5;
+#endif
+
+    unsigned int tDistanceMillimeterRight;
+    unsigned int tDistanceMillimeterLeft;
+
+    if (aTurnDirection == TURN_FORWARD) {
+        tDistanceMillimeterRight = tDistanceMillimeter;
+        tDistanceMillimeterLeft = 0;
+    } else if (aTurnDirection == TURN_BACKWARD) {
+        tDistanceMillimeterRight = 0;
+        tDistanceMillimeterLeft = tDistanceMillimeter;
+    } else {
+        tDistanceMillimeterRight = tDistanceMillimeter / 2;
+        tDistanceMillimeterLeft = tDistanceMillimeter / 2;
+    }
+
+    /*
+     * Handle slow speed flag and reduce turn SpeedPWMs
+     */
+    uint8_t tTurnSpeedPWMRight = tRightMotorIfPositiveTurn->DriveSpeedPWM;
+    uint8_t tTurnSpeedPWMLeft = tLeftMotorIfPositiveTurn->DriveSpeedPWM;
+    if (aUseSlowSpeed) {
+// avoid overflow, the reduced SpeedPWM is almost max SpeedPWM then.
+        if (tRightMotorIfPositiveTurn->StartSpeedPWM < 160) {
+            tTurnSpeedPWMRight = tRightMotorIfPositiveTurn->StartSpeedPWM + (tRightMotorIfPositiveTurn->StartSpeedPWM / 2);
+        }
+        if (tLeftMotorIfPositiveTurn->StartSpeedPWM < 160) {
+            tTurnSpeedPWMLeft = tLeftMotorIfPositiveTurn->StartSpeedPWM + (tLeftMotorIfPositiveTurn->StartSpeedPWM / 2);
+        }
+    }
+
+#ifdef DEBUG
+    Serial.print(F("TurnSpeedPWMRight="));
+    Serial.print(tTurnSpeedPWMRight);
+#  ifndef USE_MPU6050_IMU
+    Serial.print(F(" DistanceMillimeterRight="));
+    Serial.print(tDistanceMillimeterRight);
+#  endif
+    Serial.println();
+#endif
+
+#ifdef USE_MPU6050_IMU
+    // We do not really have ramps for turn speed
+    if (tDistanceMillimeterRight > 0) {
+        tRightMotorIfPositiveTurn->setSpeedPWMCompensated(tTurnSpeedPWMRight, DIRECTION_FORWARD);
+    }
+    if (tDistanceMillimeterLeft > 0) {
+        tLeftMotorIfPositiveTurn->setSpeedPWMCompensated(tTurnSpeedPWMLeft, DIRECTION_BACKWARD);
+    }
+#else
+    tRightMotorIfPositiveTurn->startGoDistanceMillimeter(tTurnSpeedPWMRight, tDistanceMillimeterRight, DIRECTION_FORWARD);
+    tLeftMotorIfPositiveTurn->startGoDistanceMillimeter(tTurnSpeedPWMLeft, tDistanceMillimeterLeft, DIRECTION_BACKWARD);
+#endif
+}
+
+/**
+ * @param  aRotationDegrees positive -> turn left (counterclockwise), negative -> turn right
+ * @param  aTurnDirection direction of turn TURN_FORWARD, TURN_BACKWARD or TURN_IN_PLACE (default)
+ * @param  aUseSlowSpeed true (default) -> use slower SpeedPWM (1.5 times StartSpeedPWM) instead of DriveSpeedPWM for rotation to be more exact.
+ *         Does not really work for 4WD cars.
+ *         TODO remove? since only sensible for encoder motors.
+ * @param  aLoopCallback avoid blocking and call aLoopCallback on waiting for stop
+ */
+void CarPWMMotorControl::rotate(int aRotationDegrees, uint8_t aTurnDirection, void (*aLoopCallback)(void), bool aUseSlowSpeed) {
+    if (aRotationDegrees != 0) {
+        startRotate(aRotationDegrees, aTurnDirection, aUseSlowSpeed);
+        waitUntilStopped(aLoopCallback);
+    }
+}
+
+#ifdef USE_ENCODER_MOTOR_CONTROL
+/*
+ * Get count / distance value from right motor
+ */
+unsigned int CarPWMMotorControl::getDistanceCount() {
+    return (rightCarMotor.EncoderCount);
+}
+
+unsigned int CarPWMMotorControl::getDistanceMillimeter() {
+    return (rightCarMotor.getDistanceMillimeter());
+}
+
+#else
+void CarPWMMotorControl::setMillimeterPerSecondForFixedDistanceDriving(uint16_t aMillimeterPerSecond) {
+    rightCarMotor.setMillimeterPerSecondForFixedDistanceDriving(aMillimeterPerSecond);
+    leftCarMotor.setMillimeterPerSecondForFixedDistanceDriving(aMillimeterPerSecond);
+}
+
+#endif // USE_ENCODER_MOTOR_CONTROL
+
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+unsigned int CarPWMMotorControl::getBrakingDistanceMillimeter() {
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+    return rightCarMotor.getBrakingDistanceMillimeter();
+#  else
+    unsigned int tCarSpeedCmPerSecond = CarSpeedCmPerSecondFromIMU;
+//    return (tCarSpeedCmPerSecond * tCarSpeedCmPerSecond * 100) / RAMP_DECELERATION_TIMES_2; // overflow!
+    return (tCarSpeedCmPerSecond * tCarSpeedCmPerSecond) / (RAMP_DECELERATION_TIMES_2 / 100);
+#  endif
+}
+
+#  ifdef USE_MPU6050_IMU
+uint8_t CarPWMMotorControl::getTurnDistanceHalfDegree() {
+    uint8_t tCarTurn2DegreesPerSecondFromIMU = CarTurn2DegreesPerSecondFromIMU;
+    return ((tCarTurn2DegreesPerSecondFromIMU * tCarTurn2DegreesPerSecondFromIMU) / 20);
+}
+#  endif
+
+/*
+ * Generates a rising ramp and detects the first movement -> this sets dead band / minimum SpeedPWM
+ * aLoopCallback is responsible for calling readCarDataFromMPU6050Fifo();
+ */
+void CarPWMMotorControl::calibrate(void (*aLoopCallback)(void)) {
+    stop();
+    resetControlValues();
+
+    rightCarMotor.StartSpeedPWM = 0;
+    leftCarMotor.StartSpeedPWM = 0;
+
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+    uint8_t tMotorMovingCount = 0;
+#  else
+    IMUData.resetOffsetDataAndWait();
+#  endif
+
+    /*
+     * increase motor SpeedPWM by 1 every 200 ms until motor moves
+     */
+    for (uint8_t tSpeedPWM = 20; tSpeedPWM != MAX_SPEED_PWM; ++tSpeedPWM) {
+// as long as no start speed is computed increase speed
+        if (rightCarMotor.StartSpeedPWM == 0) {
+            // as long as no start speed is computed, increase motor speed
+            rightCarMotor.setSpeedPWM(tSpeedPWM, DIRECTION_FORWARD);
+        }
+        if (leftCarMotor.StartSpeedPWM == 0) {
+            leftCarMotor.setSpeedPWM(tSpeedPWM, DIRECTION_FORWARD);
+        }
+
+        /*
+         * Active delay of 200 ms
+         */
+        uint32_t tStartMillis = millis();
+        do {
+            if (aLoopCallback != NULL) {
+                aLoopCallback();
+            }
+            if (isStopped()) {
+                // we were stopped by aLoopCallback()
+                return;
+            }
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+            delay(10);
+#  else
+            delay(DELAY_TO_NEXT_IMU_DATA_MILLIS);
+            updateIMUData();
+#  endif
+        } while (millis() - tStartMillis <= 200);
+
+        /*
+         * Check if wheel moved
+         */
+#  ifdef USE_ENCODER_MOTOR_CONTROL
+        /*
+         * Store speed after 6 counts (3cm)
+         */
+        if (rightCarMotor.StartSpeedPWM == 0 && rightCarMotor.EncoderCount > 6) {
+            rightCarMotor.setStartSpeedPWM(tSpeedPWM);
+            tMotorMovingCount++;
+        }
+        if (leftCarMotor.StartSpeedPWM == 0 && leftCarMotor.EncoderCount > 6) {
+            leftCarMotor.setStartSpeedPWM(tSpeedPWM);
+            tMotorMovingCount++;
+        }
+        if (tMotorMovingCount >= 2) {
+            // Do not end loop if one motor is still not moving
+            break;
+        }
+
+#  else
+        if (abs(IMUData.getSpeedCmPerSecond()) >= 10) {
+            setStartSpeedPWM(tSpeedPWM);
+            break;
+        }
+#  endif
+    }
+    stop();
+}
+#endif // defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
diff --git a/src/CarPWMMotorControl.h b/src/CarPWMMotorControl.h
new file mode 100644
index 0000000..d18eb71
--- /dev/null
+++ b/src/CarPWMMotorControl.h
@@ -0,0 +1,206 @@
+/*
+ * CarPWMMotorControl.h
+ *
+ *  Motor control for a car with 2 encoder motors
+ *
+ *  Created on: 12.05.2019
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
+ *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ */
+
+#ifndef CarPWMMotorControl_H_
+#define CarPWMMotorControl_H_
+
+#include "EncoderMotor.h"
+
+/*
+ * Use GY-521 MPU6050 breakout board connected by I2C for support of precise turning and speed / distance calibration.
+ * Connectors point to the rear.
+ */
+//#define USE_MPU6050_IMU
+#ifdef USE_MPU6050_IMU
+#include "IMUCarData.h"
+#endif
+#include <stdint.h>
+
+/*
+ * Values for 20 slot encoder discs. Circumference of the wheel is 22.0 cm
+ * Distance between two wheels is around 14 cm -> 360 degree are 82 cm
+ */
+#define FACTOR_DEGREE_TO_MILLIMETER_2WD_CAR_DEFAULT      2.2777
+#define FACTOR_DEGREE_TO_MILLIMETER_4WD_CAR_DEFAULT      5.0 // estimated, with slip
+
+#if ! defined(FACTOR_DEGREE_TO_MILLIMETER_DEFAULT)
+#  if defined(CAR_HAS_4_WHEELS)
+#define FACTOR_DEGREE_TO_MILLIMETER_DEFAULT  FACTOR_DEGREE_TO_MILLIMETER_4WD_CAR_DEFAULT
+#  else
+#define FACTOR_DEGREE_TO_MILLIMETER_DEFAULT  FACTOR_DEGREE_TO_MILLIMETER_2WD_CAR_DEFAULT
+#  endif
+#endif
+
+// turn directions
+#define TURN_FORWARD    DIRECTION_FORWARD  // 0
+#define TURN_BACKWARD   DIRECTION_BACKWARD // 1
+#define TURN_IN_PLACE   2
+
+class CarPWMMotorControl {
+public:
+
+    CarPWMMotorControl();
+//    virtual ~CarPWMMotorControl();
+
+#ifdef USE_ADAFRUIT_MOTOR_SHIELD
+    void init();
+#else
+    void init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin, uint8_t aLeftMotorForwardPin,
+            uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin);
+    void init(uint8_t aRightMotorForwardPin, uint8_t aRightMotorBackwardPin, uint8_t aRightPWMPin, uint8_t aRightInterruptNumber,
+            uint8_t aLeftMotorForwardPin, uint8_t LeftMotorBackwardPin, uint8_t aLeftMotorPWMPin, uint8_t aLeftInterruptNumber);
+#endif // USE_ADAFRUIT_MOTOR_SHIELD
+
+    void setDefaultsForFixedDistanceDriving();
+    void setValuesForFixedDistanceDriving(uint8_t aStartSpeedPWM, uint8_t aDriveSpeedPWM, int8_t aSpeedPWMCompensationRight);
+    void changeSpeedPWMCompensation(int8_t aSpeedPWMCompensationRight);
+    void setStartSpeedPWM(uint8_t aStartSpeedPWM);
+    void setDriveSpeedPWM(uint8_t aDriveSpeedPWM);
+
+    void writeMotorValuesToEeprom();
+    void readMotorValuesFromEeprom();
+
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+    void calibrate(void (*aLoopCallback)(void)); // aLoopCallback must call readCarDataFromMPU6050Fifo()
+    unsigned int getBrakingDistanceMillimeter();
+    uint8_t getTurnDistanceHalfDegree();
+#endif
+
+#ifdef USE_MPU6050_IMU
+    void updateIMUData();
+    void calculateAndPrintIMUOffsets(Print *aSerial);
+#endif
+
+#ifdef USE_ENCODER_MOTOR_CONTROL
+    // retrieves values from right motor
+    unsigned int getDistanceCount();
+    unsigned int getDistanceMillimeter();
+#else
+    // makes no sense for encoder motor
+    void setMillimeterPerSecondForFixedDistanceDriving(uint16_t aMillimeterPerSecond);
+#endif
+
+    // If ramp up is not supported, these functions just sets the speed and return immediately
+    void startRampUp(uint8_t aRequestedDirection = DIRECTION_FORWARD);
+    void startRampUp(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
+    void waitForDriveSpeedPWM(void (*aLoopCallback)(void) = NULL);
+    void startRampUpAndWait(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection = DIRECTION_FORWARD,
+            void (*aLoopCallback)(void) = NULL);
+    void startRampUpAndWaitForDriveSpeedPWM(uint8_t aRequestedDirection = DIRECTION_FORWARD, void (*aLoopCallback)(void) = NULL);
+
+    /*
+     * For car direction handling
+     */
+    uint8_t getCarDirectionOrBrakeMode();
+    uint8_t CarDirectionOrBrakeMode;
+
+    /*
+     * Functions for moving a fixed distance
+     */
+    // With signed distance
+    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection); // only setup values
+    void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection); // only setup values
+    void startGoDistanceMillimeter(int aRequestedDistanceMillimeter); // only setup values, no movement -> use updateMotors()
+
+    void goDistanceMillimeter(int aRequestedDistanceMillimeter, void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilStopped
+    void goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection,
+            void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilStopped
+
+    bool checkAndHandleDirectionChange(uint8_t aRequestedDirection); // used internally
+
+    /*
+     * Functions for rotation
+     */
+    void setFactorDegreeToMillimeter(float aFactorDegreeToMillimeter);
+#if defined(CAR_HAS_4_WHEELS)
+    // slow speed does not really work for 4 WD cars
+    void startRotate(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed = false);
+    void rotate(int aRotationDegrees, uint8_t aTurnDirection = TURN_IN_PLACE,
+            void (*aLoopCallback)(void) = NULL, bool aUseSlowSpeed = false);
+#else
+    void startRotate(int aRotationDegrees, uint8_t aTurnDirection, bool aUseSlowSpeed = true);
+    void rotate(int aRotationDegrees, uint8_t aTurnDirection = TURN_IN_PLACE,
+            void (*aLoopCallback)(void) = NULL, bool aUseSlowSpeed = true);
+#endif
+
+#ifdef USE_MPU6050_IMU
+    IMUCarData IMUData;
+    int CarRequestedRotationDegrees; // 0 -> car is moving forward / backward
+    int CarTurnAngleHalfDegreesFromIMU; // Read from Gyroscope
+    int8_t CarTurn2DegreesPerSecondFromIMU; // Read from Gyroscope
+    // Read from Accelerator
+    unsigned int CarSpeedCmPerSecondFromIMU;
+    unsigned int CarRequestedDistanceMillimeter;
+    unsigned int CarDistanceMillimeterFromIMU;
+#else
+    float FactorDegreeToMillimeter;
+#endif
+
+    bool updateMotors();
+    bool updateMotors(void (*aLoopCallback)(void));
+    void delayAndUpdateMotors(unsigned int aDelayMillis);
+
+    /*
+     * Start/Stop functions
+     */
+    void startRampDown();
+    void stopAndWaitForIt(void (*aLoopCallback)(void) = NULL); // uses waitUntilStopped()
+    void waitUntilStopped(void (*aLoopCallback)(void) = NULL);
+
+    /*
+     * Check motor state functions
+     */
+    bool isStopped();
+    bool isState(uint8_t aState);
+    bool isStateRamp(); // MOTOR_STATE_RAMP_UP OR MOTOR_STATE_RAMP_DOWN
+
+    void resetControlValues();
+
+    /*
+     * Functions, which directly call motor functions for both motors
+     */
+    void changeSpeedPWMCompensated(uint8_t aRequestedSpeedPWM); // Keeps direction
+    void setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
+    void setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection, int8_t aLeftRightSpeedPWM);
+    void stop(uint8_t aStopMode = STOP_MODE_KEEP); // STOP_MODE_KEEP (take previously defined DefaultStopMode) or MOTOR_BRAKE or MOTOR_RELEASE
+
+    void setSpeedPWM(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
+    void setStopMode(uint8_t aStopMode);
+    void setSpeedPWM(int aRequestedSpeedPWM);
+    void setSpeedPWMCompensated(int aRequestedSpeedPWM);
+
+#ifdef USE_ENCODER_MOTOR_CONTROL
+    EncoderMotor rightCarMotor; // 40 bytes RAM
+    EncoderMotor leftCarMotor;
+#else
+    PWMDcMotor rightCarMotor;
+    PWMDcMotor leftCarMotor;
+#endif
+};
+
+#endif /* CarPWMMotorControl_H_ */
+
+#pragma once
+
diff --git a/src/DebugLevel.h b/src/DebugLevel.h
new file mode 100644
index 0000000..cbb2d94
--- /dev/null
+++ b/src/DebugLevel.h
@@ -0,0 +1,52 @@
+/*
+ * DebugLevel.h
+ * Include to propagate debug levels
+ *
+ *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ *  Email: armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of Arduino-Utils https://github.com/ArminJo/Arduino-Utils.
+ *
+ *  Arduino-Utils is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *
+ */
+
+#ifndef DEBUGLEVEL_H_
+#define DEBUGLEVEL_H_
+
+// Propagate debug level
+#ifdef TRACE    // Information you need to understand details of a function or if you hunt a bug.
+#  ifndef DEBUG
+#define DEBUG   // Information need to understand the operating of your program. E.g. function calls and values of control variables.
+#  endif
+#endif
+#ifdef DEBUG
+#  ifndef INFO
+#define INFO    // Information you want to see in regular operation to see what the program is doing. E.g. "START ../src/LightToTone.cpp Version 1.2 from Dec 31 2019" or "Now playing Muppets melody".
+#  endif
+#endif
+#ifdef INFO
+#  ifndef WARN
+#define WARN    // Information that the program may encounter problems, like small Heap/Stack area.
+#  endif
+#endif
+#ifdef WARN
+#  ifndef ERROR
+#define ERROR   // Informations to explain why the program will not run. E.g. not enough Ram for all created objects.
+#  endif
+#endif
+
+#endif /* DEBUGLEVEL_H_ */
+
+#pragma once
diff --git a/src/Distance.cpp b/src/Distance.cpp
index 7a036e4..8033d31 100644
--- a/src/Distance.cpp
+++ b/src/Distance.cpp
@@ -25,7 +25,9 @@
 
 ForwardDistancesInfoStruct sForwardDistancesInfo;
 
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
 Servo DistanceServo;
+#endif
 uint8_t sLastServoAngleInDegrees; // 0 - 180 needed for optimized delay for servo repositioning. Only set by DistanceServoWriteAndDelay()
 
 #ifdef CAR_HAS_TOF_DISTANCE_SENSOR
@@ -118,7 +120,11 @@ void DistanceServoWriteAndDelay(uint8_t aTargetDegrees, bool doDelay) {
     // The servo is top down and therefore inverted
     aTargetDegrees = 180 - aTargetDegrees;
 #endif
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
     DistanceServo.write(aTargetDegrees);
+#else
+    write10(aTargetDegrees);
+#endif
 
     /*
      * Delay
@@ -179,7 +185,7 @@ int scanForTarget() {
      */
     for (uint8_t i = 0; i < 3; ++i) {
         DistanceServoWriteAndDelay(tScanDegree, true);
-        tCentimeter = getDistanceAsCentiMeter(false, DISTANCE_TIMEOUT_CM_FOLLOWER);
+        tCentimeter = getDistanceAsCentiMeter(false, DISTANCE_TIMEOUT_CM_FOLLOWER, true);
 
         uint8_t tCurrentIndex;
         if (tDeltaDegree > 0) {
@@ -194,17 +200,17 @@ int scanForTarget() {
              * Determine color and draw distance line
              */
             color16_t tColor;
-            tColor = COLOR_RED; // tCentimeter <= sCentimeterPerScan
+            tColor = COLOR16_RED; // tCentimeter <= sCentimeterPerScan
             if (tCentimeter <= FOLLOWER_DISTANCE_TARGET_SCAN_CENTIMETER) {
-                tColor = COLOR_GREEN;
+                tColor = COLOR16_GREEN;
             } else if (tCentimeter < FOLLOWER_DISTANCE_MINIMUM_CENTIMETER) {
-                tColor = COLOR_YELLOW;
+                tColor = COLOR16_YELLOW;
             }
 
             // Clear old line
             BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
                     sForwardDistancesInfo.RawDistancesArray[tCurrentIndex], tScanDegree,
-                    COLOR_WHITE, 3);
+                    COLOR16_WHITE, 3);
             BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tScanDegree, tColor, 3);
         }
         sForwardDistancesInfo.RawDistancesArray[tCurrentIndex] = tCentimeter;
@@ -223,7 +229,7 @@ int scanForTarget() {
          */
         sprintf_P(sStringBuffer, PSTR("rotation:%3d\xB0 min:%2dcm"), tScanDegree - 90, tCentimeter); // \xB0 is degree character
         BlueDisplay1.drawText(BUTTON_WIDTH_3_5_POS_2, US_DISTANCE_MAP_ORIGIN_Y + TEXT_SIZE_11, sStringBuffer, TEXT_SIZE_11,
-        COLOR_BLACK, COLOR_WHITE);
+        COLOR16_BLACK, COLOR16_WHITE);
 
         // reset distance servo direction
         DistanceServoWriteAndDelay(90, false);
@@ -282,33 +288,32 @@ bool __attribute__((weak)) fillAndShowForwardDistancesInfo(bool aDoFirstValue, b
             // User sent an event -> stop and return now
             return true;
         }
-
-        unsigned int tCentimeter = getDistanceAsCentiMeter(false);
+        unsigned int tCentimeter = getDistanceAsCentiMeter(false, DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE, true);
         if ((tIndex == INDEX_FORWARD_1 || tIndex == INDEX_FORWARD_2) && tCentimeter <= sCentimeterPerScanTimesTwo) {
             /*
              * Emergency motor stop if index is forward and measured distance is less than distance driven during two scans
              */
-            RobotCarMotorControl.stopMotors();
+            RobotCarMotorControl.stop();
         }
 
         if (sCurrentPage == PAGE_AUTOMATIC_CONTROL && BlueDisplay1.isConnectionEstablished()) {
             /*
              * Determine color
              */
-            tColor = COLOR_RED; // tCentimeter <= sCentimeterPerScan
+            tColor = COLOR16_RED; // tCentimeter <= sCentimeterPerScan
             if (tCentimeter >= DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE) {
                 tColor = DISTANCE_TIMEOUT_COLOR;
             } else if (tCentimeter > sCentimeterPerScanTimesTwo) {
-                tColor = COLOR_GREEN;
+                tColor = COLOR16_GREEN;
             } else if (tCentimeter > sCentimeterPerScan) {
-                tColor = COLOR_YELLOW;
+                tColor = COLOR16_YELLOW;
             }
 
             /*
              * Clear old and draw new distance line
              */
             BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y,
-                    sForwardDistancesInfo.RawDistancesArray[tIndex], tCurrentDegrees, COLOR_WHITE, 3);
+                    sForwardDistancesInfo.RawDistancesArray[tIndex], tCurrentDegrees, COLOR16_WHITE, 3);
             BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tCentimeter, tCurrentDegrees, tColor,
                     3);
         }
@@ -337,7 +342,7 @@ bool __attribute__((weak)) fillAndShowForwardDistancesInfo(bool aDoFirstValue, b
  * Negative means we are heading away from wall
  */
 uint8_t computeNeigbourValue(uint8_t aDegreesPerStepValue, uint8_t a2DegreesPerStepValue, uint8_t aClipValue,
-        int8_t * aDegreeOfEndpointConnectingLine) {
+        int8_t *aDegreeOfEndpointConnectingLine) {
 
     /*
      * Name of the variables are for DEGREES_PER_STEP = 20 only for better understanding.
@@ -443,7 +448,7 @@ void doWallDetection() {
              * i.e. put 20 degrees to 40 degrees parameter and vice versa in order to use the 0 degree value as the 60 degrees one
              */
             uint8_t tNextDistanceComputed = computeNeigbourValue(tCurrentDistance, tLastDistance,
-                    DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE, &tDegreeOfConnectingLine);
+            DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE, &tDegreeOfConnectingLine);
 #ifdef TRACE
             BlueDisplay1.debug("i=", i);
             BlueDisplay1.debug("AngleToCheck @i+1=", tCurrentAngleToCheck);
@@ -482,7 +487,7 @@ void doWallDetection() {
                 tNextDistanceOriginal = tNextDistanceComputed;
                 if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
                     BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextDistanceComputed,
-                            tCurrentAngleToCheck, COLOR_WHITE, 1);
+                            tCurrentAngleToCheck, COLOR16_WHITE, 1);
                 }
             }
         }
@@ -520,7 +525,7 @@ void doWallDetection() {
                  * Use computeNeigbourValue in the intended way, so do not change sign of tDegreeOfConnectingLine!
                  */
                 uint8_t tNextValueComputed = computeNeigbourValue(tCurrentDistance, tLastDistance,
-                        DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE, &tDegreeOfConnectingLine);
+                DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE, &tDegreeOfConnectingLine);
 #ifdef TRACE
                 BlueDisplay1.debug("i=", i);
                 BlueDisplay1.debug("AngleToCheck @i+1=", tCurrentAngleToCheck);
@@ -556,7 +561,7 @@ void doWallDetection() {
                     tNextValue = tNextValueComputed;
                     if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
                         BlueDisplay1.drawVectorDegrees(US_DISTANCE_MAP_ORIGIN_X, US_DISTANCE_MAP_ORIGIN_Y, tNextValueComputed,
-                                tCurrentAngleToCheck, COLOR_WHITE, 1);
+                                tCurrentAngleToCheck, COLOR16_WHITE, 1);
                     }
                 }
             }
@@ -605,23 +610,27 @@ void postProcessDistances(uint8_t aDistanceThreshold) {
     }
 }
 
-void readAndShowDistancePeriodically(uint16_t aPeriodMillis) {
+void readAndShowDistancePeriodically() {
     static long sLastUSMeasurementMillis;
 
     // Do not show distanced during (time critical) acceleration or deceleration
     if (!RobotCarMotorControl.isStateRamp()) {
         long tMillis = millis();
-        if (sLastUSMeasurementMillis + aPeriodMillis < tMillis) {
+        if (tMillis - sLastUSMeasurementMillis >= DISTANCE_DISPLAY_PERIOD_MILLIS) {
             sLastUSMeasurementMillis = tMillis;
-            getDistanceAsCentiMeter(true);
+            getDistanceAsCentiMeter(true, DISTANCE_TIMEOUT_CM, false);
         }
     }
 }
 
 /*
  * Timeout is DISTANCE_TIMEOUT_CM (1 meter)
+ * aWaitForCurrentMeasurmentToEnd  for IR Distance sensors if true, wait for the current measurement to end, since the sensor was recently moved.
  */
-unsigned int getDistanceAsCentiMeter(bool doShow, uint8_t aDistanceTimeout) {
+unsigned int getDistanceAsCentiMeter(bool doShow, uint8_t aDistanceTimeout, bool aWaitForCurrentMeasurementToEnd) {
+#if !defined(CAR_HAS_IR_DISTANCE_SENSOR)
+    (void) aWaitForCurrentMeasurementToEnd; // not used
+#endif
 #ifdef CAR_HAS_TOF_DISTANCE_SENSOR
     if (sScanMode != SCAN_MODE_US) {
         sToFDistanceSensor.VL53L1X_StartRanging();
@@ -629,6 +638,9 @@ unsigned int getDistanceAsCentiMeter(bool doShow, uint8_t aDistanceTimeout) {
 #endif
 
     unsigned int tCentimeter = getUSDistanceAsCentiMeterWithCentimeterTimeout(aDistanceTimeout);
+    if (tCentimeter == 0) {
+        tCentimeter = aDistanceTimeout;
+    }
     if (doShow) {
         showUSDistance(tCentimeter);
     }
@@ -637,7 +649,7 @@ unsigned int getDistanceAsCentiMeter(bool doShow, uint8_t aDistanceTimeout) {
     if (sScanMode != SCAN_MODE_US) {
 #  if defined(CAR_HAS_IR_DISTANCE_SENSOR)
         if (sScanMode != SCAN_MODE_US) {
-            tIRCentimeter = getIRDistanceAsCentimeter();
+            tIRCentimeter = getIRDistanceAsCentimeter(aWaitForCurrentMeasurementToEnd);
             if (doShow) {
                 showIRDistance(tIRCentimeter);
             }
@@ -672,8 +684,30 @@ unsigned int getDistanceAsCentiMeter(bool doShow, uint8_t aDistanceTimeout) {
 /*
  * The 1080 needs 39 ms for each measurement cycle
  */
-uint8_t getIRDistanceAsCentimeter() {
-    float tVolt = analogRead(PIN_IR_DISTANCE_SENSOR);
+uint8_t getIRDistanceAsCentimeter(bool aWaitForCurrentMeasurementToEnd) {
+    uint8_t tOldADMUX = checkAndWaitForReferenceAndChannelToSwitch(PIN_IR_DISTANCE_SENSOR, DEFAULT);
+    // check for voltage changed then a new measurement is started
+    if (aWaitForCurrentMeasurementToEnd) {
+        uint16_t tOldValue = readADCChannelWithReferenceOversampleFast(PIN_IR_DISTANCE_SENSOR, DEFAULT, 2); // 4 samples
+//        int16_t tOldValue = analogRead(PIN_IR_DISTANCE_SENSOR); // 100 us
+        uint32_t tStartMillis = millis();
+        do {
+            int16_t tNewValue = readADCChannelWithReferenceOversampleFast(PIN_IR_DISTANCE_SENSOR, DEFAULT, 2); // 100 us
+//            int16_t tNewValue = analogRead(PIN_IR_DISTANCE_SENSOR); // 100 us
+            if (abs(tOldValue-tNewValue) > IR_SENSOR_NEW_MEASUREMENT_THRESHOLD) {
+                // assume, that voltage has changed because of the end of a measurement
+                break;
+            }
+            loopGUI();
+        } while (millis() - tStartMillis <= IR_SENSOR_MEASUREMENT_TIME_MILLIS);
+        // now a new measurement has started, wait for the result
+        delayAndLoopGUI(IR_SENSOR_NEW_MEASUREMENT_THRESHOLD); // the IR sensor takes 39 ms for one measurement
+    }
+
+    float tVolt = readADCChannelWithReferenceOversampleFast(PIN_IR_DISTANCE_SENSOR, DEFAULT, 2); // 4 samples
+//    float tVolt = analogRead(PIN_IR_DISTANCE_SENSOR); // 100 us
+    ADMUX = tOldADMUX; // Switch back (to INTERNAL)
+
     // * 0.004887585 for 1023 = 5V
     // Model 1080 / GP2Y0A21YK0F
     return (29.988 * pow(tVolt * 0.004887585, -1.173)) + 0.5; // see https://github.com/guillaume-rico/SharpIR/blob/master/SharpIR.cpp
diff --git a/src/Distance.h b/src/Distance.h
index e9f1202..7cfa3b5 100644
--- a/src/Distance.h
+++ b/src/Distance.h
@@ -20,13 +20,20 @@
 #define DISTANCE_H_
 
 #include <Arduino.h>
+
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
 #include <Servo.h>
+#else
+#include "LightweightServo.h"
+#endif
 
 /*
- * Comment this out / enable this if the distance servo is mounted head down to detect small obstacles.
+ * Activate this, if the distance servo is mounted head down to detect small obstacles.
  */
 //#define DISTANCE_SERVO_IS_MOUNTED_HEAD_DOWN
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
 extern Servo DistanceServo;
+#endif
 
 /*
  * Constants for fillAndShowForwardDistancesInfo(), doWallDetection etc.
@@ -36,10 +43,11 @@ extern Servo DistanceServo;
 #define STEPS_PER_SCAN      (NUMBER_OF_DISTANCES - 1) // -> 162 degrees for 18 DEGREES_PER_STEP, 153 for 17 degrees
 #define START_DEGREES       ((180 - (DEGREES_PER_STEP * STEPS_PER_SCAN)) / 2) // 9 for 18, 13,5 for 17 - we need it symmetrical in the 180 degrees range
 
+#define DISTANCE_TIMEOUT_CM                     200 // do not measure distances greater than 200 cm
 #define DISTANCE_TIMEOUT_CM_FOLLOWER            130 // do not measure and process distances greater than 130 cm
 #define DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE    100 // do not measure and process distances greater than 100 cm
 
-#define DISTANCE_TIMEOUT_COLOR COLOR_CYAN
+#define DISTANCE_TIMEOUT_COLOR COLOR16_CYAN
 #define DISTANCE_DISPLAY_PERIOD_MILLIS 500
 
 // for future use maybe
@@ -83,7 +91,8 @@ extern int sLastDegreesTurned;
 
 void initDistance();
 void DistanceServoWriteAndDelay(uint8_t aValue, bool doDelay = false);
-unsigned int getDistanceAsCentiMeter(bool doShow = false, uint8_t aDistanceTimeout = DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE);
+unsigned int getDistanceAsCentiMeter(bool doShow = false, uint8_t aDistanceTimeout = DISTANCE_TIMEOUT_CM_AUTONOMOUS_DRIVE,
+        bool aWaitForCurrentMeasurementToEnd = false);
 int scanForTarget();
 bool fillAndShowForwardDistancesInfo(bool aDoFirstValue, bool aForceScan = false);
 void doWallDetection();
@@ -99,7 +108,9 @@ uint8_t readToFDistanceAsCentimeter(); // no start of measurement, just read res
 #endif
 
 #ifdef CAR_HAS_IR_DISTANCE_SENSOR
-uint8_t getIRDistanceAsCentimeter();
+uint8_t getIRDistanceAsCentimeter(bool aWaitForCurrentMeasurementToEnd);
+#define IR_SENSOR_NEW_MEASUREMENT_THRESHOLD 2 // If the output value changes by this amount, we can assume that a new measurement is started
+#define IR_SENSOR_MEASUREMENT_TIME_MILLIS   41 // the IR sensor takes 39 ms for one measurement
 #endif
 
 #endif //  DISTANCE_H_
diff --git a/src/EncoderMotor.cpp b/src/EncoderMotor.cpp
index 98e2bff..e41e5e4 100644
--- a/src/EncoderMotor.cpp
+++ b/src/EncoderMotor.cpp
@@ -11,12 +11,17 @@
  *
  *  Tested for Adafruit Motor Shield and plain TB6612 breakout board.
  *
- *  Created on: 16.09.2016
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ *  Created on: 12.05.2019
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
  *  armin.joachimsmeyer@gmail.com
  *
  *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
  *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
  *  This program is distributed in the hope that it will be useful,
  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
@@ -27,9 +32,14 @@
  */
 
 #include <Arduino.h>
+#if defined(USE_ENCODER_MOTOR_CONTROL)
 #include "EncoderMotor.h"
 
-volatile bool EncoderMotor::EncoderTickCounterHasChanged;
+//#define TRACE
+//#define DEBUG
+
+EncoderMotor *sPointerForInt0ISR;
+EncoderMotor *sPointerForInt1ISR;
 
 EncoderMotor::EncoderMotor() : // @suppress("Class members should be properly initialized")
         PWMDcMotor() {
@@ -37,7 +47,6 @@ EncoderMotor::EncoderMotor() : // @suppress("Class members should be properly in
     /*
      * The list version saves 100 bytes and is more flexible, compared with the array version
      */
-    MotorValuesEepromStorageNumber = EncoderMotor::sNumberOfMotorControls;
     EncoderMotor::sNumberOfMotorControls++;
     NextMotorControl = NULL;
     if (sMotorControlListStart == NULL) {
@@ -45,7 +54,7 @@ EncoderMotor::EncoderMotor() : // @suppress("Class members should be properly in
         sMotorControlListStart = this;
     } else {
         // put object in control list
-        EncoderMotor * tObjectPointer = sMotorControlListStart;
+        EncoderMotor *tObjectPointer = sMotorControlListStart;
         // search last list element
         while (tObjectPointer->NextMotorControl != NULL) {
             tObjectPointer = tObjectPointer->NextMotorControl;
@@ -57,70 +66,71 @@ EncoderMotor::EncoderMotor() : // @suppress("Class members should be properly in
 }
 
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
-void EncoderMotor::init(uint8_t aMotorNumber, bool aReadFromEeprom) {
-    PWMDcMotor::init(aMotorNumber, aReadFromEeprom);  // create with the default frequency 1.6KHz
-    resetControlValues();
+/*
+ * aMotorNumber from 1 to 2
+ * If no parameter, we use a fixed assignment of rightCarMotor interrupts to INT0 / Pin2 and leftCarMotor to INT1 / Pin3
+ * Currently motors 3 and 4 are not required/supported by own library for Adafruit Motor Shield
+ */
+void EncoderMotor::init(uint8_t aMotorNumber) {
+    PWMDcMotor::init(aMotorNumber);  // create with the default frequency 1.6KHz
+    resetEncoderControlValues();
+}
+void EncoderMotor::init(uint8_t aMotorNumber, uint8_t aInterruptNumber) {
+    PWMDcMotor::init(aMotorNumber);  // create with the default frequency 1.6KHz
+    resetEncoderControlValues();
+    attachInterrupt(aInterruptNumber);
 }
 #else
-void EncoderMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aMotorNumber) {
-    PWMDcMotor::init(aForwardPin, aBackwardPin, aPWMPin, aMotorNumber);
-    resetControlValues();
+void EncoderMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin) {
+    PWMDcMotor::init(aForwardPin, aBackwardPin, aPWMPin);
+    resetEncoderControlValues();
+}
+
+void EncoderMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aInterruptNumber) {
+    PWMDcMotor::init(aForwardPin, aBackwardPin, aPWMPin);
+    resetEncoderControlValues();
+    attachInterrupt(aInterruptNumber);
 }
 #endif
 
 /*
- * If motor is already running, adjust TargetDistanceCount to go to aRequestedDistanceCount
+ * If motor is already running, adjust TargetDistanceCount to go to aRequestedDistanceMillimeter
  */
-void EncoderMotor::startGoDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-//    if (aRequestedDistanceCount > DEFAULT_COUNTS_PER_FULL_ROTATION * 10) {
-//        PanicWithLed(400, 22);
-//    }
-    if (aRequestedDistanceCount == 0) {
+void EncoderMotor::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+        uint8_t aRequestedDirection) {
+    if (aRequestedDistanceMillimeter == 0) {
+        stop(DefaultStopMode); // In case motor was running
         return;
     }
-    if (CurrentSpeed == 0) {
-        TargetDistanceCount = aRequestedDistanceCount;
-#ifdef SUPPORT_RAMP_UP
-        MotorRampState = MOTOR_STATE_START;  // This in turn resets EncoderCount etc. at first call of updateMotor()
-        CurrentDriveSpeed = aRequestedSpeed;
-        setMotorDriverMode(aRequestedDirection); // this in turn sets CurrentDirectionOrBrakeMode
-#else
-        setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-#endif
+    if (CurrentSpeedPWM == 0) {
+        startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+        TargetDistanceMillimeter = aRequestedDistanceMillimeter;
     } else {
-        TargetDistanceCount = EncoderCount + aRequestedDistanceCount;
         /*
-         * prolong NextChangeMaxTargetCount for the new distance
+         * Already moving
          */
-#ifdef SUPPORT_RAMP_UP
-        MotorRampState = MOTOR_STATE_DRIVE_SPEED;
-        uint8_t tDistanceCountForRampDown = DistanceCountAfterRampUp;
-        // guarantee minimal ramp down length
-        if (tDistanceCountForRampDown < 3 && TargetDistanceCount > 6) {
-            tDistanceCountForRampDown = 3;
-        }
-        NextChangeMaxTargetCount = TargetDistanceCount - tDistanceCountForRampDown;
-#endif
-        PWMDcMotor::setSpeed(aRequestedSpeed, aRequestedDirection);
+        MotorRampState = MOTOR_STATE_DRIVE; // must be set, since we may be moving until now without ramp control
+        TargetDistanceMillimeter = getDistanceMillimeter() + aRequestedDistanceMillimeter;
+        PWMDcMotor::setSpeedPWM(aRequestedSpeedPWM, aRequestedDirection);
     }
-    LastTargetDistanceCount = TargetDistanceCount;
-    MotorMovesFixedDistance = true;
+    LastTargetDistanceMillimeter = TargetDistanceMillimeter;
+    CheckDistanceInUpdateMotor = true;
 }
 
-void EncoderMotor::startGoDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-    startGoDistanceCount(DriveSpeed, aRequestedDistanceCount, aRequestedDirection);
+void EncoderMotor::startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection) {
+    startGoDistanceMillimeter(DriveSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
 }
 
 /*
- * if aRequestedDistanceCount < 0 then use DIRECTION_BACKWARD
- * initialize motorInfo fields DirectionForward, CurrentDriveSpeed, DistanceTickCounter and optional NextChangeMaxTargetCount.
+ * if aRequestedDistanceMillimeter < 0 then use DIRECTION_BACKWARD
+ * initialize motorInfo fields DirectionForward, RequestedDriveSpeedPWM, DistanceTickCounter and optional NextChangeMaxTargetCount.
  */
-void EncoderMotor::startGoDistanceCount(int aRequestedDistanceCount) {
-    if (aRequestedDistanceCount < 0) {
-        aRequestedDistanceCount = -aRequestedDistanceCount;
-        startGoDistanceCount(aRequestedDistanceCount, DIRECTION_BACKWARD);
+void EncoderMotor::startGoDistanceMillimeter(int aRequestedDistanceMillimeter) {
+    if (aRequestedDistanceMillimeter < 0) {
+        aRequestedDistanceMillimeter = -aRequestedDistanceMillimeter;
+        startGoDistanceMillimeter(aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
     } else {
-        startGoDistanceCount(aRequestedDistanceCount, DIRECTION_FORWARD);
+        startGoDistanceMillimeter(aRequestedDistanceMillimeter, DIRECTION_FORWARD);
     }
 }
 
@@ -129,164 +139,189 @@ void EncoderMotor::startGoDistanceCount(int aRequestedDistanceCount) {
  */
 bool EncoderMotor::updateMotor() {
     unsigned long tMillis = millis();
-#ifdef SUPPORT_RAMP_UP
-    uint8_t tNewSpeed = CurrentSpeed;
+    uint8_t tNewSpeedPWM = CurrentSpeedPWM;
 
     if (MotorRampState == MOTOR_STATE_START) {
-        //  --> RAMP_UP
-        MotorRampState = MOTOR_STATE_RAMP_UP;
-        LastRideEncoderCount = 0;
-        EncoderCount = 0;
+        NextRampChangeMillis = tMillis + RAMP_INTERVAL_MILLIS;
         /*
          * Start motor
          */
-        tNewSpeed = StartSpeed;
-        NextRampChangeMillis = tMillis + RAMP_UP_UPDATE_INTERVAL_MILLIS;
-        NextChangeMaxTargetCount = TargetDistanceCount / 2;
-        // initialize for timeout detection
-        EncoderTickLastMillis = tMillis - ENCODER_SENSOR_MASK_MILLIS - 1;
-
-        RampDelta = RAMP_UP_VALUE_DELTA; // 16 steps a 16 millis for ramp up => 256 milliseconds
-        if (RampDelta < 2) {
-            RampDelta = 2;
+        if (RequestedDriveSpeedPWM > RAMP_VALUE_UP_OFFSET_SPEED_PWM) {
+            // start with ramp to avoid spinning wheels
+            tNewSpeedPWM = RAMP_VALUE_UP_OFFSET_SPEED_PWM; // start immediately with speed offset (3 volt)
+            //  --> RAMP_UP
+            MotorRampState = MOTOR_STATE_RAMP_UP;
+        } else {
+            // Motor ramp not required, go direct to drive speed.
+            tNewSpeedPWM = RequestedDriveSpeedPWM;
+            //  --> DRIVE
+            MotorRampState = MOTOR_STATE_DRIVE;
         }
-        DebugCount = 0;
-        Debug = 0;
-    }
 
-    // do not use else if since state can be changed in code before
-    if (MotorRampState == MOTOR_STATE_RAMP_UP) {
         /*
-         * Increase motor speed RAMP_UP_UPDATE_INTERVAL_STEPS (16) times every RAMP_UP_UPDATE_INTERVAL_MILLIS (16) milliseconds
-         * or until more than half of distance is done
-         * Distance required for ramp is 0 to 10 or more, increasing with increasing CurrentDriveSpeed
+         * Init Encoder values
          */
-        if (tMillis >= NextRampChangeMillis) {
-            NextRampChangeMillis += RAMP_UP_UPDATE_INTERVAL_MILLIS;
-            tNewSpeed = tNewSpeed + RampDelta;
-            // Clip value and check for 8 bit overflow
-            if (tNewSpeed > CurrentDriveSpeed || tNewSpeed <= RampDelta) {
-                tNewSpeed = CurrentDriveSpeed;
-            }
+        LastRideEncoderCount = 0;
+        EncoderCount = 0;
+        // initialize for timeout detection
+        LastEncoderInterruptMillis = tMillis - ENCODER_SENSOR_RING_MILLIS - 1;
 
+    } else if (MotorRampState == MOTOR_STATE_RAMP_UP) {
+        if (tMillis >= NextRampChangeMillis) {
+            NextRampChangeMillis += RAMP_INTERVAL_MILLIS;
             /*
-             * Transition criteria is:
-             * Max Speed reached or more than half of distance is done
+             * Increase motor speed by RAMP_UP_VALUE_DELTA every RAMP_UP_UPDATE_INTERVAL_MILLIS milliseconds
+             * Transition criteria to next state is:
+             * Drive speed reached or target distance - braking distance reached
              */
-            if (tNewSpeed == CurrentDriveSpeed || (MotorMovesFixedDistance && EncoderCount >= NextChangeMaxTargetCount)) {
-                //  --> DRIVE_SPEED
-                MotorRampState = MOTOR_STATE_DRIVE_SPEED;
-
-                DistanceCountAfterRampUp = EncoderCount;
-                uint8_t tDistanceCountForRampDown = DistanceCountAfterRampUp;
-                // guarantee minimal ramp down length
-                if (tDistanceCountForRampDown < 3 && TargetDistanceCount > 6) {
-                    tDistanceCountForRampDown = 3;
+            if (tNewSpeedPWM == RequestedDriveSpeedPWM
+                    || (CheckDistanceInUpdateMotor
+                            && getDistanceMillimeter() + getBrakingDistanceMillimeter() >= TargetDistanceMillimeter)) {
+                //  RequestedDriveSpeedPWM reached switch to --> DRIVE_SPEED_PWM and check immediately for next transition to RAMP_DOWN
+                MotorRampState = MOTOR_STATE_DRIVE;
+            } else {
+                tNewSpeedPWM = tNewSpeedPWM + RampSpeedPWMDelta;
+                // Clip value and check for 8 bit overflow
+                if (tNewSpeedPWM > RequestedDriveSpeedPWM || tNewSpeedPWM <= RampSpeedPWMDelta) {
+                    // do not change state here to let motor run at RequestedDriveSpeedPWM for one interval
+                    tNewSpeedPWM = RequestedDriveSpeedPWM;
                 }
-                NextChangeMaxTargetCount = TargetDistanceCount - tDistanceCountForRampDown;
             }
+#ifdef DEBUG
+            Serial.print(PWMPin);
+            Serial.print(F(" St="));
+            Serial.print(MotorRampState);
+            Serial.print(F(" Ns="));
+            Serial.println(tNewSpeedPWM);
+#endif
         }
     }
 
-    // do not use else if since state can be changed in code before
-    if (MotorRampState == MOTOR_STATE_DRIVE_SPEED) {
+    // do not use "else if" since we must immediately check for next transition to RAMP_DOWN
+    if (MotorRampState == MOTOR_STATE_DRIVE) {
         /*
-         * Wait until ramp down count is reached
+         * Wait until target distance - braking distance reached
          */
-        if (MotorMovesFixedDistance && EncoderCount >= NextChangeMaxTargetCount) {
+        if (CheckDistanceInUpdateMotor && getDistanceMillimeter() + getBrakingDistanceMillimeter() >= TargetDistanceMillimeter) {
+            if (CurrentSpeedPWM > (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA)) {
+                tNewSpeedPWM -= (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA); // RAMP_DOWN_VALUE_DELTA is immediately subtracted below
+            } else {
+                tNewSpeedPWM = RAMP_VALUE_DOWN_MIN_SPEED_PWM;
+            }
             //  --> RAMP_DOWN
             MotorRampState = MOTOR_STATE_RAMP_DOWN;
-            /*
-             * Ramp to reach StartSpeed after 1/2 of remaining distance
-             * TODO reduce speed just here? e.g. to 1.5 of start speed?
-             */
-            RampDeltaPerDistanceCount = ((CurrentSpeed - StartSpeed) * 2) / ((TargetDistanceCount - EncoderCount)) + 1;
+#ifdef DEBUG
+            Serial.print(PWMPin);
+            Serial.print(F(" Dist="));
+            Serial.print(getDistanceMillimeter());
+            Serial.print(F(" Breakdist="));
+            Serial.print(getBrakingDistanceMillimeter());
+            Serial.print(F(" St="));
+            Serial.print(MotorRampState);
+            Serial.print(F(" Ns="));
+            Serial.println(tNewSpeedPWM);
+#endif
         }
     }
 
-    // do not use else if since state can be changed in code before
+    // do not use "else if" since we must immediately check for next transition to STOPPED
     if (MotorRampState == MOTOR_STATE_RAMP_DOWN) {
-        DebugCount++;
-
-        /*
-         * Decrease motor speed depending on distance to target count
-         */
-        if (EncoderCount >= NextChangeMaxTargetCount) {
-            Debug++;
-            NextChangeMaxTargetCount++;
-            if (tNewSpeed > RampDeltaPerDistanceCount) {
-                tNewSpeed -= RampDeltaPerDistanceCount;
+        if (tMillis >= NextRampChangeMillis) {
+            NextRampChangeMillis = tMillis + RAMP_INTERVAL_MILLIS;
+            /*
+             * Decrease motor speed RAMP_UP_UPDATE_INTERVAL_STEPS times every RAMP_UP_UPDATE_INTERVAL_MILLIS milliseconds
+             */
+            if (tNewSpeedPWM > (RAMP_DOWN_VALUE_DELTA + RAMP_VALUE_DOWN_MIN_SPEED_PWM)) {
+                tNewSpeedPWM -= RAMP_DOWN_VALUE_DELTA;
             } else {
-                tNewSpeed = StartSpeed;
-            }
-            // safety net for slow speed
-            if (tNewSpeed < StartSpeed) {
-                tNewSpeed = StartSpeed;
+                tNewSpeedPWM = RAMP_VALUE_DOWN_MIN_SPEED_PWM;
             }
+#ifdef DEBUG
+            Serial.print(PWMPin);
+            Serial.print(F(" St="));
+            Serial.print(MotorRampState);
+            Serial.print(F(" Ns="));
+            Serial.println(tNewSpeedPWM);
+#endif
         }
+
     }
     // End of motor state machine
 
-    if (tNewSpeed != CurrentSpeed) {
-        PWMDcMotor::setSpeed(tNewSpeed, CurrentDirectionOrBrakeMode);
-    }
+#ifdef TRACE
+    Serial.print(PWMPin);
+    Serial.print(F(" St="));
+    Serial.println(MotorRampState);
+#endif
+    if (tNewSpeedPWM != CurrentSpeedPWM) {
+#ifdef TRACE
+        Serial.print(F("Ns="));
+        Serial.println(tNewSpeedPWM);
 #endif
+        PWMDcMotor::setSpeedPWM(tNewSpeedPWM, CurrentDirectionOrBrakeMode);
+    }
 
     /*
-     * Check if target count is reached or encoder tick timeout
+     * Check if target distance is reached or encoder tick timeout
      */
-    if (CurrentSpeed > 0) {
-        if (MotorMovesFixedDistance
-                && (EncoderCount >= TargetDistanceCount || tMillis > (EncoderTickLastMillis + ENCODER_TICKS_TIMEOUT_MILLIS))) {
-#ifdef SUPPORT_RAMP_UP
-            DebugSpeedAtTargetCountReached = CurrentSpeed;
-            MotorRampState = MOTOR_STATE_STOPPED;
+    if (CurrentSpeedPWM > 0) {
+        if (CheckDistanceInUpdateMotor
+                && (getDistanceMillimeter() >= TargetDistanceMillimeter
+                        || tMillis > (LastEncoderInterruptMillis + ENCODER_SENSOR_TIMEOUT_MILLIS))) {
+            stop(MOTOR_BRAKE); // this sets MOTOR_STATE_STOPPED;
+#ifdef DEBUG
+            Serial.print(PWMPin);
+            if(tMillis > (LastEncoderInterruptMillis + ENCODER_SENSOR_TIMEOUT_MILLIS)){
+                Serial.print(F(" Encoder timeout: dist="));
+            } else{
+                Serial.print(F(" Reached: dist="));
+            }
+            Serial.print(getDistanceMillimeter());
+            Serial.print(F(" Breakdist="));
+            Serial.println(getBrakingDistanceMillimeter());
 #endif
-            stop(MOTOR_BRAKE);
-            return false;
+            return false; // need no more calls to update()
         }
+        return true; // still running
     }
-
-    return true;
+    return false; // current speed == 0
 }
 
 /*
  * Computes motor speed compensation value in order to go exactly straight ahead
  * Compensate only at forward direction
  */
-void EncoderMotor::synchronizeMotor(EncoderMotor * aOtherMotorControl, unsigned int aCheckInterval) {
-    if (CurrentDirectionOrBrakeMode != DIRECTION_FORWARD) {
+void EncoderMotor::synchronizeMotor(EncoderMotor *aOtherMotorControl, unsigned int aCheckInterval) {
+    if (CurrentDirectionOrBrakeMode != DIRECTION_FORWARD || aOtherMotorControl->CurrentDirectionOrBrakeMode != DIRECTION_FORWARD) {
         return;
     }
     static long sNextMotorSyncMillis;
     long tMillis = millis();
     if (tMillis >= sNextMotorSyncMillis) {
         sNextMotorSyncMillis += aCheckInterval;
-#ifdef SUPPORT_RAMP_UP
 // only synchronize if manually operated or at full speed
-        if ((MotorRampState == MOTOR_STATE_STOPPED && aOtherMotorControl->MotorRampState == MOTOR_STATE_STOPPED && CurrentSpeed > 0)
-                || (MotorRampState == MOTOR_STATE_DRIVE_SPEED && aOtherMotorControl->MotorRampState == MOTOR_STATE_DRIVE_SPEED)) {
-#endif
-            MotorValuesHaveChanged = false;
+        if ((MotorRampState == MOTOR_STATE_STOPPED && aOtherMotorControl->MotorRampState == MOTOR_STATE_STOPPED && CurrentSpeedPWM > 0)
+                || (MotorRampState == MOTOR_STATE_DRIVE && aOtherMotorControl->MotorRampState == MOTOR_STATE_DRIVE)) {
+            MotorControlValuesHaveChanged = false;
             if (EncoderCount >= (aOtherMotorControl->EncoderCount + 2)) {
                 EncoderCount = aOtherMotorControl->EncoderCount;
                 /*
                  * This motor is too fast, first try to reduce other motors compensation
                  */
-                if (aOtherMotorControl->SpeedCompensation >= 2) {
-                    aOtherMotorControl->SpeedCompensation -= 2;
-                    aOtherMotorControl->CurrentSpeed += 2;
-                    aOtherMotorControl->setSpeed(aOtherMotorControl->CurrentSpeed, DIRECTION_FORWARD);
-                    MotorValuesHaveChanged = true;
+                if (aOtherMotorControl->SpeedPWMCompensation >= 2) {
+                    aOtherMotorControl->SpeedPWMCompensation -= 2;
+                    aOtherMotorControl->CurrentSpeedPWM += 2;
+                    aOtherMotorControl->setSpeedPWM(aOtherMotorControl->CurrentSpeedPWM, DIRECTION_FORWARD);
+                    MotorControlValuesHaveChanged = true;
                     EncoderCount = aOtherMotorControl->EncoderCount;
-                } else if (CurrentSpeed > StartSpeed) {
+                } else if (CurrentSpeedPWM > StartSpeedPWM) {
                     /*
                      * else increase this motors compensation
                      */
-                    SpeedCompensation += 2;
-                    CurrentSpeed -= 2;
-                    PWMDcMotor::setSpeed(CurrentSpeed, DIRECTION_FORWARD);
-                    MotorValuesHaveChanged = true;
+                    SpeedPWMCompensation += 2;
+                    CurrentSpeedPWM -= 2;
+                    PWMDcMotor::setSpeedPWM(CurrentSpeedPWM, DIRECTION_FORWARD);
+                    MotorControlValuesHaveChanged = true;
                 }
 
             } else if (aOtherMotorControl->EncoderCount >= (EncoderCount + 2)) {
@@ -294,28 +329,22 @@ void EncoderMotor::synchronizeMotor(EncoderMotor * aOtherMotorControl, unsigned
                 /*
                  * Other motor is too fast, first try to reduce this motors compensation
                  */
-                if (SpeedCompensation >= 2) {
-                    SpeedCompensation -= 2;
-                    CurrentSpeed += 2;
-                    PWMDcMotor::setSpeed(CurrentSpeed, DIRECTION_FORWARD);
-                    MotorValuesHaveChanged = true;
-                } else if (aOtherMotorControl->CurrentSpeed > aOtherMotorControl->StartSpeed) {
+                if (SpeedPWMCompensation >= 2) {
+                    SpeedPWMCompensation -= 2;
+                    CurrentSpeedPWM += 2;
+                    PWMDcMotor::setSpeedPWM(CurrentSpeedPWM, DIRECTION_FORWARD);
+                    MotorControlValuesHaveChanged = true;
+                } else if (aOtherMotorControl->CurrentSpeedPWM > aOtherMotorControl->StartSpeedPWM) {
                     /*
                      * else increase other motors compensation
                      */
-                    aOtherMotorControl->SpeedCompensation += 2;
-                    aOtherMotorControl->CurrentSpeed -= 2;
-                    aOtherMotorControl->setSpeed(aOtherMotorControl->CurrentSpeed, DIRECTION_FORWARD);
-                    MotorValuesHaveChanged = true;
+                    aOtherMotorControl->SpeedPWMCompensation += 2;
+                    aOtherMotorControl->CurrentSpeedPWM -= 2;
+                    aOtherMotorControl->setSpeedPWM(aOtherMotorControl->CurrentSpeedPWM, DIRECTION_FORWARD);
+                    MotorControlValuesHaveChanged = true;
                 }
             }
-
-            if (MotorValuesHaveChanged) {
-                writeMotorvaluesToEeprom();
-            }
-#ifdef SUPPORT_RAMP_UP
         }
-#endif
     }
 }
 
@@ -325,36 +354,225 @@ void EncoderMotor::synchronizeMotor(EncoderMotor * aOtherMotorControl, unsigned
 /*
  * Reset all control values as distances, debug values etc. to 0x00
  */
-void EncoderMotor::resetControlValues() {
-    memset(reinterpret_cast<uint8_t*>(&CurrentVelocity), 0,
-            (((uint8_t *) &Debug) + sizeof(Debug)) - reinterpret_cast<uint8_t*>(&CurrentVelocity));
+void EncoderMotor::resetEncoderControlValues() {
+    memset(reinterpret_cast<uint8_t*>(&TargetDistanceMillimeter), 0,
+            (((uint8_t*) &Debug) + sizeof(Debug)) - reinterpret_cast<uint8_t*>(&TargetDistanceMillimeter));
 // to force display of initial values
-    EncoderTickCounterHasChanged = true;
+    SensorValuesHaveChanged = true;
 }
 
 /***************************************************
  * Encoder functions
  ***************************************************/
+/*
+ * Attaches INT0 or INT1 interrupt to this EncoderMotor
+ * Interrupt is enabled on rising edges
+ * We can not use both edges since the on and off times of the opto interrupter are too different
+ * aInterruptNumber can be one of INT0 (at pin D2) or INT1 (at pin D3) for Atmega328
+ */
+void EncoderMotor::attachInterrupt(uint8_t aInterruptNumber) {
+    if (aInterruptNumber > 1) {
+        return;
+    }
+
+    if (aInterruptNumber == 0) {
+        sPointerForInt0ISR = this;
+// interrupt on any logical change
+        EICRA |= (_BV(ISC00) | _BV(ISC01));
+// clear interrupt bit
+        EIFR |= _BV(INTF0);
+// enable interrupt on next change
+        EIMSK |= _BV(INT0);
+    } else {
+        sPointerForInt1ISR = this;
+        EICRA |= (_BV(ISC10) | _BV(ISC11));
+        EIFR |= _BV(INTF1);
+        EIMSK |= _BV(INT1);
+    }
+}
+
+/*
+ * Reset EncoderInterruptDeltaMillis, EncoderInterruptMillisArray, MillisArrayIndex and AverageSpeedIsValid
+ */
+void EncoderMotor::resetSpeedValues() {
+#ifdef SUPPORT_AVERAGE_SPEED
+    memset((void*) &EncoderInterruptDeltaMillis, 0,
+            ((uint8_t*) &AverageSpeedIsValid + sizeof(AverageSpeedIsValid)) - (uint8_t*) &EncoderInterruptDeltaMillis);
+#else
+    EncoderInterruptDeltaMillis = 0;
+#endif
+}
+
+uint8_t EncoderMotor::getDirection() {
+    return LastDirection;
+}
+
+unsigned int EncoderMotor::getDistanceMillimeter() {
+    return LastRideEncoderCount * FACTOR_COUNT_TO_MILLIMETER_INTEGER_DEFAULT;
+}
+
+unsigned int EncoderMotor::getDistanceCentimeter() {
+    return (LastRideEncoderCount * FACTOR_COUNT_TO_MILLIMETER_INTEGER_DEFAULT) / 10;
+}
+
+unsigned int EncoderMotor::getBrakingDistanceMillimeter() {
+    unsigned int tSpeedCmPerSecond = getSpeed();
+//    return (tSpeedCmPerSecond * tSpeedCmPerSecond * 100) / RAMP_DECELERATION_TIMES_2; // overflow!
+    return (tSpeedCmPerSecond * tSpeedCmPerSecond) / (RAMP_DECELERATION_TIMES_2 / 100);
+}
+
+/*
+ * Speed is in cm/s for a 20 slot encoder disc
+ * Reset speed values after 1 second
+ */
+unsigned int EncoderMotor::getSpeed() {
+    if (millis() - LastEncoderInterruptMillis > 1000) {
+        resetSpeedValues(); // Reset speed values after 1 second
+    }
+    unsigned long tEncoderInterruptDeltaMillis = EncoderInterruptDeltaMillis;
+    if (tEncoderInterruptDeltaMillis == 0) {
+        return 0;
+    }
+    return (SPEED_SCALE_VALUE / tEncoderInterruptDeltaMillis);
+}
+
+#ifdef SUPPORT_AVERAGE_SPEED
+/*
+ * Speed is in cm/s for a 20 slot encoder disc
+ * Average is computed over the full revolution to compensate for unequal distances of the laser cut encoder discs.
+ * If we do not have 21 timestamps, average is computed over the existing ones
+ */
+unsigned int EncoderMotor::getAverageSpeed() {
+    int tAverageSpeed = 0;
+    /*
+     * First check for timeout
+     */
+    if (millis() - LastEncoderInterruptMillis > 1000) {
+        resetSpeedValues(); // Reset speed values after 1 second
+    } else {
+        int8_t tMillisArrayIndex = MillisArrayIndex;
+        if (!AverageSpeedIsValid) {
+            tMillisArrayIndex--;
+            if (tMillisArrayIndex > 0) {
+                // here MillisArray is not completely filled and MillisArrayIndex had no wrap around
+                tAverageSpeed = (SPEED_SCALE_VALUE * tMillisArrayIndex)
+                        / (EncoderInterruptMillisArray[tMillisArrayIndex] - EncoderInterruptMillisArray[0]);
+            }
+        } else {
+            // tMillisArrayIndex points to the next value to write == the oldest value to overwrite
+            unsigned long tOldestEncoderInterruptMillis = EncoderInterruptMillisArray[tMillisArrayIndex];
+
+            // get index of current value
+            tMillisArrayIndex--;
+            if (tMillisArrayIndex < 0) {
+                // wrap around
+                tMillisArrayIndex = AVERAGE_SPEED_BUFFER_SIZE - 1;
+            }
+            tAverageSpeed = (SPEED_SCALE_VALUE * AVERAGE_SPEED_SAMPLE_SIZE)
+                    / (EncoderInterruptMillisArray[tMillisArrayIndex] - tOldestEncoderInterruptMillis);
+        }
+    }
+    return tAverageSpeed;
+}
+
+/*
+ * @param aLengthOfAverage only values from 1 to 20 are valid!
+ */
+unsigned int EncoderMotor::getAverageSpeed(uint8_t aLengthOfAverage) {
+    if (!AverageSpeedIsValid && MillisArrayIndex < aLengthOfAverage) {
+        // cannot compute requested average
+        return 0;
+    }
+    // get index of aLengthOfAverage counts before
+    int8_t tHistoricIndex = (MillisArrayIndex - 1) - aLengthOfAverage;
+    if (tHistoricIndex < 0) {
+        // wrap around
+        tHistoricIndex += AVERAGE_SPEED_BUFFER_SIZE;
+    }
+    int tAverageSpeed = (SPEED_SCALE_VALUE * aLengthOfAverage)
+            / (LastEncoderInterruptMillis - EncoderInterruptMillisArray[tHistoricIndex]);
+
+    return tAverageSpeed;
+}
+#endif
+
+/*
+ * Print caption for Serial Plotter
+ * Space but NO println() at the end, to enable additional information to be printed
+ */
+void EncoderMotor::printEncoderDataCaption(Print *aSerial) {
+//    aSerial->print(F("PWM[2] Speed[cm/s] SpeedAvg.Of10[cm/s] Count[22cm/20LSB] "));
+    aSerial->print(F("PWM[2] Speed[cm/s] Distance[cm] "));
+}
+
+bool EncoderMotor::printEncoderDataPeriodically(Print *aSerial, uint16_t aPeriodMillis) {
+    static unsigned long sLastPrintMillis;
+
+    if ((millis() - sLastPrintMillis) >= aPeriodMillis) { // print data every n ms
+        sLastPrintMillis = millis();
+        printEncoderData(aSerial);
+        return true;
+    }
+    return false;
+}
+
+void EncoderMotor::printEncoderData(Print *aSerial) {
+    aSerial->print(CurrentSpeedPWM / 2); // = PWM, scale it for plotter
+    aSerial->print(" ");
+    aSerial->print(getSpeed());
+    aSerial->print(" ");
+#ifdef SUPPORT_AVERAGE_SPEED
+//    aSerial->print(getAverageSpeed(10));
+//    aSerial->print(" ");
+#endif
+    aSerial->print(getDistanceCentimeter());
+    aSerial->print(" ");
+}
+
 void EncoderMotor::handleEncoderInterrupt() {
     long tMillis = millis();
-    unsigned int tDeltaMillis = tMillis - EncoderTickLastMillis;
-    if (tDeltaMillis <= ENCODER_SENSOR_MASK_MILLIS) {
-// signal is ringing
-        CurrentVelocity = 99;
+    unsigned long tDeltaMillis = tMillis - LastEncoderInterruptMillis;
+    if (tDeltaMillis <= ENCODER_SENSOR_RING_MILLIS) {
+        // assume signal is ringing and do nothing
     } else {
-        EncoderTickLastMillis = tMillis;
+        LastEncoderInterruptMillis = tMillis;
+#ifdef SUPPORT_AVERAGE_SPEED
+        uint8_t tMillisArrayIndex = MillisArrayIndex;
+#endif
+        if (tDeltaMillis < ENCODER_SENSOR_TIMEOUT_MILLIS) {
+            EncoderInterruptDeltaMillis = tDeltaMillis;
+        } else {
+            // timeout
+            EncoderInterruptDeltaMillis = 0;
+#ifdef SUPPORT_AVERAGE_SPEED
+            tMillisArrayIndex = 0;
+            AverageSpeedIsValid = false;
+#endif
+        }
+#ifdef SUPPORT_AVERAGE_SPEED
+        EncoderInterruptMillisArray[tMillisArrayIndex++] = tMillis;
+        if (tMillisArrayIndex >= AVERAGE_SPEED_BUFFER_SIZE) {
+            tMillisArrayIndex = 0;
+            AverageSpeedIsValid = true;
+        }
+        MillisArrayIndex = tMillisArrayIndex;
+#endif
+
         EncoderCount++;
         LastRideEncoderCount++;
-        CurrentVelocity = VELOCITY_SCALE_VALUE / tDeltaMillis;
-        EncoderTickCounterHasChanged = true;
+        SensorValuesHaveChanged = true;
     }
 }
 
-// The code for the interrupt is placed at the calling class since we need a fixed relation between ISR and EncoderMotor
-// //ISR for PIN PD2 / RIGHT
-// ISR(INT0_vect) {
-//    myCar.rightMotorControl.handleEncoderInterrupt();
-// }
+// ISR for PIN PD2 / RIGHT
+ISR(INT0_vect) {
+    sPointerForInt0ISR->handleEncoderInterrupt();
+}
+
+// ISR for PIN PD3 / LEFT
+ISR(INT1_vect) {
+    sPointerForInt1ISR->handleEncoderInterrupt();
+}
 
 /******************************************************************************************
  * Static methods
@@ -362,39 +580,16 @@ void EncoderMotor::handleEncoderInterrupt() {
 /*
  * Enable both interrupts INT0/D2 or INT1/D3
  */
-void EncoderMotor::enableINT0AndINT1Interrupts() {
+void EncoderMotor::enableINT0AndINT1InterruptsOnRisingEdge() {
 
 // interrupt on any logical change
-    EICRA |= (_BV(ISC00) | _BV(ISC10));
+    EICRA |= (_BV(ISC00) | _BV(ISC01) | _BV(ISC10) | _BV(ISC11));
 // clear interrupt bit
     EIFR |= (_BV(INTF0) | _BV(INTF1));
 // enable interrupt on next change
     EIMSK |= (_BV(INT0) | _BV(INT1));
 }
 
-/*
- * Enable only one interrupt
- * aIntPinNumber can be one of INT0/D2 or INT1/D3 for Atmega328
- */
-void EncoderMotor::enableInterruptOnBothEdges(uint8_t aIntPinNumber) {
-    if (aIntPinNumber > 1) {
-        return;
-    }
-
-    if (aIntPinNumber == 0) {
-// interrupt on any logical change
-        EICRA |= (_BV(ISC00));
-// clear interrupt bit
-        EIFR |= _BV(INTF0);
-// enable interrupt on next change
-        EIMSK |= _BV(INT0);
-    } else {
-        EICRA |= (_BV(ISC10));
-        EIFR |= _BV(INTF1);
-        EIMSK |= _BV(INT1);
-    }
-}
-
 #ifdef ENABLE_MOTOR_LIST_FUNCTIONS
 /*
  * The list version saves 100 bytes and is more flexible, compared with the array version
@@ -408,7 +603,7 @@ EncoderMotor * EncoderMotor::sMotorControlListStart = NULL;
  *****************************************************/
 
 bool EncoderMotor::updateAllMotors() {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     bool tMotorsNotStopped = false; // to check if motors are not stopped by aLoopCallback
     while (tEncoderMotorControlPointer != NULL) {
@@ -421,8 +616,8 @@ bool EncoderMotor::updateAllMotors() {
 /*
  * Waits until distance is reached
  */
-void EncoderMotor::startRampUpAndWaitForDriveSpeedForAll(uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+void EncoderMotor::startRampUpAndWaitForDriveSpeedPWMForAll(uint8_t aRequestedDirection, void (*aLoopCallback)(void)) {
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
         tEncoderMotorControlPointer->startRampUp(aRequestedDirection);
@@ -437,11 +632,11 @@ void EncoderMotor::startRampUpAndWaitForDriveSpeedForAll(uint8_t aRequestedDirec
     } while (tMotorsNotStopped && !EncoderMotor::allMotorsStarted());
 }
 
-void EncoderMotor::startGoDistanceCountForAll(int aRequestedDistanceCount) {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+void EncoderMotor::startGoDistanceMillimeterForAll(int aRequestedDistanceMillimeter) {
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
-        tEncoderMotorControlPointer->startGoDistanceCount(aRequestedDistanceCount);
+        tEncoderMotorControlPointer->startGoDistanceMillimeter(aRequestedDistanceMillimeter);
         tEncoderMotorControlPointer = tEncoderMotorControlPointer->NextMotorControl;
     }
 }
@@ -449,22 +644,22 @@ void EncoderMotor::startGoDistanceCountForAll(int aRequestedDistanceCount) {
 /*
  * Waits until distance is reached
  */
-void EncoderMotor::goDistanceCountForAll(int aRequestedDistanceCount, void (*aLoopCallback)(void)) {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+void EncoderMotor::goDistanceMillimeterForAll(int aRequestedDistanceMillimeter, void (*aLoopCallback)(void)) {
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
-        tEncoderMotorControlPointer->startGoDistanceCount(aRequestedDistanceCount);
+        tEncoderMotorControlPointer->startGoDistanceMillimeter(aRequestedDistanceMillimeter);
         tEncoderMotorControlPointer = tEncoderMotorControlPointer->NextMotorControl;
     }
     waitUntilAllMotorsStopped(aLoopCallback);
 }
 
 bool EncoderMotor::allMotorsStarted() {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
     bool tAllAreStarted = true;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
-        if (tEncoderMotorControlPointer->MotorRampState != MOTOR_STATE_DRIVE_SPEED) {
+        if (tEncoderMotorControlPointer->MotorRampState != MOTOR_STATE_DRIVE) {
             tAllAreStarted = false;
         }
         tEncoderMotorControlPointer = tEncoderMotorControlPointer->NextMotorControl;
@@ -473,7 +668,7 @@ bool EncoderMotor::allMotorsStarted() {
 }
 
 bool EncoderMotor::allMotorsStopped() {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
     bool tAllAreStopped = true;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
@@ -486,17 +681,13 @@ bool EncoderMotor::allMotorsStopped() {
 }
 
 /*
- * Set NextChangeMaxTargetCount to change state from MOTOR_STATE_DRIVE_SPEED to MOTOR_STATE_RAMP_DOWN
- * Use DistanceCountAfterRampUp as ramp down count
- * Busy waits for stop
+ * Start ramp down and busy wait for stop
  */
 void EncoderMotor::stopAllMotorsAndWaitUntilStopped() {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
-        tEncoderMotorControlPointer->NextChangeMaxTargetCount = tEncoderMotorControlPointer->EncoderCount;
-        tEncoderMotorControlPointer->TargetDistanceCount = tEncoderMotorControlPointer->EncoderCount
-                + tEncoderMotorControlPointer->DistanceCountAfterRampUp;
+        tEncoderMotorControlPointer->startRampDown();
         tEncoderMotorControlPointer = tEncoderMotorControlPointer->NextMotorControl;
     }
 
@@ -518,7 +709,7 @@ void EncoderMotor::waitUntilAllMotorsStopped(void (*aLoopCallback)(void)) {
 }
 
 void EncoderMotor::stopAllMotors(uint8_t aStopMode) {
-    EncoderMotor * tEncoderMotorControlPointer = sMotorControlListStart;
+    EncoderMotor *tEncoderMotorControlPointer = sMotorControlListStart;
 // walk through list
     while (tEncoderMotorControlPointer != NULL) {
         tEncoderMotorControlPointer->stop(aStopMode);
@@ -526,3 +717,4 @@ void EncoderMotor::stopAllMotors(uint8_t aStopMode) {
     }
 }
 #endif
+#endif
diff --git a/src/EncoderMotor.h b/src/EncoderMotor.h
index c133415..649aa8a 100644
--- a/src/EncoderMotor.h
+++ b/src/EncoderMotor.h
@@ -1,12 +1,17 @@
 /*
  * EncoderMotor.h
  *
- *  Created on: 16.09.2016
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ *  Created on: 12.05.2019
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
  *  armin.joachimsmeyer@gmail.com
  *
  *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
  *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
  *  This program is distributed in the hope that it will be useful,
  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
@@ -22,52 +27,85 @@
 #include "PWMDcMotor.h"
 #include <stdint.h>
 
+#define SUPPORT_AVERAGE_SPEED
+#define AVERAGE_SPEED_SAMPLE_SIZE 20
+#define AVERAGE_SPEED_BUFFER_SIZE 21 // one more than samples, because speed is the difference between 2 samples
+
 // maybe useful especially for more than 2 motors
 //#define ENABLE_MOTOR_LIST_FUNCTIONS
 
 /*
- * Encoders generate 110 Hz at max speed => 8 ms per period
- * since duty cycle of encoder disk impulse is 1/3 choose 3 millis as ringing mask.
- * 3 ms means 2.1 to 3.0 ms depending on the Arduino ms trigger.
+ * 20 slot Encoder generates 4 to 5 Hz at min speed and 110 Hz at max speed => 200 to 8 ms per period
+ */
+#define ENCODER_COUNTS_PER_FULL_ROTATION    20
+#define ENCODER_SENSOR_TIMEOUT_MILLIS       400L // Timeout for encoder ticks if motor is running
+#define ENCODER_SENSOR_RING_MILLIS          4
+
+/*
+ * Some factors depending on wheel diameter and encoder resolution
+ */
+#if ! defined(FACTOR_COUNT_TO_MILLIMETER_INTEGER_DEFAULT)
+// Exact value is 220 mm / 20 = 11
+#define FACTOR_COUNT_TO_MILLIMETER_INTEGER_DEFAULT  ((DEFAULT_CIRCUMFERENCE_MILLIMETER + (ENCODER_COUNTS_PER_FULL_ROTATION / 2)) / ENCODER_COUNTS_PER_FULL_ROTATION) // = 11
+#endif
+
+/*
+ * The millis per tick have the unit [ms]/ (circumference[cm]/countsPerCircumference) -> ms/cm
+ * To get cm/s, use (circumference[cm]/countsPerCircumference) * 1000 / millis per tick
  */
-#define ENCODER_SENSOR_MASK_MILLIS 3
-#define VELOCITY_SCALE_VALUE 500 // for computing of CurrentVelocity
-// Timeout for encoder ticks if motor is running
-#define ENCODER_TICKS_TIMEOUT_MILLIS 500
+#define SPEED_SCALE_VALUE ((100L * DEFAULT_CIRCUMFERENCE_MILLIMETER) / ENCODER_COUNTS_PER_FULL_ROTATION) // 1100
 
 class EncoderMotor: public PWMDcMotor {
 public:
 
     EncoderMotor();
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
-    void init(uint8_t aMotorNumber, bool aReadFromEeprom = false);
+    void init(uint8_t aMotorNumber);
+    void init(uint8_t aMotorNumber, uint8_t aInterruptNumber);
 #else
-    void init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aMotorNumber = 0);
+    void init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin);
+    void init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aInterruptNumber);
 #endif
 //    virtual ~EncoderMotor();
 
     /*
      * Functions for going a fixed distance, they "overwrite" PWMDCMotor functions
      */
-    void startGoDistanceCount(int aRequestedDistanceCount); // Signed distance count
-    void startGoDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
-    void startGoDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
+    void startGoDistanceMillimeter(int aRequestedDistanceMillimeter); // Signed distance count
+    void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
+    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
     bool updateMotor();
 
     /*
      * Functions especially for encoder motors
      */
-    void synchronizeMotor(EncoderMotor * aOtherMotorControl, unsigned int aCheckInterval); // Computes motor speed compensation value in order to go exactly straight ahead
-    static void calibrate(); // Generates a rising ramp and detects the first movement -> this sets StartSpeed / dead band
+    void synchronizeMotor(EncoderMotor *aOtherMotorControl, unsigned int aCheckInterval); // Computes motor speed compensation value in order to go exactly straight ahead
+    static void calibrate(); // Generates a rising ramp and detects the first movement -> this sets StartSpeedPWM / dead band
 
     /*
      * Encoder interrupt handling
      */
     void handleEncoderInterrupt();
-    static void enableINT0AndINT1Interrupts();
-    static void enableInterruptOnBothEdges(uint8_t aIntPinNumber);
+    void attachInterrupt(uint8_t aInterruptPinNumber);
+    static void enableINT0AndINT1InterruptsOnRisingEdge();
+
+    uint8_t getDirection();
+    unsigned int getDistanceMillimeter();
+    unsigned int getDistanceCentimeter();
+    unsigned int getBrakingDistanceMillimeter();
+
+    unsigned int getSpeed();
+#ifdef SUPPORT_AVERAGE_SPEED
+    unsigned int getAverageSpeed();
+    unsigned int getAverageSpeed(uint8_t aLengthOfAverage);
+#endif
+
+    void printEncoderDataCaption(Print *aSerial);
+    bool printEncoderDataPeriodically(Print *aSerial, uint16_t aPeriodMillis);
+    void printEncoderData(Print *aSerial);
 
-    void resetControlValues(); // Shutdown and reset all control values and sets direction to forward
+    void resetEncoderControlValues();
+    void resetSpeedValues();
 
 #ifdef ENABLE_MOTOR_LIST_FUNCTIONS
     /*
@@ -75,9 +113,9 @@ class EncoderMotor: public PWMDcMotor {
      */
     static bool updateAllMotors();
 
-    static void startGoDistanceCountForAll(int aRequestedDistanceCount);
-    static void goDistanceCountForAll(int aRequestedDistanceCount, void (*aLoopCallback)(void));
-    static void startRampUpAndWaitForDriveSpeedForAll(uint8_t aRequestedDirection, void (*aLoopCallback)(void));
+    static void startGoDistanceMillimeterForAll(int aRequestedDistanceMillimeter);
+    static void goDistanceMillimeterForAll(int aRequestedDistanceMillimeter, void (*aLoopCallback)(void));
+    static void startRampUpAndWaitForDriveSpeedPWMForAll(uint8_t aRequestedDirection, void (*aLoopCallback)(void));
 
     static void stopAllMotors(uint8_t aStopMode);
     static void waitUntilAllMotorsStopped(void (*aLoopCallback)(void));
@@ -95,40 +133,32 @@ class EncoderMotor: public PWMDcMotor {
     EncoderMotor * NextMotorControl;
 #endif
 
+    /**************************************************************
+     * Variables required for going a fixed distance with encoder
+     **************************************************************/
     /*
-     * Flags for display update control
-     */
-    volatile static bool EncoderTickCounterHasChanged;
-
-    /**********************************************************
-     * Variables required for going a fixed distance
-     **********************************************************/
-    /*
-     * Reset() resets all members from CurrentVelocity to (including) Debug to 0
+     * Reset() resets all members from TargetDistanceCount to (including) Debug to 0
      */
-    int CurrentVelocity; // VELOCITY_SCALE_VALUE / tDeltaMillis
-
-    unsigned int TargetDistanceCount;
-    unsigned int LastTargetDistanceCount;
+    unsigned int TargetDistanceMillimeter;
+    unsigned int LastTargetDistanceMillimeter;
 
     /*
      * Distance optocoupler impulse counter. It is reset at startGoDistanceCount if motor was stopped.
      */
     volatile unsigned int EncoderCount;
     volatile unsigned int LastRideEncoderCount; // count of last ride - from start of MOTOR_STATE_RAMP_UP to next MOTOR_STATE_RAMP_UP
-    // The next value is volatile, but volatile increases the code size by 20 bites without any logical improvement
-    unsigned long EncoderTickLastMillis; // used for debouncing and lock/timeout detection
+    // Flag e.g. for display update control
+    volatile unsigned long LastEncoderInterruptMillis; // used internal for debouncing and lock/timeout detection
 
-#ifdef SUPPORT_RAMP_UP
     /*
-     * For ramp and state control
+     * for speed computation
+     * Do not rearrange, since reset is done with memset().
      */
-    uint8_t RampDeltaPerDistanceCount;
-    unsigned int NextChangeMaxTargetCount;      // target count at which next change must be done
-
-    uint8_t DistanceCountAfterRampUp; // number of ticks at the transition from MOTOR_STATE_RAMP_UP to MOTOR_STATE_FULL_SPEED to be used for computing ramp down start ticks
-    unsigned int DebugCount;                    // for different debug purposes of ramp optimisation
-    uint8_t DebugSpeedAtTargetCountReached; // for debug of ramp down
+    volatile unsigned long EncoderInterruptDeltaMillis; // Used to get speed
+#ifdef SUPPORT_AVERAGE_SPEED
+    volatile unsigned int EncoderInterruptMillisArray[AVERAGE_SPEED_BUFFER_SIZE]; // store for 20 deltas
+    volatile uint8_t MillisArrayIndex; // Index of the next value to write  == the oldest value to overwrite. 0 to 20|(AVERAGE_SPEED_BUFFER_SIZE-1)
+    volatile bool AverageSpeedIsValid; // true if 11 values are written since last timeout
 #endif
 
     // do not delete it!!! It must be the last element in structure and is required for stopMotorAndReset()
@@ -136,6 +166,9 @@ class EncoderMotor: public PWMDcMotor {
 
 };
 
+extern EncoderMotor * sPointerForInt0ISR;
+extern EncoderMotor * sPointerForInt1ISR;
+
 #endif /* SRC_ENCODERMOTORCONTROL_H_ */
 
 #pragma once
diff --git a/src/HCSR04.cpp b/src/HCSR04.cpp
index 2e9d3d9..caabc11 100644
--- a/src/HCSR04.cpp
+++ b/src/HCSR04.cpp
@@ -112,7 +112,8 @@ unsigned int getUSDistance(unsigned int aTimeoutMicros) {
 
     uint8_t tEchoInPin;
     if (sHCSR04Mode == HCSR04_MODE_USE_1_PIN) {
-        delayMicroseconds(10); // allow for 10 us low before switching to input which is high because of the modules pullup resistor.
+        // allow for 20 us low (20 us instead of 10 us also supports the JSN-SR04T) before switching to input which is high because of the modules pullup resistor.
+        delayMicroseconds(20);
         pinMode(sTriggerOutPin, INPUT);
         tEchoInPin = sTriggerOutPin;
     } else {
@@ -185,7 +186,7 @@ void testUSSensor(uint16_t aSecondsToTest) {
  * Result is in sUSDistanceCentimeter;
  */
 
-// Comment out the line according to the sEchoInPin if using the non blocking version
+// Activate the line according to the sEchoInPin if using the non blocking version
 // or define it as symbol for the compiler e.g. -DUSE_PIN_CHANGE_INTERRUPT_D0_TO_D7
 //#define USE_PIN_CHANGE_INTERRUPT_D0_TO_D7  // using PCINT2_vect - PORT D
 //#define USE_PIN_CHANGE_INTERRUPT_D8_TO_D13 // using PCINT0_vect - PORT B - Pin 13 is feedback output
diff --git a/src/HomePage.cpp b/src/HomePage.cpp
index 1a3e40b..52c5263 100644
--- a/src/HomePage.cpp
+++ b/src/HomePage.cpp
@@ -54,13 +54,13 @@ BDSlider SliderTilt;
 
 // Here we get values from 0 to 180 degrees from scaled slider
 #ifdef CAR_HAS_PAN_SERVO
-void doHorizontalServoPosition(BDSlider * aTheTouchedSlider, uint16_t aValue) {
+void doHorizontalServoPosition(BDSlider *aTheTouchedSlider, uint16_t aValue) {
     PanServo.write(aValue);
 }
 #endif
 
 #ifdef CAR_HAS_TILT_SERVO
-void doVerticalServoPosition(BDSlider * aTheTouchedSlider, uint16_t aValue) {
+void doVerticalServoPosition(BDSlider *aTheTouchedSlider, uint16_t aValue) {
     TiltServo.write(aValue);
 }
 #endif
@@ -85,31 +85,31 @@ void doPlayMelody(BDButton * aTheTouchedButton, int16_t aValue) {
 
 void initHomePage(void) {
 
-    TouchButtonTestPage.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR_RED, F("Test"),
-    TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_TEST, &GUISwitchPages);
+    TouchButtonBTSensorDrivePage.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED,
+            F("Sensor\nDrive"), TEXT_SIZE_18, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_BT_SENSOR_CONTROL, &GUISwitchPages);
 
-    TouchButtonAutomaticDrivePage.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR_RED, F("Automatic\nControl"),
-    TEXT_SIZE_16, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_AUTOMATIC_CONTROL, &GUISwitchPages);
+    TouchButtonAutomaticDrivePage.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED,
+            F("Automatic\nControl"), TEXT_SIZE_16, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_AUTOMATIC_CONTROL, &GUISwitchPages);
 
-    TouchButtonBTSensorDrivePage.init(BUTTON_WIDTH_3_POS_3,
-    BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER), BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR_RED,
-            F("Sensor drive"), TEXT_SIZE_12, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_BT_SENSOR_CONTROL, &GUISwitchPages);
+    TouchButtonTestPage.init(BUTTON_WIDTH_3_POS_3,
+    BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER), BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED,
+            F("Test"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_TEST, &GUISwitchPages);
 
 #ifdef CAR_HAS_CAMERA
-    TouchButtonCameraOnOff.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_4,
-    TEXT_SIZE_22_HEIGHT, COLOR_BLACK, F("Camera"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
+    TouchButtonCameraOnOff.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8,
+    TEXT_SIZE_22_HEIGHT, COLOR16_BLACK, F("Cam"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             false, &doCameraSupplyOnOff);
 #endif
 
 #ifdef ENABLE_RTTTL
     TouchButtonMelody.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER),
-    BUTTON_WIDTH_3, BUTTON_HEIGHT_8, COLOR_BLACK, F("Melody"), TEXT_SIZE_22,
+    BUTTON_WIDTH_3, BUTTON_HEIGHT_8, COLOR16_BLACK, F("Melody"), TEXT_SIZE_22,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, sPlayMelody, &doPlayMelody);
 #endif
 
 #ifdef CAR_HAS_LASER
     TouchButtonLaser.init(0, BUTTON_HEIGHT_4_LINE_4 - (TEXT_SIZE_22_HEIGHT + BUTTON_DEFAULT_SPACING_QUARTER),
-    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR_BLACK, F("Laser"), TEXT_SIZE_22,
+    BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_BLACK, F("Laser"), TEXT_SIZE_22,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doLaserOnOff);
 #endif
 
@@ -127,8 +127,12 @@ void drawHomePage(void) {
 #else
     char tCarTypeString[] = "2WD";
 #endif
-
-    BlueDisplay1.drawText(HEADER_X + (3 * TEXT_SIZE_22_WIDTH), (3 * TEXT_SIZE_22_HEIGHT), tCarTypeString);
+#ifdef CAR_HAS_CAMERA
+    BlueDisplay1.drawText(HEADER_X + (2 * TEXT_SIZE_22_WIDTH), (2 * TEXT_SIZE_22_HEIGHT) + TEXT_SIZE_11_HEIGHT - 2, tCarTypeString,
+            TEXT_SIZE_11, COLOR16_RED, COLOR16_NO_BACKGROUND);
+#else
+    BlueDisplay1.drawText(HEADER_X + (2 * TEXT_SIZE_22_WIDTH), (3 * TEXT_SIZE_22_HEIGHT), tCarTypeString);
+#endif
 
     TouchButtonRobotCarStartStop.drawButton();
 #ifdef CAR_HAS_CAMERA
@@ -145,12 +149,14 @@ void drawHomePage(void) {
     TouchButtonAutomaticDrivePage.drawButton();
 
     TouchButtonDirection.drawButton();
-#ifdef USE_ENCODER_MOTOR_CONTROL
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
     TouchButtonCalibrate.drawButton();
 #endif
     TouchButtonCompensationLeft.drawButton();
     TouchButtonCompensationRight.drawButton();
+#ifdef SUPPORT_EEPROM_STORAGE
     TouchButtonCompensationStore.drawButton();
+#endif
 
     SliderUSPosition.setValueAndDrawBar(sLastServoAngleInDegrees);
     SliderUSPosition.drawSlider();
@@ -173,13 +179,16 @@ void drawHomePage(void) {
     SliderSpeedRight.drawSlider();
     SliderSpeedLeft.drawSlider();
 #endif
-    PWMDcMotor::MotorValuesHaveChanged = true; // trigger drawing of values
+    PWMDcMotor::MotorControlValuesHaveChanged = true; // trigger drawing of values
 }
 
 void startHomePage(void) {
-    TouchButtonDirection.setPosition(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_4);
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    TouchButtonCalibrate.setPosition(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_4);
+    TouchButtonDirection.setPosition(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_5);
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+    TouchButtonCalibrate.setPosition(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_3);
+#endif
+#if defined(CAR_HAS_TILT_SERVO) && defined(SUPPORT_EEPROM_STORAGE)
+    TouchButtonCompensationStore.setPosition(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_5);
 #endif
     drawHomePage();
 }
@@ -189,8 +198,11 @@ void loopHomePage(void) {
 
 void stopHomePage(void) {
     TouchButtonDirection.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_6);
-#ifdef USE_ENCODER_MOTOR_CONTROL
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
     TouchButtonCalibrate.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_2);
+#endif
+#if defined(CAR_HAS_TILT_SERVO) && defined(SUPPORT_EEPROM_STORAGE)
+    TouchButtonCompensationStore.setPosition(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_4);
 #endif
     startStopRobotCar(false);
 }
diff --git a/src/IMUCarData.cpp b/src/IMUCarData.cpp
new file mode 100644
index 0000000..37527c8
--- /dev/null
+++ b/src/IMUCarData.cpp
@@ -0,0 +1,539 @@
+/*
+ * CarIMUData.cpp
+ *
+ *  Functions for getting IMU data from MPU6050 for car control.
+ *
+ *  Created on: 19.11.2020
+ *  Copyright (C) 2020  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
+ *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ */
+
+#include <Arduino.h>
+#include "Wire.h"
+#include "IMUCarData.h"
+
+#define FIFO_NUMBER_OF_ACCEL_VALUES 3
+#define FIFO_NUMBER_OF_GYRO_VALUES  1
+#define FIFO_CHUNK_SIZE             ((FIFO_NUMBER_OF_ACCEL_VALUES + FIFO_NUMBER_OF_GYRO_VALUES) * 2)
+
+//#define DEBUG_WITHOUT_SERIAL // For debugging without Serial development
+#ifdef DEBUG_WITHOUT_SERIAL
+#include "DigitalWriteFast.h"
+#endif
+//#define DEBUG // Only for development
+//#define WARN    // Information that the program may encounter problems, like small Heap/Stack area.
+//#define AUTO_OFFSET_DEBUG // Show auto offset values as dummy values for the plotter output
+#include "DebugLevel.h" // Include to propagate debug levels
+
+int8_t IMUCarData::getAcceleratorForward15MilliG() {
+    return AcceleratorForward.Byte.HighByte;
+}
+
+int8_t IMUCarData::getAcceleratorForward4MilliG() {
+    return AcceleratorForward.Word >> 6; // /64 -> 256 per g
+}
+
+int8_t IMUCarData::getAcceleratorForwardLowPass8() {
+//    return AcceleratorForwardLowPass8.Byte.HighByte;
+    return AcceleratorForwardLowPass8.Word.HighWord >> 6; // 256 per g
+}
+
+int8_t IMUCarData::getAcceleratorForwardLowPass4() {
+    return AcceleratorForwardLowPass4.Word.HighWord >> 6; // 256 per g
+}
+
+// shift 14 -> 1 (0.981) cm/s , 12 -> 2.5 mm/s, 8 -> 0.15328 mm/s
+int IMUCarData::getSpeedCmPerSecond() {
+    return Speed.Long >> (14 - RATE_SHIFT);
+}
+/*
+ * 0.15 mm/s resolution for 1kHz sampling rate
+ */
+int IMUCarData::getSpeedFastWithHigherResolution() {
+    return Speed.Long >> 8;
+}
+
+/*
+ * Distance is the sum of Speed >> 8.
+ * At 1 kHz: with 1 cm/s (shift (14-8)) we have 1 cm (or shift (24-8)) after 1 second (1000 additions)
+ */
+int IMUCarData::getDistanceCm() {
+#if SAMPLE_RATE == 1000
+    return Distance.Word.HighWord; // 0.958 cm since we shift by 10 and do not divide by 1000
+#else
+    return Distance.Long >> (16 - (2 * RATE_SHIFT)); // 0.958 cm since we shift by additional 10 and do not divide by 1000
+#endif
+}
+
+int IMUCarData::getDistanceMillimeter() {
+#if SAMPLE_RATE == 1000
+    LongUnion tDistance;
+    tDistance.Long = Distance.Long * 10; // use full resolution for * 10
+    return tDistance.Word.HighWord; // saves 10 bytes
+//    return ((Distance.Long * 10 ) >> 16) ; // 0.958 mm
+#else
+    return (Distance.Long * 10) >> (16 - (2 * RATE_SHIFT)); // 0.958 cm since we shift by additional 10 and do not divide by 1000
+#endif
+}
+
+/*
+ * Gyroscope
+ */
+int IMUCarData::getGyroscopePan2DegreePerSecond() {
+    return GyroscopePan.Byte.HighByte;
+}
+
+int IMUCarData::getTurnAngleHalfDegree() {
+#if SAMPLE_RATE == 1000
+    return TurnAngle.Word.HighWord;
+#else
+    return TurnAngle.Long >> (16 - RATE_SHIFT);
+#endif
+}
+
+int IMUCarData::getTurnAngleDegree() {
+#if SAMPLE_RATE == 1000
+    return TurnAngle.Word.HighWord >> 1;
+#elif SAMPLE_RATE == 500
+    return TurnAngle.Word.HighWord;
+#else
+    return TurnAngle.Long >> (16 - (RATE_SHIFT - 1));
+#endif
+}
+
+/*
+ * Print caption for Serial Plotter
+ * Space but NO println() at the end, to enable additional information to be printed
+ */
+void IMUCarData::printIMUCarDataCaption(Print *aSerial) {
+//    aSerial->print(F("AccelForward[4mg/LSB] AccelForwardLP8 Speed[cm/s] Distance[cm] GyroZ[2dps/LSB] AngleZ[0.5d/LSB] ")); // +/-250 | 500 degree per second for 16 bit full range
+//    aSerial->print(F("AccelForward[4mg/LSB] AccelForwardAverage AccelForwardLP8 Speed[cm/s] Distance[cm] AngleZ[0.5d/LSB] ")); // +/-250 | 500 degree per second for 16 bit full range
+//    aSerial->print(F("AccelAvg.[4mg/LSB] AccelLP8 Speed[cm/s] Distance[cm] AngleZ[0.5d/LSB] ")); // +/-250 | 500 degree per second for 16 bit full range
+//    aSerial->print(F("AccelLP8 Speed[cm/s] Distance[cm] AngleZ[0.5d/LSB] ")); // +/-250 | 500 degree per second for 16 bit full range
+    aSerial->print(F("AccelLP4 Speed[cm/s] Distance[cm] AngleZ[0.5d/LSB] ")); // +/-250 | 500 degree per second for 16 bit full range
+}
+
+/*
+ * read from FIFO and does auto offset (if enabled)
+ */
+void IMUCarData::delayAndReadIMUCarDataData(unsigned long aMillisDelay) {
+    while (aMillisDelay > 0) {
+        readCarDataFromMPU6050Fifo();
+        delay(DELAY_TO_NEXT_IMU_DATA_MILLIS);
+        aMillisDelay -= DELAY_TO_NEXT_IMU_DATA_MILLIS;
+    }
+}
+
+bool IMUCarData::printIMUCarDataDataPeriodically(Print *aSerial, uint16_t aPeriodMillis) {
+    static unsigned long sLastPrintMillis;
+
+    if ((millis() - sLastPrintMillis) >= aPeriodMillis) { // print data every n ms
+        sLastPrintMillis = millis();
+        readCarDataFromMPU6050Fifo();
+        printIMUCarData(aSerial);
+        return true;
+    }
+    return false;
+}
+
+void IMUCarData::printIMUCarData(Print *aSerial) {
+//    aSerial->print(getAcceleratorForward4MilliG());
+//    aSerial->print(" ");
+    // Too noisy
+//    aSerial->print(getAcceleratorForward4MilliG());
+//    aSerial->print(" ");
+    aSerial->print(getAcceleratorForwardLowPass4());
+    aSerial->print(" ");
+    aSerial->print(abs(getSpeedCmPerSecond()));
+    aSerial->print(" ");
+    aSerial->print(abs(getDistanceCm()));
+    aSerial->print(" ");
+//    aSerial->print(getGyroscopePan2DegreePerSecond());
+//    aSerial->print(" ");
+    aSerial->print(getTurnAngleHalfDegree());
+    aSerial->print(" ");
+}
+
+unsigned int IMUCarData::getMPU6050SampleRate() {
+    return (SAMPLE_RATE);
+}
+
+/*
+ * Read raw 14 vales. Requires 500 us.
+ * Sets AcceleratorForward and GyroscopePan
+ */
+void IMUCarData::readCarDataFromMPU6050() {
+    Wire.beginTransmission(MPU6050_DEFAULT_ADDRESS);
+    Wire.write(MPU6050_RA_ACCEL_XOUT_H);
+    Wire.endTransmission(false);
+    Wire.requestFrom((uint8_t) MPU6050_DEFAULT_ADDRESS, (uint8_t) 14, (uint8_t) true);
+
+#ifdef USE_ACCELERATOR_Y_FOR_SPEED
+// skip x value
+    Wire.read();
+    Wire.read();
+#endif
+// read forward value
+    AcceleratorForward.Byte.HighByte = Wire.read();
+    AcceleratorForward.Byte.LowByte = Wire.read();
+#ifdef USE_NEGATIVE_ACCELERATION_FOR_SPEED
+    AcceleratorForward.Word = (-AcceleratorForward.Word) - AcceleratorForwardOffset;
+#else
+    AcceleratorForward.Word = AcceleratorForward.Word - AcceleratorForwardOffset;
+#endif
+
+    AcceleratorForwardLowPass8.Long += ((((int32_t) AcceleratorForward.Word) << 16) - AcceleratorForwardLowPass8.Long) >> 8; // Fixed point 2.0 us
+    AcceleratorForwardLowPass4.Long += ((((int32_t) AcceleratorForward.Word) << 16) - AcceleratorForwardLowPass4.Long) >> 4; // Fixed point 2.0 us
+    Speed.Long += AcceleratorForward.Word;
+    Distance.Long += Speed.Long >> 8;
+
+#ifndef USE_ACCELERATOR_Y_FOR_SPEED
+    // skip y value
+    Wire.read();
+    Wire.read();
+#endif
+
+// skip z, temp and 2 gyroscope values value
+    for (uint8_t i = 0; i < 8; i++) {
+        Wire.read();
+    }
+
+// read pan (Z) value
+    GyroscopePan.Byte.HighByte = Wire.read();
+    GyroscopePan.Byte.LowByte = Wire.read();
+    GyroscopePan.Word -= GyroscopePanOffset;
+    TurnAngle.Long += GyroscopePan.Word;
+}
+
+/*
+ * @return true, if data might have changed
+ */
+bool IMUCarData::readCarDataFromMPU6050Fifo() {
+#ifdef DEBUG_WITHOUT_SERIAL
+    digitalToggleFast(12);
+#endif
+    if (millis() - LastFifoCheckMillis < DELAY_TO_NEXT_IMU_DATA_MILLIS) {
+        return false; // no new data expected
+    }
+
+    /*
+     * Read FIFO count only once at start of the function
+     */
+    uint16_t tFifoCount = MPU6050ReadWordSwapped(MPU6050_RA_FIFO_COUNTH);
+    LastFifoCheckMillis = millis();
+    if (tFifoCount == 1024) {
+        resetMPU6050FifoAndCarData();
+        return true;
+    }
+    /*
+     * 660 /1200 us @400kHz for 16 / 32 byte transfer.
+     * 140 us between each block transfer
+     * 1000 us for next 32 bytes transfer => ~3.1 ms for 10 chunks
+     */
+#ifdef DEBUG
+    Serial.print(tFifoCount);
+    Serial.print("|");
+#endif
+    int32_t tAcceleratorForward = 0;
+    int32_t tGyroscopePan = 0;
+    int8_t tReadChunckCount = 0;
+    while (tFifoCount >= FIFO_CHUNK_SIZE) {
+        /*
+         * Use only multiple of FIFO_CHUNK_SIZE as read length and clip read length to I2C BUFFER_LENGTH
+         */
+        uint8_t tChunkCount = tFifoCount / FIFO_CHUNK_SIZE;
+        if (tChunkCount > BUFFER_LENGTH / FIFO_CHUNK_SIZE) {
+            tChunkCount = BUFFER_LENGTH / FIFO_CHUNK_SIZE; // we can get 4 chunks of data with the 32 byte buffer of the Wire library
+        }
+        // this reads max 28 bytes or 4 chunks
+        Wire.beginTransmission(MPU6050_DEFAULT_ADDRESS);
+        Wire.write(MPU6050_RA_FIFO_R_W);
+        Wire.endTransmission(false);
+        uint8_t tReceivedCount = Wire.requestFrom((uint8_t) MPU6050_DEFAULT_ADDRESS, (uint8_t) (tChunkCount * FIFO_CHUNK_SIZE),
+                (uint8_t) true);
+#ifdef WARN
+        if (tReceivedCount != (tChunkCount * FIFO_CHUNK_SIZE)) {
+            // should never happen
+            Serial.print(tReceivedCount);
+            Serial.print(F(" received bytes are not equal requested quantity of "));
+            Serial.println(tChunkCount * FIFO_CHUNK_SIZE);
+        }
+#endif
+        for (uint8_t j = 0; j < tReceivedCount; j += FIFO_CHUNK_SIZE) {
+            // we must read all 3 values
+            for (uint8_t i = 0; i < FIFO_NUMBER_OF_ACCEL_VALUES; i++) {
+                WordUnion tAcceleratorValue;
+                tAcceleratorValue.Byte.HighByte = Wire.read();
+                tAcceleratorValue.Byte.LowByte = Wire.read();
+                // process only forward value
+#ifdef USE_ACCELERATOR_Y_FOR_SPEED
+                if (i == 1) {
+#else
+                if (i == 0) {
+#endif
+#ifdef USE_NEGATIVE_ACCELERATION_FOR_SPEED
+                    tAcceleratorValue.Word = (-tAcceleratorValue.Word) - AcceleratorForwardOffset;
+#else
+                    tAcceleratorValue.Word = tAcceleratorValue.Word - AcceleratorForwardOffset;
+#endif
+                    tAcceleratorForward += tAcceleratorValue.Word;
+                    AcceleratorForwardLowPass8.Long +=
+                            ((((int32_t) tAcceleratorValue.Word) << 16) - AcceleratorForwardLowPass8.Long) >> 8; // Fixed point 2.0 us
+                    AcceleratorForwardLowPass4.Long +=
+                            ((((int32_t) tAcceleratorValue.Word) << 16) - AcceleratorForwardLowPass4.Long) >> 4; // Fixed point 2.0 us
+
+                    Speed.Long += tAcceleratorValue.Word;
+                    Distance.Long += Speed.Long >> 8;
+                    tReadChunckCount++;
+                }
+            }
+            WordUnion tValue;
+            tValue.Byte.HighByte = Wire.read();
+            tValue.Byte.LowByte = Wire.read();
+            tValue.Word = tValue.Word - GyroscopePanOffset;
+            tGyroscopePan += tValue.Word;
+            // Compute turn angle
+            TurnAngle.Long += tValue.Word;
+        }
+        tFifoCount -= tReceivedCount;
+
+    } // while tFifoCount >= FIFO_CHUNK_SIZE
+    sCountOfUndisturbedFifoChunks += tReadChunckCount;
+    // compute average of read values
+    AcceleratorForward.Word = tAcceleratorForward / (int32_t) tReadChunckCount;
+    GyroscopePan.Word = tGyroscopePan / (int32_t) tReadChunckCount;
+
+    /*
+     * Get initial offset values
+     */
+    if (AcceleratorForwardOffset == 0 && sCountOfUndisturbedFifoChunks >= NUMBER_OF_OFFSET_CALIBRATION_SAMPLES) {
+        /*
+         * Take the first NUMBER_OF_OFFSET_CALIBRATION_SAMPLES values for auto offset
+         * My experience is, that the Gyro offset is changing in the first seconds after power up and needs a recalibration
+         */
+        AcceleratorForwardOffset = Speed.Long / sCountOfUndisturbedFifoChunks;
+        GyroscopePanOffset = TurnAngle.Long / sCountOfUndisturbedFifoChunks;
+        OffsetsHaveChanged = true;
+        resetCarData(); // reset temporarily used values
+#ifdef DEBUG
+        printSpeedAndTurnOffsets(&Serial);
+#endif
+    }
+
+#ifndef DISABLE_AUTO_OFFSET
+    doAutoOffset();
+#endif
+    return true;
+}
+
+/*
+ * Automatic offset acquisition 100 ms after boot and offset correction if no acceleration takes place
+ */
+void IMUCarData::doAutoOffset() {
+    // do not auto adjust if we have no initial offsets, which are required for decision if sensor has not moved
+    if (AcceleratorForwardOffset != 0) {
+        /*
+         * Adjust Offsets, if sensor has not moved after NUMBER_OF_OFFSET_CALIBRATION_SAMPLES
+         * Requires 420 bytes FLASH
+         */
+        int16_t tAccelDifference = abs(AcceleratorForwardLowPass8.Word.HighWord - AcceleratorForward.Word);
+        if (tAccelDifference > ACCEL_MOVE_THRESHOLD || GyroscopePan.Word < -(GYRO_MOVE_THRESHOLD)
+                || GYRO_MOVE_THRESHOLD < GyroscopePan.Word) { // using abs() costs 6 byte FLASH
+#ifdef AUTO_OFFSET_DEBUG
+            // just to show the removed deltas in Arduino Plotter
+            if (AcceleratorForward.Word < -(ACCEL_MOVE_THRESHOLD) || ACCEL_MOVE_THRESHOLD < AcceleratorForward.Word) {
+                AcceleratorForward.Word = 64 * 10 * ((Speed.Long - sSpeedSnapshot) / sCountOfUndisturbedFifoChunks);
+            } else {
+                GyroscopePan.Word = 10 * 256 * ((TurnAngle.Long - sTurnSnapshot) / sCountOfUndisturbedFifoChunks);
+            }
+#endif
+            sCountOfUndisturbedFifoChunks = 0; // reset count
+            sSpeedSnapshot = Speed.Long;
+            sTurnSnapshot = TurnAngle.Long;
+        } else {
+            /*
+             * Do we have enough samples for auto offset?
+             */
+            if (sCountOfUndisturbedFifoChunks >= NUMBER_OF_OFFSET_CALIBRATION_SAMPLES) {
+                if (abs(Speed.Long - sSpeedSnapshot) > sCountOfUndisturbedFifoChunks) {
+                    // difference is higher than 1 per sample, so adjust accelerator offset
+                    AcceleratorForwardOffset += (Speed.Long - sSpeedSnapshot) / sCountOfUndisturbedFifoChunks;
+                    OffsetsHaveChanged = true;
+#ifdef AUTO_OFFSET_DEBUG
+                    // just to show in Arduino Plotter - 5 for each accelerator offset increment
+                    AcceleratorForward.Word = 64 * 5 * ((Speed.Long - sSpeedSnapshot) / sCountOfUndisturbedFifoChunks);
+#endif
+                    sSpeedSnapshot = 0;
+                    Speed.Long = 0;
+                    Distance.Long = 0;
+
+                    sCountOfUndisturbedFifoChunks = 0; // reset count
+                }
+
+                if (abs(TurnAngle.Long - sTurnSnapshot) > sCountOfUndisturbedFifoChunks) {
+                    // adjust gyroscope offset and reset gyroscope to last value
+                    GyroscopePanOffset += (TurnAngle.Long - sTurnSnapshot) / sCountOfUndisturbedFifoChunks;
+                    OffsetsHaveChanged = true;
+#ifdef AUTO_OFFSET_DEBUG
+                    // just to show in Arduino Plotter - 5 for each gyroscope offset increment
+                    GyroscopePan.Word = 5 * 256 * ((TurnAngle.Long - sTurnSnapshot) / sCountOfUndisturbedFifoChunks);
+#endif
+                    TurnAngle.Long = sTurnSnapshot;
+
+                    sCountOfUndisturbedFifoChunks = 0; // reset count
+                }
+            }
+        }
+    }
+}
+
+/*
+ * Read all data  at 1 kHz rate direct from registers, not from FIFO
+ * and compute and store only the required values in one turn.
+ */
+void IMUCarData::calculateSpeedAndTurnOffsets() {
+
+    resetCarData();
+    AcceleratorForwardOffset = 0;
+    GyroscopePanOffset = 0;
+
+    uint32_t LastDataMillis = millis();
+    for (int i = 0; i < NUMBER_OF_OFFSET_CALIBRATION_SAMPLES; i++) {
+        // get data every ms
+        while (millis() == LastDataMillis) {
+            ;
+        }
+        LastDataMillis = millis();
+        readCarDataFromMPU6050();
+    }
+    AcceleratorForwardOffset = Speed.Long / NUMBER_OF_OFFSET_CALIBRATION_SAMPLES;
+    GyroscopePanOffset = TurnAngle.Long / NUMBER_OF_OFFSET_CALIBRATION_SAMPLES;
+
+    resetCarData();
+}
+
+void IMUCarData::printSpeedAndTurnOffsets(Print *aSerial) {
+    aSerial->print(F("Speed offset="));
+    aSerial->print(AcceleratorForwardOffset);
+    aSerial->print('|');
+    aSerial->print(AcceleratorForwardOffset * ACCEL_RAW_TO_G_FOR_2G_RANGE);
+    aSerial->print(F(" turn offset="));
+    aSerial->print(GyroscopePanOffset);
+    aSerial->print('|');
+    aSerial->println(GyroscopePanOffset * GYRO_RAW_TO_DEGREE_PER_SECOND_FOR_250DPS_RANGE);
+}
+
+void IMUCarData::reset() {
+    initMPU6050FifoForCarData(); // resets also CarData
+}
+
+void IMUCarData::resetCarData() {
+    AcceleratorForwardLowPass8.ULong = 0;
+    AcceleratorForwardLowPass4.ULong = 0;
+    Speed.ULong = 0;
+    Distance.Long = 0;
+    TurnAngle.ULong = 0;
+}
+
+void IMUCarData::resetOffsetData() {
+    /*
+     * Reset both offset data, since they are used to comupte the new sums, which in turn gives the new offsets
+     */
+    AcceleratorForwardOffset = 0;
+    GyroscopePanOffset = 0;
+    sCountOfUndisturbedFifoChunks = 0;
+    resetMPU6050FifoAndCarData(); // flush FIFO content and reset car data. Speed.Long and TurnAngle.Long serve as temporarily accumulator for offset value
+}
+
+void IMUCarData::resetOffsetDataAndWait() {
+    resetOffsetData();
+    while (AcceleratorForwardOffset == 0) {
+        readCarDataFromMPU6050Fifo();
+        delay(DELAY_TO_NEXT_IMU_DATA_MILLIS);
+    }
+}
+
+void IMUCarData::resetMPU6050FifoAndCarData() {
+    MPU6050WriteByte(MPU6050_RA_USER_CTRL, _BV(MPU6050_USERCTRL_FIFO_RESET_BIT)); // Reset FIFO
+    MPU6050WriteByte(MPU6050_RA_USER_CTRL, _BV(MPU6050_USERCTRL_FIFO_EN_BIT)); // enable FIFO
+    resetCarData(); // values might be invalid
+}
+
+void IMUCarData::initMPU6050FifoForCarData() {
+    initMPU6050();
+    MPU6050WriteByte(MPU6050_RA_FIFO_EN, _BV(MPU6050_ACCEL_FIFO_EN_BIT) | _BV(MPU6050_ZG_FIFO_EN_BIT)); // FIFO: all Accel axes + Gyro Z enabled
+    resetOffsetData();
+}
+
+/*
+ * I2C fast mode is supported by MPU6050
+ */
+void IMUCarData::initWire() {
+    Wire.begin();
+    Wire.setClock(400000);
+    Wire.setWireTimeout(5000); // Sets timeout to 5 ms. default is 25 ms.
+}
+
+void IMUCarData::initMPU6050() {
+    initWire();
+    MPU6050WriteByte(MPU6050_RA_PWR_MGMT_1, MPU6050_CLOCK_PLL_ZGYRO); // use recommended gyro reference: PLL with Z axis gyroscope reference
+#if SAMPLE_RATE == 1000
+    MPU6050WriteByte(MPU6050_RA_SMPLRT_DIV, 0x00); // // Set sample rate to 1 kHz, divider is minimum (1)
+    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_188); // ext input disabled, DLPF enabled: accel 184Hz gyro 188Hz @1kHz
+#elif SAMPLE_RATE == 500
+    MPU6050WriteByte(MPU6050_RA_SMPLRT_DIV, 0x01); // // Set sample rate to 1/2 kHz, divider is 2
+    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_42); // ext input disabled, DLPF enabled: ~50 Hz Sample freq = 1kHz
+#elif SAMPLE_RATE == 250
+    MPU6050WriteByte(MPU6050_RA_SMPLRT_DIV, 0x03); // // Set sample rate to 1/4 kHz, divider is 4
+    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_20); // ext input disabled, DLPF enabled: ~20 Hz Sample freq = 1kHz
+#else
+    MPU6050WriteByte(MPU6050_RA_SMPLRT_DIV, 0x07); // // Set sample rate to 1/8 kHz, divider is 8
+    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_10); // ext input disabled, DLPF enabled: ~10 Hz Sample freq = 1kHz
+#endif
+
+//    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_10); // ext input disabled, DLPF enabled: ~10 Hz Sample freq = 1kHz
+//    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_20); // ext input disabled, DLPF enabled: ~20 Hz Sample freq = 1kHz
+//    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_42); // ext input disabled, DLPF enabled: ~50 Hz Sample freq = 1kHz
+//    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_98); // ext input disabled, DLPF enabled: accel 184Hz gyro 188Hz @1kHz
+//    MPU6050WriteByte(MPU6050_RA_CONFIG, MPU6050_DLPF_BW_188); // ext input disabled, DLPF enabled: accel 184Hz gyro 188Hz @1kHz
+
+// the next is default and never changed by us
+//    MPU6050WriteByte(MPU6050_RA_ACCEL_CONFIG, MPU6050_ACCEL_FS_2 << (MPU6050_ACONFIG_AFS_SEL_BIT - MPU6050_ACONFIG_AFS_SEL_LENGTH + 1)); // range +/- 2g
+//    MPU6050WriteByte(MPU6050_RA_GYRO_CONFIG, MPU6050_GYRO_FS_250 << (MPU6050_GCONFIG_FS_SEL_BIT - MPU6050_GCONFIG_FS_SEL_LENGTH + 1)); // range +/- 250 - default
+}
+
+void IMUCarData::MPU6050WriteByte(uint8_t aRegisterNumber, uint8_t aData) {
+    Wire.beginTransmission(MPU6050_DEFAULT_ADDRESS);
+    Wire.write(aRegisterNumber);
+    Wire.write(aData);
+    Wire.endTransmission();
+}
+
+/*
+ * Read high byte first
+ */
+uint16_t IMUCarData::MPU6050ReadWordSwapped(uint8_t aRegisterNumber) {
+    Wire.beginTransmission(MPU6050_DEFAULT_ADDRESS);
+    Wire.write(aRegisterNumber);
+    Wire.endTransmission(false);
+    Wire.requestFrom((uint8_t) MPU6050_DEFAULT_ADDRESS, (uint8_t) 2, (uint8_t) true);
+    WordUnion tWord;
+    tWord.UByte.HighByte = Wire.read();
+    tWord.UByte.LowByte = Wire.read();
+    return tWord.UWord;
+}
diff --git a/src/IMUCarData.h b/src/IMUCarData.h
new file mode 100644
index 0000000..1db04c7
--- /dev/null
+++ b/src/IMUCarData.h
@@ -0,0 +1,158 @@
+/*
+ * CarIMUData.h
+ *
+ *  Functions for getting IMU data from MPU6050 for car control.
+ *
+ *  Created on: 19.11.2020
+ *  Copyright (C) 2020  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
+ *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ */
+
+#ifndef CAR_IMU_DATA_H_
+#define CAR_IMU_DATA_H_
+
+#include <stdint.h>
+#include "MPU6050Defines.h"
+#include "LongUnion.h"
+
+/*
+ * Activate this if the y axis of the GY-521 MPU6050 breakout board points forward / backward, i.e. connectors are at the right.
+ */
+// #define USE_ACCELERATOR_Y_FOR_SPEED
+/*
+ * Activate this if the axis of the GY-521 MPU6050 breakout board points backwards.
+ */
+// #define USE_NEGATIVE_ACCELERATION_FOR_SPEED
+// #define DISABLE_AUTO_OFFSET // default is enabled
+//
+#define NUMBER_OF_OFFSET_CALIBRATION_SAMPLES 512
+#define ACCEL_MOVE_THRESHOLD  128
+#define GYRO_MOVE_THRESHOLD    64
+
+#ifndef SAMPLE_RATE
+#define SAMPLE_RATE          1000
+//#define SAMPLE_RATE         500
+//#define SAMPLE_RATE         250
+//#define SAMPLE_RATE         125
+#endif
+#if SAMPLE_RATE == 1000
+#define RATE_SHIFT                      0
+#define DELAY_TO_NEXT_IMU_DATA_MILLIS   1
+#elif SAMPLE_RATE == 500
+#define RATE_SHIFT                      1
+#define DELAY_TO_NEXT_IMU_DATA_MILLIS   2
+#elif SAMPLE_RATE == 250
+#define RATE_SHIFT                      2
+#define DELAY_TO_NEXT_IMU_DATA_MILLIS   4
+#elif SAMPLE_RATE == 125
+#define RATE_SHIFT                      3
+#define DELAY_TO_NEXT_IMU_DATA_MILLIS   8
+#else
+#error SAMPLE_RATE must be 1000, 500, 250 or 125
+#endif
+
+#define ACCEL_RAW_TO_G_FOR_2G_RANGE (4.0/65536.0)
+#define GYRO_RAW_TO_DEGREE_PER_SECOND_FOR_250DPS_RANGE (500.0/65536.0) // 0.00762939 or 1/131.072
+
+class IMUCarData {
+public:
+
+//    IMUCarData();
+
+    void initWire(); // Is called by initMPU6050()
+    void initMPU6050();
+    void initMPU6050FifoForCarData();
+    unsigned int getMPU6050SampleRate(); // just returns SAMPLE_RATE
+
+    void resetCarData();
+    void resetMPU6050FifoAndCarData();
+    void reset();
+    void resetOffsetData();
+    void resetOffsetDataAndWait();
+
+    void readCarDataFromMPU6050();
+    bool readCarDataFromMPU6050Fifo();
+
+    void delayAndReadIMUCarDataData(unsigned long aMillisDelay);
+
+    void printIMUCarDataCaption(Print *aSerial);
+    bool printIMUCarDataDataPeriodically(Print *aSerial, uint16_t aPeriodMillis);
+    void printIMUCarData(Print *aSerial);
+
+    int8_t getAcceleratorForward15MilliG();
+    int8_t getAcceleratorForward4MilliG();
+    int8_t getAcceleratorForwardLowPass8();
+    int8_t getAcceleratorForwardLowPass4();
+    int getSpeedCmPerSecond();
+    int getSpeedFastWithHigherResolution(); // faster and shorter call
+    int getDistanceCm();
+    int getDistanceMillimeter();
+
+    int getGyroscopePan2DegreePerSecond();
+    int getTurnAngleHalfDegree();
+    int getTurnAngleDegree();
+
+    void doAutoOffset();
+    void calculateSpeedAndTurnOffsets();
+
+    void printSpeedAndTurnOffsets(Print *aSerial);
+
+    uint8_t MPU6050ReadByte(uint8_t aRegisterNumber);
+    uint16_t MPU6050ReadWordSwapped(uint8_t aRegisterNumber);
+    void MPU6050WriteByte(uint8_t aRegisterNumber, uint8_t aData);
+
+    /*
+     * AcceleratorForwardOffset == 0 means, offsets are uninitialized and values are wrong
+     */
+    bool OffsetsHaveChanged;
+    int16_t AcceleratorForwardOffset; // At 1kHz, offset 1 gives speed 4 per second / 1 per 4 second for 0.625 mm/s / 1cm/s resolution
+    WordUnion AcceleratorForward; // Average of every bulk read from the fifo. 16384 LSB per g => 61 ug per LSB, ~16 mg per 256 LSB
+    LongUnion AcceleratorForwardLowPass4;
+    LongUnion AcceleratorForwardLowPass8;
+    /*
+     * Speed is the sum of AcceleratorForward.
+     * At 1 kHz and 1 g (~10 m/s^2): Per sample (1/1000 second) we have 16384 (0x4000) and 10/1000 m/s (1 cm/s).
+     */
+    LongUnion Speed;    // shift 14 -> 1 (0.981) cm/s , 12 -> 2.5 mm/s, 8 -> 0.15328 mm/s
+    /*
+     * Distance is the sum of Speed >> 8.
+     * At 1 kHz: with 1 cm/s (shift (14-8)) we have 1 cm (or shift (24-8)) after 1 second (1000 additions)
+     */
+    LongUnion Distance;
+
+    int16_t GyroscopePanOffset;
+    WordUnion GyroscopePan; // Values without offset, +/-250 | 500 degree per second at 16 bit full range -> ~2 dps per 256 LSB
+    /*
+     * 1000 samples / second
+     * => 17 bit LSB per degree at +/-250 dps range
+     * The upper word has a resolution of 1/2 degree at 1000 samples per second
+     */
+    LongUnion TurnAngle;
+    uint32_t LastFifoCheckMillis;
+
+    /*
+     * Variables for AutoOffset
+     */
+    int16_t sCountOfUndisturbedFifoChunks = 0; // signed, since it is used in formulas with other signed values
+    int32_t sSpeedSnapshot;
+    int32_t sTurnSnapshot;
+};
+
+#endif /* CAR_IMU_DATA_H_ */
+
+#pragma once
diff --git a/src/LightweightServo.cpp b/src/LightweightServo.cpp
new file mode 100644
index 0000000..cd0e889
--- /dev/null
+++ b/src/LightweightServo.cpp
@@ -0,0 +1,220 @@
+/*
+ *  LightweightServo.cpp
+ *
+ *  Lightweight Servo implementation only for pin 9 and 10 using only timer1 hardware and no interrupts or other overhead.
+ *  Provides auto initialization.
+ *  300 bytes code size / 4 bytes RAM including auto initialization compared to 700 / 48 bytes for Arduino Servo library.
+ *  8 bytes for each call to setLightweightServoPulse...
+ *
+ *  Copyright (C) 2019  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
+ *
+ *  ServoEasing is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *
+ */
+
+#include <Arduino.h>
+
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__)
+#include "LightweightServo.h"
+
+/*
+ * Variables to enable adjustment for different servo types
+ * 544 and 2400 are values compatible with standard arduino values
+ * 4 bytes RAM compared to 48 bytes for standard Arduino library
+ */
+int sMicrosecondsForServo0Degree = 544;
+int sMicrosecondsForServo180Degree = 2400;
+
+/*
+ * Use 16 bit timer1 for generating 2 servo signals entirely by hardware without any interrupts.
+ * Use FastPWM mode and generate pulse at start of the 20 ms period
+ * The 2 servo signals are tied to pin 9 and 10 of an 328.
+ * Attention - both pins are set to OUTPUT here!
+ * 32 bytes code size
+ */
+void initLightweightServoPin9And10() {
+    /*
+     * Periods below 20 ms gives problems with long signals i.e. the positioning is not possible
+     */
+    DDRB |= _BV(DDB1) | _BV(DDB2);                // set pins OC1A = PortB1 -> PIN 9 and OC1B = PortB2 -> PIN 10 to output direction
+    TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // FastPWM Mode mode TOP (20 ms) determined by ICR1 - non-inverting Compare Output mode OC1A+OC1B
+    TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11);    // set prescaler to 8, FastPWM mode mode bits WGM13 + WGM12
+    ICR1 = ISR1_COUNT_FOR_20_MILLIS;                 // set period to 20 ms
+    // do not set counter here, since with counter = 0 (default) no output signal is generated.
+}
+
+/*
+ * Use 16 bit timer1 for generating 2 servo signals entirely by hardware without any interrupts.
+ * Use FastPWM mode and generate pulse at start of the 20 ms period
+ * The 2 servo signals are tied to pin 9 and 10 of an ATMega328.
+ * Attention - the selected pin is set to OUTPUT here!
+ * 54 bytes code size
+ */
+void initLightweightServoPin9_10(bool aUsePin9, bool aUsePin10) {
+
+    uint8_t tNewTCCR1A = TCCR1A & (_BV(COM1A1) | _BV(COM1B1)); // keep existing COM1A1 and COM1B1 settings
+    tNewTCCR1A |= _BV(WGM11);                       // FastPWM Mode mode TOP (20 ms) determined by ICR1
+
+    if (aUsePin9) {
+        DDRB |= _BV(DDB1);                          // set OC1A = PortB1 -> PIN 9 to output direction
+        tNewTCCR1A |= _BV(COM1A1);                  // non-inverting Compare Output mode OC1A
+        OCR1A = 0xFFFF;                                 // Set counter > ICR1 here, to avoid output signal generation.
+   }
+    if (aUsePin10) {
+        DDRB |= _BV(DDB2);                          // set OC1B = PortB2 -> PIN 10 to output direction
+        tNewTCCR1A |= _BV(COM1B1);                  // non-inverting Compare Output mode OC1B
+        OCR1B = 0xFFFF;                                 // Set counter > ICR1 here, to avoid output signal generation.
+    }
+    TCCR1A = tNewTCCR1A;
+    TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11);   // set prescaler to 8, FastPWM Mode mode bits WGM13 + WGM12
+    ICR1 = ISR1_COUNT_FOR_20_MILLIS;                // set period to 20 ms
+}
+
+/*
+ * Disables Pin 10!
+ */
+void initLightweightServoPin9() {
+    DDRB |= _BV(DDB1);                              // set OC1A = PortB1 -> PIN 9 to output direction
+    TCCR1A = _BV(WGM11) | _BV(COM1A1);  //  FastPWM Mode mode TOP (20 ms) determined by ICR1, non-inverting Compare Output mode OC1A
+    TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11);   // set prescaler to 8, FastPWM Mode mode bits WGM13 + WGM12
+    ICR1 = ISR1_COUNT_FOR_20_MILLIS;                // set period to 20 ms
+    OCR1A = 0xFFFF;                                 // Set counter > ICR1 here, to avoid output signal generation.
+}
+/*
+ * Disables Pin 9!
+ */
+void initLightweightServoPin10() {
+    DDRB |= _BV(DDB2);                              // set OC1B = PortB2 -> PIN 10 to output direction
+    TCCR1A = _BV(WGM11) | _BV(COM1B1);  //  FastPWM Mode mode TOP (20 ms) determined by ICR1, non-inverting Compare Output mode OC1B
+    TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11);   // set prescaler to 8, FastPWM Mode mode bits WGM13 + WGM12
+    ICR1 = ISR1_COUNT_FOR_20_MILLIS;                // set period to 20 ms
+    OCR1B = 0xFFFF;                                 // Set counter > ICR1 here, to avoid output signal generation.
+}
+
+void deinitLightweightServoPin9_10(bool aUsePin9, bool aUsePin10) {
+    if (aUsePin9) {
+        DDRB &= ~(_BV(DDB1));           // set OC1A = PortB1 -> PIN 9 to input direction
+        TCCR1A &= ~(_BV(COM1A1));       // disable non-inverting Compare Output mode OC1A
+    }
+    if (aUsePin10) {
+        DDRB &= ~(_BV(DDB2));           // set OC1B = PortB2 -> PIN 10 to input direction
+        TCCR1A &= ~(_BV(COM1B1));       // disable non-inverting Compare Output mode OC1B
+    }
+}
+
+/*
+ * If value is below 180 then assume degree, otherwise assume microseconds
+ * If aUpdateFast then enable starting a new output pulse if more than 5 ms since last one, some servo might react faster in this mode.
+ * If aUsePin9 is false, then Pin10 is used
+ * 236 / 186(without auto init) bytes code size
+ */
+int writeLightweightServo(int aDegree, bool aUsePin9, bool aUpdateFast) {
+    if (aDegree <= 180) {
+        aDegree = DegreeToMicrosecondsLightweightServo(aDegree);
+    }
+    writeMicrosecondsLightweightServo(aDegree, aUsePin9, aUpdateFast);
+    return aDegree;
+}
+
+void writeMicrosecondsLightweightServo(int aMicroseconds, bool aUsePin9, bool aUpdateFast) {
+#ifndef DISABLE_SERVO_TIMER_AUTO_INITIALIZE
+    // auto initialize
+    if ((TCCR1B != (_BV(WGM13) | _BV(WGM12) | _BV(CS11))) || (aUsePin9 && ((TCCR1A & ~_BV(COM1B1)) != (_BV(COM1A1) | _BV(WGM11))))
+            || (!aUsePin9 && ((TCCR1A & ~_BV(COM1A1)) != (_BV(COM1B1) | _BV(WGM11))))) {
+        initLightweightServoPin9_10(aUsePin9, !aUsePin9);
+    }
+#endif
+    // since the resolution is 1/2 of microsecond
+    aMicroseconds *= 2;
+    if (aUpdateFast) {
+        uint16_t tTimerCount = TCNT1;
+        if (tTimerCount > 5000) {
+            // more than 2.5 ms since last pulse -> start a new one
+            TCNT1 = ICR1 - 1;
+        }
+    }
+    if (aUsePin9) {
+        OCR1A = aMicroseconds;
+    } else {
+        OCR1B = aMicroseconds;
+    }
+}
+
+/*
+ * Sets the period of the servo pulses. Reasonable values are 2500 to 20000 microseconds.
+ * No parameter checking is done here!
+ */
+void setLightweightServoRefreshRate(unsigned int aRefreshPeriodMicroseconds) {
+    ICR1 = aRefreshPeriodMicroseconds * 2;
+}
+/*
+ * Set the mapping pulse width values for 0 and 180 degree
+ */
+void setLightweightServoPulseMicrosFor0And180Degree(int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree) {
+    sMicrosecondsForServo0Degree = aMicrosecondsForServo0Degree;
+    sMicrosecondsForServo180Degree = aMicrosecondsForServo180Degree;
+}
+
+/*
+ * Pin 9 / Channel A. If value is below 180 then assume degree, otherwise assume microseconds
+ */
+void write9(int aDegree, bool aUpdateFast) {
+    writeLightweightServo(aDegree, true, aUpdateFast);
+}
+
+void writeMicroseconds9(int aMicroseconds, bool aUpdateFast) {
+    writeMicrosecondsLightweightServo(aMicroseconds, true, aUpdateFast);
+}
+
+/*
+ * Without auto initialize!
+ */
+void writeMicroseconds9Direct(int aMicroseconds) {
+    OCR1A = aMicroseconds * 2;
+}
+
+/*
+ * Pin 10 / Channel B
+ */
+void write10(int aDegree, bool aUpdateFast) {
+    writeLightweightServo(aDegree, false, aUpdateFast);
+}
+
+void writeMicroseconds10(int aMicroseconds, bool aUpdateFast) {
+    writeMicrosecondsLightweightServo(aMicroseconds, false, aUpdateFast);
+}
+
+/*
+ * Without auto initialize!
+ */
+void writeMicroseconds10Direct(int aMicroseconds) {
+    OCR1B = aMicroseconds * 2;
+}
+
+/*
+ * Conversion functions
+ */
+int DegreeToMicrosecondsLightweightServo(int aDegree) {
+    return (map(aDegree, 0, 180, sMicrosecondsForServo0Degree, sMicrosecondsForServo180Degree));
+}
+
+int MicrosecondsToDegreeLightweightServo(int aMicroseconds) {
+    return map(aMicroseconds, sMicrosecondsForServo0Degree, sMicrosecondsForServo180Degree, 0, 180);
+}
+
+#endif
+
diff --git a/src/LightweightServo.h b/src/LightweightServo.h
new file mode 100644
index 0000000..9084063
--- /dev/null
+++ b/src/LightweightServo.h
@@ -0,0 +1,78 @@
+/*
+ * LightweightServo.h
+ *
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
+ *  armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
+ *
+ *  ServoEasing is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *
+ */
+
+#ifndef LIGHTWEIGHT_SERVO_H_
+#define LIGHTWEIGHT_SERVO_H_
+
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__)
+
+#define VERSION_LIGHTWEIGHT_SERVO "1.1.0"
+#define VERSION_LIGHTWEIGHT_SERVO_MAJOR 1
+#define VERSION_LIGHTWEIGHT_SERVO_MINOR 1
+
+#include <stdint.h>
+
+/*
+ * Commenting out this saves 70 bytes flash memory. You must then use the init function initLightweightServoPin9And10() manually.
+ */
+//#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE
+#define ISR1_COUNT_FOR_20_MILLIS 40000 // you can modify this if you have servos which accept a higher rate
+
+/*
+ * Lightweight servo library
+ * Uses timer1 and Pin 9 + 10 as output
+ */
+void initLightweightServoPin9And10();
+void initLightweightServoPin9();    // Disables Pin 10!
+void initLightweightServoPin10();   // Disables Pin 9!
+void initLightweightServoPin9_10(bool aUsePin9, bool aUsePin10);
+void deinitLightweightServoPin9_10(bool aUsePin9, bool aUsePin10);
+
+void setLightweightServoPulseMicrosFor0And180Degree(int aMicrosecondsForServo0Degree, int a180DegreeValue);
+void setLightweightServoRefreshRate(unsigned int aRefreshPeriodMicroseconds);
+
+int writeLightweightServo(int aDegree, bool aUsePin9, bool aUpdateFast = false);
+void writeMicrosecondsLightweightServo(int aMicroseconds, bool aUsePin9, bool aUpdateFast = false);
+
+void write9(int aDegree, bool aUpdateFast = false); // setLightweightServoPulsePin9 Channel A
+void writeMicroseconds9(int aMicroseconds, bool aUpdateFast = false);
+void writeMicroseconds9Direct(int aMicroseconds);
+
+void write10(int aDegree, bool aUpdateFast = false); // setLightweightServoPulsePin10 Channel B
+void writeMicroseconds10(int aMicroseconds, bool aUpdateFast = false);
+void writeMicroseconds10Direct(int aMicroseconds);
+
+// convenience functions
+int DegreeToMicrosecondsLightweightServo(int aDegree);
+int MicrosecondsToDegreeLightweightServo(int aMicroseconds);
+
+#endif // AVR_ATmega328
+
+/*
+ * Version 1.1.0 - 11/2020
+ * - Improved API.
+ */
+
+#endif // LIGHTWEIGHT_SERVO_H_
+
+#pragma once
diff --git a/src/LongUnion.h b/src/LongUnion.h
new file mode 100644
index 0000000..b0b2c2d
--- /dev/null
+++ b/src/LongUnion.h
@@ -0,0 +1,94 @@
+/*
+ * LongUnion.h
+ *
+ *  Copyright (C) 2020  Armin Joachimsmeyer
+ *  Email: armin.joachimsmeyer@gmail.com
+ *
+ *  This file is part of Arduino-Utils https://github.com/ArminJo/Arduino-Utils.
+ *
+ *  Arduino-Utils is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/gpl.html>.
+ *
+ */
+
+#ifndef LONG_UNION_H
+#define LONG_UNION_H
+
+#include <Arduino.h>
+#include <stdint.h>
+
+/**
+ * Union to specify parts / manifestations of a 16 bit Word without casts and shifts.
+ * It also supports the compiler generating small code.
+ */
+union WordUnion {
+    struct {
+        uint8_t LowByte;
+        uint8_t HighByte;
+    } UByte;
+    struct {
+        int8_t LowByte;
+        int8_t HighByte;
+    } Byte;
+    uint8_t UBytes[2];
+    int8_t Bytes[2];
+    uint16_t UWord;
+    int16_t Word;
+    uint8_t * BytePointer;
+};
+
+/**
+ * Union to specify parts / manifestations of a 32 bit Long without casts and shifts.
+ * It also supports the compiler generating small code.
+ */
+union LongUnion {
+    struct {
+        uint8_t LowByte;
+        uint8_t MidLowByte;
+        uint8_t MidHighByte;
+        uint8_t HighByte;
+    } UByte;
+    struct {
+        int8_t LowByte;
+        int8_t MidLowByte;
+        int8_t MidHighByte;
+        int8_t HighByte;
+    } Byte;
+    struct {
+        uint8_t LowByte;
+        WordUnion MidWord;
+        uint8_t HighByte;
+    } ByteWord;
+    struct {
+        int16_t LowWord;
+        int16_t HighWord;
+    } Word;
+    struct {
+        WordUnion LowWord;
+        WordUnion HighWord;
+    } WordUnion;
+    struct {
+        uint16_t LowWord;
+        uint16_t HighWord;
+    } UWord;
+    uint8_t UBytes[4];
+    int8_t Bytes[4];
+    uint16_t UWords[2];
+    int16_t Words[2];
+    uint32_t ULong;
+    int32_t Long;
+};
+
+#endif // LONG_UNION_H
+
+#pragma once
diff --git a/src/MPU6050Defines.h b/src/MPU6050Defines.h
new file mode 100644
index 0000000..221d94f
--- /dev/null
+++ b/src/MPU6050Defines.h
@@ -0,0 +1,428 @@
+/*
+ * MPU6050Defines.h
+ * Contains only the defines for MPU6050.
+ * Copied from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
+ */
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#ifndef _MPU6050_H_
+#define _MPU6050_H_
+
+//#define MPU6050_INCLUDE_DMP_MOTIONAPPS41
+
+// supporting link:  http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517
+// also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s
+
+#ifdef __AVR__
+#include <avr/pgmspace.h>
+#else
+//#define PROGMEM /* empty */
+//#define pgm_read_byte(x) (*(x))
+//#define pgm_read_word(x) (*(x))
+//#define pgm_read_float(x) (*(x))
+//#define PSTR(STR) STR
+#endif
+
+
+#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
+#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
+#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW
+
+#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
+#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
+#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
+#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
+#define MPU6050_RA_XA_OFFS_L_TC     0x07
+#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
+#define MPU6050_RA_YA_OFFS_L_TC     0x09
+#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
+#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
+#define MPU6050_RA_SELF_TEST_X      0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Y      0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_Z      0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
+#define MPU6050_RA_SELF_TEST_A      0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
+#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
+#define MPU6050_RA_XG_OFFS_USRL     0x14
+#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
+#define MPU6050_RA_YG_OFFS_USRL     0x16
+#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
+#define MPU6050_RA_ZG_OFFS_USRL     0x18
+#define MPU6050_RA_SMPLRT_DIV       0x19
+#define MPU6050_RA_CONFIG           0x1A
+#define MPU6050_RA_GYRO_CONFIG      0x1B
+#define MPU6050_RA_ACCEL_CONFIG     0x1C
+#define MPU6050_RA_FF_THR           0x1D
+#define MPU6050_RA_FF_DUR           0x1E
+#define MPU6050_RA_MOT_THR          0x1F
+#define MPU6050_RA_MOT_DUR          0x20
+#define MPU6050_RA_ZRMOT_THR        0x21
+#define MPU6050_RA_ZRMOT_DUR        0x22
+#define MPU6050_RA_FIFO_EN          0x23
+#define MPU6050_RA_I2C_MST_CTRL     0x24
+#define MPU6050_RA_I2C_SLV0_ADDR    0x25
+#define MPU6050_RA_I2C_SLV0_REG     0x26
+#define MPU6050_RA_I2C_SLV0_CTRL    0x27
+#define MPU6050_RA_I2C_SLV1_ADDR    0x28
+#define MPU6050_RA_I2C_SLV1_REG     0x29
+#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
+#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
+#define MPU6050_RA_I2C_SLV2_REG     0x2C
+#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
+#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
+#define MPU6050_RA_I2C_SLV3_REG     0x2F
+#define MPU6050_RA_I2C_SLV3_CTRL    0x30
+#define MPU6050_RA_I2C_SLV4_ADDR    0x31
+#define MPU6050_RA_I2C_SLV4_REG     0x32
+#define MPU6050_RA_I2C_SLV4_DO      0x33
+#define MPU6050_RA_I2C_SLV4_CTRL    0x34
+#define MPU6050_RA_I2C_SLV4_DI      0x35
+#define MPU6050_RA_I2C_MST_STATUS   0x36
+#define MPU6050_RA_INT_PIN_CFG      0x37
+#define MPU6050_RA_INT_ENABLE       0x38
+#define MPU6050_RA_DMP_INT_STATUS   0x39
+#define MPU6050_RA_INT_STATUS       0x3A
+#define MPU6050_RA_ACCEL_XOUT_H     0x3B
+#define MPU6050_RA_ACCEL_XOUT_L     0x3C
+#define MPU6050_RA_ACCEL_YOUT_H     0x3D
+#define MPU6050_RA_ACCEL_YOUT_L     0x3E
+#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
+#define MPU6050_RA_ACCEL_ZOUT_L     0x40
+#define MPU6050_RA_TEMP_OUT_H       0x41
+#define MPU6050_RA_TEMP_OUT_L       0x42
+#define MPU6050_RA_GYRO_XOUT_H      0x43
+#define MPU6050_RA_GYRO_XOUT_L      0x44
+#define MPU6050_RA_GYRO_YOUT_H      0x45
+#define MPU6050_RA_GYRO_YOUT_L      0x46
+#define MPU6050_RA_GYRO_ZOUT_H      0x47
+#define MPU6050_RA_GYRO_ZOUT_L      0x48
+#define MPU6050_RA_EXT_SENS_DATA_00 0x49
+#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
+#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
+#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
+#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
+#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
+#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
+#define MPU6050_RA_EXT_SENS_DATA_07 0x50
+#define MPU6050_RA_EXT_SENS_DATA_08 0x51
+#define MPU6050_RA_EXT_SENS_DATA_09 0x52
+#define MPU6050_RA_EXT_SENS_DATA_10 0x53
+#define MPU6050_RA_EXT_SENS_DATA_11 0x54
+#define MPU6050_RA_EXT_SENS_DATA_12 0x55
+#define MPU6050_RA_EXT_SENS_DATA_13 0x56
+#define MPU6050_RA_EXT_SENS_DATA_14 0x57
+#define MPU6050_RA_EXT_SENS_DATA_15 0x58
+#define MPU6050_RA_EXT_SENS_DATA_16 0x59
+#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
+#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
+#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
+#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
+#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
+#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
+#define MPU6050_RA_EXT_SENS_DATA_23 0x60
+#define MPU6050_RA_MOT_DETECT_STATUS    0x61
+#define MPU6050_RA_I2C_SLV0_DO      0x63
+#define MPU6050_RA_I2C_SLV1_DO      0x64
+#define MPU6050_RA_I2C_SLV2_DO      0x65
+#define MPU6050_RA_I2C_SLV3_DO      0x66
+#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
+#define MPU6050_RA_MOT_DETECT_CTRL      0x69
+#define MPU6050_RA_USER_CTRL        0x6A
+#define MPU6050_RA_PWR_MGMT_1       0x6B
+#define MPU6050_RA_PWR_MGMT_2       0x6C
+#define MPU6050_RA_BANK_SEL         0x6D
+#define MPU6050_RA_MEM_START_ADDR   0x6E
+#define MPU6050_RA_MEM_R_W          0x6F
+#define MPU6050_RA_DMP_CFG_1        0x70
+#define MPU6050_RA_DMP_CFG_2        0x71
+#define MPU6050_RA_FIFO_COUNTH      0x72
+#define MPU6050_RA_FIFO_COUNTL      0x73
+#define MPU6050_RA_FIFO_R_W         0x74
+#define MPU6050_RA_WHO_AM_I         0x75
+
+#define MPU6050_SELF_TEST_XA_1_BIT     0x07
+#define MPU6050_SELF_TEST_XA_1_LENGTH  0x03
+#define MPU6050_SELF_TEST_XA_2_BIT     0x05
+#define MPU6050_SELF_TEST_XA_2_LENGTH  0x02
+#define MPU6050_SELF_TEST_YA_1_BIT     0x07
+#define MPU6050_SELF_TEST_YA_1_LENGTH  0x03
+#define MPU6050_SELF_TEST_YA_2_BIT     0x03
+#define MPU6050_SELF_TEST_YA_2_LENGTH  0x02
+#define MPU6050_SELF_TEST_ZA_1_BIT     0x07
+#define MPU6050_SELF_TEST_ZA_1_LENGTH  0x03
+#define MPU6050_SELF_TEST_ZA_2_BIT     0x01
+#define MPU6050_SELF_TEST_ZA_2_LENGTH  0x02
+
+#define MPU6050_SELF_TEST_XG_1_BIT     0x04
+#define MPU6050_SELF_TEST_XG_1_LENGTH  0x05
+#define MPU6050_SELF_TEST_YG_1_BIT     0x04
+#define MPU6050_SELF_TEST_YG_1_LENGTH  0x05
+#define MPU6050_SELF_TEST_ZG_1_BIT     0x04
+#define MPU6050_SELF_TEST_ZG_1_LENGTH  0x05
+
+#define MPU6050_TC_PWR_MODE_BIT     7
+#define MPU6050_TC_OFFSET_BIT       6
+#define MPU6050_TC_OFFSET_LENGTH    6
+#define MPU6050_TC_OTP_BNK_VLD_BIT  0
+
+#define MPU6050_VDDIO_LEVEL_VLOGIC  0
+#define MPU6050_VDDIO_LEVEL_VDD     1
+
+#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
+#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
+#define MPU6050_CFG_DLPF_CFG_BIT    2
+#define MPU6050_CFG_DLPF_CFG_LENGTH 3
+
+#define MPU6050_EXT_SYNC_DISABLED       0x0
+#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
+#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
+#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
+#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
+#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
+#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
+#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7
+
+#define MPU6050_DLPF_BW_256         0x00
+#define MPU6050_DLPF_BW_188         0x01
+#define MPU6050_DLPF_BW_98          0x02
+#define MPU6050_DLPF_BW_42          0x03
+#define MPU6050_DLPF_BW_20          0x04
+#define MPU6050_DLPF_BW_10          0x05
+#define MPU6050_DLPF_BW_5           0x06
+
+#define MPU6050_GCONFIG_FS_SEL_BIT      4
+#define MPU6050_GCONFIG_FS_SEL_LENGTH   2
+
+#define MPU6050_GYRO_FS_250         0x00
+#define MPU6050_GYRO_FS_500         0x01
+#define MPU6050_GYRO_FS_1000        0x02
+#define MPU6050_GYRO_FS_2000        0x03
+
+#define MPU6050_ACONFIG_XA_ST_BIT           7
+#define MPU6050_ACONFIG_YA_ST_BIT           6
+#define MPU6050_ACONFIG_ZA_ST_BIT           5
+#define MPU6050_ACONFIG_AFS_SEL_BIT         4
+#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
+#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
+#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3
+
+#define MPU6050_ACCEL_FS_2          0x00
+#define MPU6050_ACCEL_FS_4          0x01
+#define MPU6050_ACCEL_FS_8          0x02
+#define MPU6050_ACCEL_FS_16         0x03
+
+#define MPU6050_DHPF_RESET          0x00
+#define MPU6050_DHPF_5              0x01
+#define MPU6050_DHPF_2P5            0x02
+#define MPU6050_DHPF_1P25           0x03
+#define MPU6050_DHPF_0P63           0x04
+#define MPU6050_DHPF_HOLD           0x07
+
+#define MPU6050_TEMP_FIFO_EN_BIT    7
+#define MPU6050_XG_FIFO_EN_BIT      6
+#define MPU6050_YG_FIFO_EN_BIT      5
+#define MPU6050_ZG_FIFO_EN_BIT      4
+#define MPU6050_ACCEL_FIFO_EN_BIT   3
+#define MPU6050_SLV2_FIFO_EN_BIT    2
+#define MPU6050_SLV1_FIFO_EN_BIT    1
+#define MPU6050_SLV0_FIFO_EN_BIT    0
+
+#define MPU6050_MULT_MST_EN_BIT     7
+#define MPU6050_WAIT_FOR_ES_BIT     6
+#define MPU6050_SLV_3_FIFO_EN_BIT   5
+#define MPU6050_I2C_MST_P_NSR_BIT   4
+#define MPU6050_I2C_MST_CLK_BIT     3
+#define MPU6050_I2C_MST_CLK_LENGTH  4
+
+#define MPU6050_CLOCK_DIV_348       0x0
+#define MPU6050_CLOCK_DIV_333       0x1
+#define MPU6050_CLOCK_DIV_320       0x2
+#define MPU6050_CLOCK_DIV_308       0x3
+#define MPU6050_CLOCK_DIV_296       0x4
+#define MPU6050_CLOCK_DIV_286       0x5
+#define MPU6050_CLOCK_DIV_276       0x6
+#define MPU6050_CLOCK_DIV_267       0x7
+#define MPU6050_CLOCK_DIV_258       0x8
+#define MPU6050_CLOCK_DIV_500       0x9
+#define MPU6050_CLOCK_DIV_471       0xA
+#define MPU6050_CLOCK_DIV_444       0xB
+#define MPU6050_CLOCK_DIV_421       0xC
+#define MPU6050_CLOCK_DIV_400       0xD
+#define MPU6050_CLOCK_DIV_381       0xE
+#define MPU6050_CLOCK_DIV_364       0xF
+
+#define MPU6050_I2C_SLV_RW_BIT      7
+#define MPU6050_I2C_SLV_ADDR_BIT    6
+#define MPU6050_I2C_SLV_ADDR_LENGTH 7
+#define MPU6050_I2C_SLV_EN_BIT      7
+#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
+#define MPU6050_I2C_SLV_REG_DIS_BIT 5
+#define MPU6050_I2C_SLV_GRP_BIT     4
+#define MPU6050_I2C_SLV_LEN_BIT     3
+#define MPU6050_I2C_SLV_LEN_LENGTH  4
+
+#define MPU6050_I2C_SLV4_RW_BIT         7
+#define MPU6050_I2C_SLV4_ADDR_BIT       6
+#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
+#define MPU6050_I2C_SLV4_EN_BIT         7
+#define MPU6050_I2C_SLV4_INT_EN_BIT     6
+#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
+#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
+#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
+
+#define MPU6050_MST_PASS_THROUGH_BIT    7
+#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
+#define MPU6050_MST_I2C_LOST_ARB_BIT    5
+#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
+#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
+#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
+#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
+#define MPU6050_MST_I2C_SLV0_NACK_BIT   0
+
+#define MPU6050_INTCFG_INT_LEVEL_BIT        7
+#define MPU6050_INTCFG_INT_OPEN_BIT         6
+#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
+#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
+#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
+#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
+#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
+#define MPU6050_INTCFG_CLKOUT_EN_BIT        0
+
+#define MPU6050_INTMODE_ACTIVEHIGH  0x00
+#define MPU6050_INTMODE_ACTIVELOW   0x01
+
+#define MPU6050_INTDRV_PUSHPULL     0x00
+#define MPU6050_INTDRV_OPENDRAIN    0x01
+
+#define MPU6050_INTLATCH_50USPULSE  0x00
+#define MPU6050_INTLATCH_WAITCLEAR  0x01
+
+#define MPU6050_INTCLEAR_STATUSREAD 0x00
+#define MPU6050_INTCLEAR_ANYREAD    0x01
+
+#define MPU6050_INTERRUPT_FF_BIT            7
+#define MPU6050_INTERRUPT_MOT_BIT           6
+#define MPU6050_INTERRUPT_ZMOT_BIT          5
+#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
+#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
+#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
+#define MPU6050_INTERRUPT_DMP_INT_BIT       1
+#define MPU6050_INTERRUPT_DATA_RDY_BIT      0
+
+// TODO: figure out what these actually do
+// UMPL source code is not very obivous
+#define MPU6050_DMPINT_5_BIT            5
+#define MPU6050_DMPINT_4_BIT            4
+#define MPU6050_DMPINT_3_BIT            3
+#define MPU6050_DMPINT_2_BIT            2
+#define MPU6050_DMPINT_1_BIT            1
+#define MPU6050_DMPINT_0_BIT            0
+
+#define MPU6050_MOTION_MOT_XNEG_BIT     7
+#define MPU6050_MOTION_MOT_XPOS_BIT     6
+#define MPU6050_MOTION_MOT_YNEG_BIT     5
+#define MPU6050_MOTION_MOT_YPOS_BIT     4
+#define MPU6050_MOTION_MOT_ZNEG_BIT     3
+#define MPU6050_MOTION_MOT_ZPOS_BIT     2
+#define MPU6050_MOTION_MOT_ZRMOT_BIT    0
+
+#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
+#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
+#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
+#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
+#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
+#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0
+
+#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
+#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
+#define MPU6050_PATHRESET_TEMP_RESET_BIT    0
+
+#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
+#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
+#define MPU6050_DETECT_FF_COUNT_BIT             3
+#define MPU6050_DETECT_FF_COUNT_LENGTH          2
+#define MPU6050_DETECT_MOT_COUNT_BIT            1
+#define MPU6050_DETECT_MOT_COUNT_LENGTH         2
+
+#define MPU6050_DETECT_DECREMENT_RESET  0x0
+#define MPU6050_DETECT_DECREMENT_1      0x1
+#define MPU6050_DETECT_DECREMENT_2      0x2
+#define MPU6050_DETECT_DECREMENT_4      0x3
+
+#define MPU6050_USERCTRL_DMP_EN_BIT             7
+#define MPU6050_USERCTRL_FIFO_EN_BIT            6
+#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
+#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
+#define MPU6050_USERCTRL_DMP_RESET_BIT          3
+#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
+#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
+#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0
+
+#define MPU6050_PWR1_DEVICE_RESET_BIT   7
+#define MPU6050_PWR1_SLEEP_BIT          6
+#define MPU6050_PWR1_CYCLE_BIT          5
+#define MPU6050_PWR1_TEMP_DIS_BIT       3
+#define MPU6050_PWR1_CLKSEL_BIT         2
+#define MPU6050_PWR1_CLKSEL_LENGTH      3
+
+#define MPU6050_CLOCK_INTERNAL          0x00
+#define MPU6050_CLOCK_PLL_XGYRO         0x01
+#define MPU6050_CLOCK_PLL_YGYRO         0x02
+#define MPU6050_CLOCK_PLL_ZGYRO         0x03
+#define MPU6050_CLOCK_PLL_EXT32K        0x04
+#define MPU6050_CLOCK_PLL_EXT19M        0x05
+#define MPU6050_CLOCK_KEEP_RESET        0x07
+
+#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
+#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
+#define MPU6050_PWR2_STBY_XA_BIT            5
+#define MPU6050_PWR2_STBY_YA_BIT            4
+#define MPU6050_PWR2_STBY_ZA_BIT            3
+#define MPU6050_PWR2_STBY_XG_BIT            2
+#define MPU6050_PWR2_STBY_YG_BIT            1
+#define MPU6050_PWR2_STBY_ZG_BIT            0
+
+#define MPU6050_WAKE_FREQ_1P25      0x0
+#define MPU6050_WAKE_FREQ_2P5       0x1
+#define MPU6050_WAKE_FREQ_5         0x2
+#define MPU6050_WAKE_FREQ_10        0x3
+
+#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
+#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
+#define MPU6050_BANKSEL_MEM_SEL_BIT         4
+#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5
+
+#define MPU6050_WHO_AM_I_BIT        6
+#define MPU6050_WHO_AM_I_LENGTH     6
+
+#define MPU6050_DMP_MEMORY_BANKS        8
+#define MPU6050_DMP_MEMORY_BANK_SIZE    256
+#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16
+
+#endif /* _MPU6050_H_ */
diff --git a/src/PWMDcMotor.cpp b/src/PWMDcMotor.cpp
index 1da8722..482c07a 100644
--- a/src/PWMDcMotor.cpp
+++ b/src/PWMDcMotor.cpp
@@ -4,15 +4,23 @@
  * Low level motor control for Adafruit_MotorShield OR breakout board with TB6612 or L298 driver IC for two DC motors.
  *
  * Motor control has 2 parameters:
- * 1. Speed / PWM which is ignored for BRAKE or RELEASE. This library also accepts signed speed (including the direction as sign).
+ * 1. SpeedPWM / PWM which is ignored for BRAKE or RELEASE. This library also accepts signed speed (including the direction as sign).
  * 2. Direction / MotorDriverMode. Can be FORWARD, BACKWARD (BRAKE motor connection are shortened) or RELEASE ( motor connections are high impedance)
  *
+ * PWM period is 600 us for Adafruit Motor Shield V2 using PCA9685.
+ * PWM period is 1030 us for using AnalogWrite on pin 5 + 6.
+ *
  *  Created on: 12.05.2019
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ *  Copyright (C) 2019-2020  Armin Joachimsmeyer
  *  armin.joachimsmeyer@gmail.com
  *
  *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
  *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
  *  This program is distributed in the hope that it will be useful,
  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
@@ -26,36 +34,43 @@
 
 #include "PWMDcMotor.h"
 
-bool PWMDcMotor::MotorValuesHaveChanged;        // true if DefaultStopMode, StartSpeed, DriveSpeed or SpeedCompensation have changed - for printing
-bool PWMDcMotor::SpeedOrMotorModeHasChanged;    // - for printing
+//#define TRACE
+//#define DEBUG
+
+// Flags e.g. for display update control
+#if defined(USE_MPU6050_IMU) || defined(USE_ENCODER_MOTOR_CONTROL)
+volatile bool PWMDcMotor::SensorValuesHaveChanged; // true if encoder count and derived encoder speed, or one of the TMU data have changed
+#endif
+bool PWMDcMotor::MotorControlValuesHaveChanged; // true if DefaultStopMode, StartSpeedPWM, DriveSpeedPWM or SpeedPWMCompensation have changed
+bool PWMDcMotor::MotorPWMHasChanged;              // true if CurrentSpeedPWM has changed
 
 PWMDcMotor::PWMDcMotor() { // @suppress("Class members should be properly initialized")
 }
 
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
-void PWMDcMotor::I2CWriteByte(uint8_t aAddress, uint8_t aData) {
-    Wire.beginTransmission(0x60);
+void PWMDcMotor::PCA9685WriteByte(uint8_t aAddress, uint8_t aData) {
+    Wire.beginTransmission(PCA9685_DEFAULT_ADDRESS);
     Wire.write(aAddress);
     Wire.write(aData);
-    Wire.endTransmission();
+    Wire.endTransmission(true);
 }
 
-void PWMDcMotor::I2CSetPWM(uint8_t aPin, uint16_t aOn, uint16_t aOff) {
-    Wire.beginTransmission(0x60);
+void PWMDcMotor::PCA9685SetPWM(uint8_t aPin, uint16_t aOn, uint16_t aOff) {
+    Wire.beginTransmission(PCA9685_DEFAULT_ADDRESS);
     Wire.write((PCA9685_FIRST_PWM_REGISTER) + 4 * aPin);
     Wire.write(aOn);
     Wire.write(aOn >> 8);
     Wire.write(aOff);
     Wire.write(aOff >> 8);
-    Wire.endTransmission();
+    Wire.endTransmission(true);
 }
 
-void PWMDcMotor::I2CSetPin(uint8_t aPin, bool aSetToOn) {
+void PWMDcMotor::PCA9685SetPin(uint8_t aPin, bool aSetToOn) {
     if (aSetToOn) {
-        I2CSetPWM(aPin, 4096, 0);
+        PCA9685SetPWM(aPin, 4096, 0);
     } else {
-        I2CSetPWM(aPin, 0, 0);
+        PCA9685SetPWM(aPin, 0, 0);
     }
 }
 
@@ -68,8 +83,7 @@ Adafruit_MotorShield sAdafruitMotorShield = Adafruit_MotorShield();
  * aMotorNumber from 1 to 2
  * Currently motors 3 and 4 are not required/supported by own library for Adafruit Motor Shield
  */
-void PWMDcMotor::init(uint8_t aMotorNumber, bool aReadFromEeprom) {
-
+void PWMDcMotor::init(uint8_t aMotorNumber) {
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
     if (aMotorNumber == 1) {
         // Set PCA9685 channel numbers for Adafruit Motor Shield
@@ -83,40 +97,36 @@ void PWMDcMotor::init(uint8_t aMotorNumber, bool aReadFromEeprom) {
     }
 
     Wire.begin();
+    Wire.setClock(400000);
 #    if defined (ARDUINO_ARCH_AVR) // Other platforms do not have this new function
     Wire.setWireTimeout(5000); // Sets timeout to 5 ms. default is 25 ms.
 #    endif
+#ifdef TRACE
+    Serial.print(PWMPin);
+    Serial.print(F(" MotorNumber="));
+    Serial.println(aMotorNumber);
+#endif
     // Reset PCA9685
     Wire.beginTransmission(PCA9685_GENERAL_CALL_ADDRESS);
     Wire.write(PCA9685_SOFTWARE_RESET);
-    Wire.endTransmission();
+    Wire.endTransmission(true);
     // Set expander to 1600 HZ
-    I2CWriteByte(PCA9685_MODE1_REGISTER, _BV(PCA9685_MODE_1_SLEEP)); // go to sleep
-    I2CWriteByte(PCA9685_PRESCALE_REGISTER, PCA9685_PRESCALER_FOR_1600_HZ); // set the prescaler
+    PCA9685WriteByte(PCA9685_MODE1_REGISTER, _BV(PCA9685_MODE_1_SLEEP)); // go to sleep
+    PCA9685WriteByte(PCA9685_PRESCALE_REGISTER, PCA9685_PRESCALER_FOR_1600_HZ); // set the prescaler
     delay(2); // > 500 us before the restart bit according to datasheet
-    I2CWriteByte(PCA9685_MODE1_REGISTER, _BV(PCA9685_MODE_1_RESTART) | _BV(PCA9685_MODE_1_AUTOINCREMENT)); // reset sleep and enable auto increment
+    PCA9685WriteByte(PCA9685_MODE1_REGISTER, _BV(PCA9685_MODE_1_RESTART) | _BV(PCA9685_MODE_1_AUTOINCREMENT)); // reset sleep and enable auto increment
 
 #  else
     Adafruit_MotorShield_DcMotor = sAdafruitMotorShield.getMotor(aMotorNumber);
     sAdafruitMotorShield.begin();
 #  endif
 
-    if (!aReadFromEeprom) {
-        MotorValuesEepromStorageNumber = 0;
-    } else {
-        MotorValuesEepromStorageNumber = aMotorNumber;
-    }
-    // setDefaultsForFixedDistanceDriving() is called by readMotorValuesFromEeprom() if MotorValuesEepromStorageNumber == 0
-    readMotorValuesFromEeprom();
+    setDefaultsForFixedDistanceDriving();
     stop(DEFAULT_STOP_MODE);
 }
 
 #else // USE_ADAFRUIT_MOTOR_SHIELD
-/*
- * @param aMotorNumber if 0 do not read from EEPROM, otherwise block number
- */
-void PWMDcMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aMotorNumber) {
-    MotorValuesEepromStorageNumber = aMotorNumber;
+void PWMDcMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin) {
     ForwardPin = aForwardPin;
     BackwardPin = aBackwardPin;
     PWMPin = aPWMPin;
@@ -128,8 +138,6 @@ void PWMDcMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin
 
     // set defaults
     setDefaultsForFixedDistanceDriving();
-
-    readMotorValuesFromEeprom(); // reads values only if MotorValuesEepromStorageNumber / aMotorNumber is != 0
     stop(DEFAULT_STOP_MODE);
 }
 
@@ -141,25 +149,29 @@ void PWMDcMotor::init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin
  */
 void PWMDcMotor::setMotorDriverMode(uint8_t aMotorDriverMode) {
     CurrentDirectionOrBrakeMode = aMotorDriverMode; // The only statement which changes CurrentDirectionOrBrakeMode
+    if (!(aMotorDriverMode & STOP_MODE_OR_MASK)) {
+        // set only directions, no brake modes
+        LastDirection = aMotorDriverMode;
+    }
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
     // until here DIRECTION_FORWARD is 0 back is 1, Adafruit library starts with 1
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
     switch (aMotorDriverMode) {
     case DIRECTION_FORWARD:
-        I2CSetPin(BackwardPin, LOW); // take low first to avoid 'break'
-        I2CSetPin(ForwardPin, HIGH);
+        PCA9685SetPin(BackwardPin, LOW); // take low first to avoid 'break'
+        PCA9685SetPin(ForwardPin, HIGH);
         break;
     case DIRECTION_BACKWARD:
-        I2CSetPin(ForwardPin, LOW); // take low first to avoid 'break'
-        I2CSetPin(BackwardPin, HIGH);
+        PCA9685SetPin(ForwardPin, LOW); // take low first to avoid 'break'
+        PCA9685SetPin(BackwardPin, HIGH);
         break;
     case MOTOR_BRAKE:
-        I2CSetPin(ForwardPin, HIGH);
-        I2CSetPin(BackwardPin, HIGH);
+        PCA9685SetPin(ForwardPin, HIGH);
+        PCA9685SetPin(BackwardPin, HIGH);
         break;
     case MOTOR_RELEASE:
-        I2CSetPin(ForwardPin, LOW);
-        I2CSetPin(BackwardPin, LOW);
+        PCA9685SetPin(ForwardPin, LOW);
+        PCA9685SetPin(BackwardPin, LOW);
         break;
     }
 #  else
@@ -189,24 +201,27 @@ void PWMDcMotor::setMotorDriverMode(uint8_t aMotorDriverMode) {
 }
 
 /*
- * @return true if direction has changed and motor has stopped
+ * @return true if direction has changed AND motor was stopped
  */
 bool PWMDcMotor::checkAndHandleDirectionChange(uint8_t aRequestedDirection) {
+    aRequestedDirection &= DIRECTION_MASK; // since we are never called with "brake directions" but may be called with TURN_IN_PLACE direction
     bool tReturnValue = false;
-    uint8_t tRequestedDirection = aRequestedDirection & DIRECTION_MASK;
-    if (CurrentDirectionOrBrakeMode != tRequestedDirection) {
-        if (CurrentSpeed != 0) {
-#ifdef DEBUG
-            Serial.print(F("Motor mode change to "));
-            Serial.println(tRequestedDirection);
-#endif
+    if (CurrentDirectionOrBrakeMode != aRequestedDirection) {
+        if (CurrentSpeedPWM != 0) {
             /*
              * Direction change requested but motor still running-> first stop motor
              */
             stop(MOTOR_BRAKE);
             tReturnValue = true;
         }
-        setMotorDriverMode(tRequestedDirection); // this in turn sets CurrentDirectionOrBrakeMode
+#ifdef DEBUG
+        Serial.print(PWMPin);
+        Serial.print(F(" Change motor mode from "));
+        Serial.print(CurrentDirectionOrBrakeMode);
+        Serial.print(F(" to "));
+        Serial.println(aRequestedDirection);
+#endif
+        setMotorDriverMode(aRequestedDirection); // this in turn sets CurrentDirectionOrBrakeMode
     }
     return tReturnValue;
 }
@@ -215,63 +230,88 @@ bool PWMDcMotor::checkAndHandleDirectionChange(uint8_t aRequestedDirection) {
  *  @brief  Control the DC Motor speed/throttle
  *  @param  speed The 8-bit PWM value, 0 is off, 255 is on forward -255 is on backward
  *  First set driver mode, then set PWM
+ *  PWM period is 600 us for Adafruit Motor Shield V2 using PCA9685.
+ *  PWM period is 1030 us for using AnalogWrite on pin 5 + 6.
  */
-void PWMDcMotor::setSpeed(uint8_t aSpeedRequested, uint8_t aRequestedDirection) {
-    if (aSpeedRequested == 0) {
+void PWMDcMotor::setSpeedPWM(uint8_t aSpeedPWMRequested, uint8_t aRequestedDirection) {
+    if (aSpeedPWMRequested == 0) {
         stop(DefaultStopMode);
     } else {
         checkAndHandleDirectionChange(aRequestedDirection);
-        if (CurrentSpeed != aSpeedRequested) {
-            CurrentSpeed = aSpeedRequested; // The only statement which sets CurrentSpeed to a value != 0
-            SpeedOrMotorModeHasChanged = true;
+        if (CurrentSpeedPWM != aSpeedPWMRequested) {
+            CurrentSpeedPWM = aSpeedPWMRequested; // The only statement which sets CurrentSpeedPWM to a value != 0
+#ifdef TRACE
+            Serial.print(PWMPin);
+            Serial.print(F(" SpeedPWM="));
+            Serial.println(CurrentSpeedPWM);
+#endif
+            MotorPWMHasChanged = true;
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
-            I2CSetPWM(PWMPin, 0, 16 * aSpeedRequested);
+            PCA9685SetPWM(PWMPin, 0, 16 * aSpeedPWMRequested);
 #  else
-            Adafruit_MotorShield_DcMotor->setSpeed(aSpeedRequested);
+            Adafruit_MotorShield_DcMotor->setSpeedPWM(aSpeedPWMRequested);
 #  endif
 #else
-            analogWrite(PWMPin, aSpeedRequested);
+            analogWrite(PWMPin, aSpeedPWMRequested);
 #endif
         }
     }
 }
 
 /*
- * Subtracts SpeedCompensation from aRequestedSpeed before applying
+ * Keeps direction
+ */
+void PWMDcMotor::changeSpeedPWM(uint8_t aSpeedPWMRequested) {
+    if (!(CurrentDirectionOrBrakeMode & STOP_MODE_OR_MASK)) {
+        setSpeedPWM(aSpeedPWMRequested, CurrentDirectionOrBrakeMode); // output PWM value to motor
+    }
+}
+
+/*
+ * Subtracts SpeedPWMCompensation from aRequestedSpeedPWM before applying
  */
-void PWMDcMotor::setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection) {
+void PWMDcMotor::setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection) {
     // avoid underflow
-    uint8_t tCurrentSpeed;
-    if (aRequestedSpeed > SpeedCompensation) {
-        tCurrentSpeed = aRequestedSpeed - SpeedCompensation;
+    uint8_t tCurrentSpeedPWM;
+    if (aRequestedSpeedPWM > SpeedPWMCompensation) {
+        tCurrentSpeedPWM = aRequestedSpeedPWM - SpeedPWMCompensation;
     } else {
-        tCurrentSpeed = 0;
+        tCurrentSpeedPWM = 0;
+    }
+    setSpeedPWM(tCurrentSpeedPWM, aRequestedDirection); // output PWM value to motor
+}
+
+/*
+ * Keeps direction
+ */
+void PWMDcMotor::changeSpeedPWMCompensated(uint8_t aRequestedSpeedPWM) {
+    if (!(CurrentDirectionOrBrakeMode & STOP_MODE_OR_MASK)) {
+        setSpeedPWMCompensated(aRequestedSpeedPWM, CurrentDirectionOrBrakeMode);
     }
-    setSpeed(tCurrentSpeed, aRequestedDirection); // output PWM value to motor
 }
 
 /*
  * Signed speed
  */
-void PWMDcMotor::setSpeed(int aSpeedRequested) {
-    if (aSpeedRequested < 0) {
-        aSpeedRequested = -aSpeedRequested;
-        setSpeed(aSpeedRequested, DIRECTION_BACKWARD);
+void PWMDcMotor::setSpeedPWM(int aSpeedPWMRequested) {
+    if (aSpeedPWMRequested < 0) {
+        aSpeedPWMRequested = -aSpeedPWMRequested;
+        setSpeedPWM(aSpeedPWMRequested, DIRECTION_BACKWARD);
     } else {
-        setSpeed(aSpeedRequested, DIRECTION_FORWARD);
+        setSpeedPWM(aSpeedPWMRequested, DIRECTION_FORWARD);
     }
 }
 
-void PWMDcMotor::setSpeedCompensated(int aRequestedSpeed) {
+void PWMDcMotor::setSpeedPWMCompensated(int aRequestedSpeedPWM) {
     uint8_t tDirection;
-    if (aRequestedSpeed > 0) {
+    if (aRequestedSpeedPWM > 0) {
         tDirection = DIRECTION_FORWARD;
     } else {
         tDirection = DIRECTION_BACKWARD;
-        aRequestedSpeed = -aRequestedSpeed;
+        aRequestedSpeedPWM = -aRequestedSpeedPWM;
     }
-    setSpeedCompensated(aRequestedSpeed, tDirection);
+    setSpeedPWMCompensated(aRequestedSpeedPWM, tDirection);
 }
 
 /*
@@ -280,20 +320,19 @@ void PWMDcMotor::setSpeedCompensated(int aRequestedSpeed) {
  */
 void PWMDcMotor::stop(uint8_t aStopMode) {
 
-    CurrentSpeed = 0; // The only statement which sets CurrentSpeed to 0
-    SpeedOrMotorModeHasChanged = true;
-    MotorMovesFixedDistance = false;
-#ifdef SUPPORT_RAMP_UP
+    CurrentSpeedPWM = 0; // The only statement which sets CurrentSpeedPWM to 0
+    MotorPWMHasChanged = true;
+    CheckDistanceInUpdateMotor = false;
     MotorRampState = MOTOR_STATE_STOPPED;
-#endif
+
 #ifndef USE_ENCODER_MOTOR_CONTROL
-    MotorMovesFixedDistance = false;
+    CheckDistanceInUpdateMotor = false;
 #endif
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
-    I2CSetPWM(PWMPin, 0, 0);
+    PCA9685SetPWM(PWMPin, 0, 0);
 #  else
-        Adafruit_MotorShield_DcMotor->setSpeed(0);
+        Adafruit_MotorShield_DcMotor->setSpeedPWM(0);
 #  endif
 #else
     analogWrite(PWMPin, 0);
@@ -301,267 +340,374 @@ void PWMDcMotor::stop(uint8_t aStopMode) {
     if (aStopMode == STOP_MODE_KEEP) {
         aStopMode = DefaultStopMode;
     }
-    setMotorDriverMode(CheckStopMODE(aStopMode));
+    setMotorDriverMode(ForceStopMODE(aStopMode));
+#ifdef DEBUG
+    Serial.print(PWMPin);
+    Serial.print(F(" Stop motor StopMode="));
+    Serial.println(ForceStopMODE(aStopMode));
+#endif
 }
 
 /*
  * @param aStopMode used for speed == 0 or STOP_MODE_KEEP: MOTOR_BRAKE or MOTOR_RELEASE
  */
 void PWMDcMotor::setStopMode(uint8_t aStopMode) {
-    DefaultStopMode = CheckStopMODE(aStopMode);
-    MotorValuesHaveChanged = true;
+    DefaultStopMode = ForceStopMODE(aStopMode);
+    MotorControlValuesHaveChanged = true;
 }
 
 /******************************************************************************************
  * Distance functions
  *****************************************************************************************/
 /*
- * StartSpeed (at which car starts to move) for 8 volt is appr. 35 to 40, for 4.3 volt (USB supply) is appr. 90 to 100
- * setDefaultsForFixedDistanceDriving() is called at init by readMotorValuesFromEeprom() if MotorValuesEepromStorageNumber == 0
+ * setDefaultsForFixedDistanceDriving() is called at init
  */
 void PWMDcMotor::setDefaultsForFixedDistanceDriving() {
-    StartSpeed = DEFAULT_START_SPEED;
-    DriveSpeed = DEFAULT_DRIVE_SPEED;
-    SpeedCompensation = 0;
+    StartSpeedPWM = DEFAULT_START_SPEED_PWM;
+    DriveSpeedPWM = DEFAULT_DRIVE_SPEED_PWM;
+    SpeedPWMCompensation = 0;
 #ifndef USE_ENCODER_MOTOR_CONTROL
-    DistanceToTimeFactor = DEFAULT_DISTANCE_TO_TIME_FACTOR;
+    MillisPerMillimeter = DEFAULT_MILLIS_PER_MILLIMETER;
 #endif
-    MotorValuesHaveChanged = true;
+    MotorControlValuesHaveChanged = true;
 }
 
-void PWMDcMotor::setValuesForFixedDistanceDriving(uint8_t aStartSpeed, uint8_t aDriveSpeed, uint8_t aSpeedCompensation) {
-    StartSpeed = aStartSpeed;
-    DriveSpeed = aDriveSpeed;
-    SpeedCompensation = aSpeedCompensation;
-    MotorValuesHaveChanged = true;
+void PWMDcMotor::setValuesForFixedDistanceDriving(uint8_t aStartSpeedPWM, uint8_t aDriveSpeedPWM, uint8_t aSpeedPWMCompensation) {
+    StartSpeedPWM = aStartSpeedPWM;
+    DriveSpeedPWM = aDriveSpeedPWM;
+    SpeedPWMCompensation = aSpeedPWMCompensation;
+    MotorControlValuesHaveChanged = true;
 }
 
-void PWMDcMotor::setSpeedCompensation(uint8_t aSpeedCompensation) {
-    SpeedCompensation = aSpeedCompensation;
-    MotorValuesHaveChanged = true;
+void PWMDcMotor::setSpeedPWMCompensation(uint8_t aSpeedPWMCompensation) {
+    SpeedPWMCompensation = aSpeedPWMCompensation;
+    MotorControlValuesHaveChanged = true;
 }
 
-void PWMDcMotor::setDriveSpeed(uint8_t aDriveSpeed) {
-    DriveSpeed = aDriveSpeed;
-    MotorValuesHaveChanged = true;
+void PWMDcMotor::setStartSpeedPWM(uint8_t aStartSpeedPWM) {
+    StartSpeedPWM = aStartSpeedPWM;
+    MotorControlValuesHaveChanged = true;
 }
 
-#ifdef SUPPORT_RAMP_UP
-void PWMDcMotor::startRampUp(uint8_t aRequestedSpeed, uint8_t aRequestedDirection) {
-    checkAndHandleDirectionChange(aRequestedDirection);
-    if (MotorRampState == MOTOR_STATE_STOPPED) {
-        MotorRampState = MOTOR_STATE_START;
+void PWMDcMotor::setDriveSpeedPWM(uint8_t aDriveSpeedPWM) {
+    DriveSpeedPWM = aDriveSpeedPWM;
+    MotorControlValuesHaveChanged = true;
+}
+
+void PWMDcMotor::startRampUp(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection) {
+#ifdef DEBUG
+    Serial.print(PWMPin);
+    Serial.print(F(" Ramp up to "));
+    Serial.print(aRequestedSpeedPWM);
+    Serial.print(F(" Dir="));
+    Serial.print(aRequestedDirection);
+    Serial.print(F(" CurrentSpeedPWM="));
+    Serial.print(CurrentSpeedPWM);
+    Serial.print(F(" MotorMode="));
+    Serial.print(CurrentDirectionOrBrakeMode);
+    Serial.println();
+#endif
 
-        // avoid underflow
-        uint8_t tCurrentDriveSpeed;
-        if (aRequestedSpeed > SpeedCompensation) {
-            tCurrentDriveSpeed = aRequestedSpeed - SpeedCompensation;
+    if (CurrentSpeedPWM == 0) { // equivalent to MotorRampState == MOTOR_STATE_STOPPED
+        checkAndHandleDirectionChange(aRequestedDirection);
+        MotorRampState = MOTOR_STATE_START;
+        /*
+         * Set target speed for ramp up
+         */
+        uint8_t tRequestedDriveSpeedPWM;
+        if (aRequestedSpeedPWM > SpeedPWMCompensation) {
+            tRequestedDriveSpeedPWM = aRequestedSpeedPWM - SpeedPWMCompensation;
         } else {
-            tCurrentDriveSpeed = 0;
+            tRequestedDriveSpeedPWM = 0;
         }
-        CurrentDriveSpeed = tCurrentDriveSpeed;
-    } else if (MotorRampState == MOTOR_STATE_DRIVE_SPEED) {
-        setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
+        RequestedDriveSpeedPWM = tRequestedDriveSpeedPWM;
+        RampSpeedPWMDelta = RAMP_UP_VALUE_DELTA; // 20V / s
+    } else if (MotorRampState == MOTOR_STATE_DRIVE) {
+        // motor is running, -> just change speed
+        setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
     }
+    // else ramp is in mode MOTOR_STATE_RAMP_UP -> do nothing, let the ramp go on
+#  ifdef DEBUG
+    Serial.print(F("MotorRampState="));
+    Serial.print(MotorRampState);
+    Serial.println();
+#  endif
 }
 
 void PWMDcMotor::startRampUp(uint8_t aRequestedDirection) {
-    startRampUp(DriveSpeed, aRequestedDirection);
+    startRampUp(DriveSpeedPWM, aRequestedDirection);
+}
+
+void PWMDcMotor::startRampDown() {
+    MotorRampState = MOTOR_STATE_RAMP_DOWN;
+// set only the variables for later evaluation in updateMotor() below
+    if (CurrentSpeedPWM > (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA)) {
+        CurrentSpeedPWM -= (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA); // RAMP_DOWN_VALUE_DELTA is immediately subtracted below
+    } else {
+        CurrentSpeedPWM = RAMP_VALUE_DOWN_MIN_SPEED_PWM;
+    }
 }
-#endif
 
 #if !defined(USE_ENCODER_MOTOR_CONTROL)
+/*
+ * @return true if not stopped (motor expects another update)
+ */
+bool PWMDcMotor::updateMotor() {
+    unsigned long tMillis = millis();
+    uint8_t tNewSpeedPWM = CurrentSpeedPWM;
+
+    if (MotorRampState == MOTOR_STATE_START) {
+        NextRampChangeMillis = tMillis + RAMP_INTERVAL_MILLIS;
+        /*
+         * Start motor
+         */
+        if (RequestedDriveSpeedPWM > RAMP_VALUE_UP_OFFSET_SPEED_PWM) {
+            // start with ramp to avoid spinning wheels
+            tNewSpeedPWM = RAMP_VALUE_UP_OFFSET_SPEED_PWM; // start immediately with speed offset (3 volt)
+            //  --> RAMP_UP
+            MotorRampState = MOTOR_STATE_RAMP_UP;
+        } else {
+            // Motor ramp not required, go direct to drive speed.
+            tNewSpeedPWM = RequestedDriveSpeedPWM;
+            //  --> DRIVE
+            MotorRampState = MOTOR_STATE_DRIVE;
+        }
+    } else if (MotorRampState == MOTOR_STATE_RAMP_UP) {
+        /*
+         * Increase motor speed by RAMP_UP_VALUE_DELTA every RAMP_UP_UPDATE_INTERVAL_MILLIS milliseconds
+         */
+        if (tMillis >= NextRampChangeMillis) {
+            NextRampChangeMillis += RAMP_INTERVAL_MILLIS;
+            tNewSpeedPWM = tNewSpeedPWM + RampSpeedPWMDelta;
+            /*
+             * Transition criteria is: RequestedDriveSpeedPWM reached.
+             * Then check immediately for timeout
+             */
+            // Clip value and check for 8 bit overflow
+            if (tNewSpeedPWM >= RequestedDriveSpeedPWM || tNewSpeedPWM <= RampSpeedPWMDelta) {
+                tNewSpeedPWM = RequestedDriveSpeedPWM;
+                //  --> DRIVE
+                MotorRampState = MOTOR_STATE_DRIVE;
+            }
+        }
+    }
+
+    if (MotorRampState == MOTOR_STATE_DRIVE) {
+        /*
+         * Time based distance. Ramp down is included in time formula.
+         */
+        if (CheckDistanceInUpdateMotor && millis() >= computedMillisOfMotorStopForDistance) {
+
+            if (tNewSpeedPWM > (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA)) {
+                tNewSpeedPWM -= (RAMP_VALUE_DOWN_OFFSET_SPEED_PWM - RAMP_DOWN_VALUE_DELTA); // RAMP_DOWN_VALUE_DELTA is immediately subtracted below
+                //  --> RAMP_DOWN
+                MotorRampState = MOTOR_STATE_RAMP_DOWN;
+            } else {
+                //  --> STOPPED
+                tNewSpeedPWM = 0;
+            }
+        }
+    }
+
+    if (MotorRampState == MOTOR_STATE_RAMP_DOWN) {
+        if (tMillis >= NextRampChangeMillis) {
+            NextRampChangeMillis = tMillis + RAMP_INTERVAL_MILLIS;
+            /*
+             * Decrease motor speed RAMP_UP_UPDATE_INTERVAL_STEPS times every RAMP_UP_UPDATE_INTERVAL_MILLIS milliseconds
+             */
+            if (tNewSpeedPWM > (RAMP_DOWN_VALUE_DELTA + RAMP_VALUE_DOWN_MIN_SPEED_PWM)) {
+                tNewSpeedPWM -= RAMP_DOWN_VALUE_DELTA;
+            } else {
+                tNewSpeedPWM = RAMP_VALUE_DOWN_MIN_SPEED_PWM;
+            }
+        }
+    }
+// End of motor state machine
+
+#ifdef TRACE
+        Serial.print(F("St="));
+        Serial.println(MotorRampState);
+#endif
+    if (tNewSpeedPWM != CurrentSpeedPWM) {
+#ifdef TRACE
+        Serial.print(F("Ns="));
+        Serial.println(tNewSpeedPWM);
+#endif
+        PWMDcMotor::setSpeedPWM(tNewSpeedPWM, CurrentDirectionOrBrakeMode); // sets MOTOR_STATE_STOPPED if speed is 0
+    }
+
+    /*
+     * Check if target milliseconds are reached
+     */
+    if (CurrentSpeedPWM > 0) {
+        if (CheckDistanceInUpdateMotor && millis() > computedMillisOfMotorStopForDistance) {
+            stop(DefaultStopMode); // resets CheckDistanceInUpdateMotor and sets MOTOR_STATE_STOPPED;
+            return false; // need no more calls to update()
+        }
+        return true; // still running
+    }
+    return false; // current speed == 0
+}
+
 /*
  * Required for non encoder motors to estimate duration for a fixed distance
  */
-void PWMDcMotor::setDistanceToTimeFactorForFixedDistanceDriving(unsigned int aDistanceToTimeFactor) {
-    DistanceToTimeFactor = aDistanceToTimeFactor;
+void PWMDcMotor::setMillimeterPerSecondForFixedDistanceDriving(uint16_t aMillimeterPerSecond) {
+    MillisPerMillimeter = 1000 / aMillimeterPerSecond;
 }
 
 /*
- * @param aRequestedDistanceCount distance in 5mm resolution (to be compatible with 20 slot encoder discs and 20 cm wheel circumference)
  * If motor is already running just update speed and new time
  */
-void PWMDcMotor::startGoDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-//    if (aRequestedDistanceCount > DEFAULT_COUNTS_PER_FULL_ROTATION * 10) {
-//        PanicWithLed(400, 22);
-//    }
-    if (aRequestedDistanceCount == 0) {
+void PWMDcMotor::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+        uint8_t aRequestedDirection) {
+    if (aRequestedDistanceMillimeter == 0) {
+        stop(DefaultStopMode); // In case motor was running
         return;
     }
 
-    if (CurrentSpeed == 0) {
-#ifdef SUPPORT_RAMP_UP
-        MotorRampState = MOTOR_STATE_START;
-        CurrentDriveSpeed = aRequestedSpeed;
-        setMotorDriverMode(aRequestedDirection); // this in turn sets CurrentDirectionOrBrakeMode
-#else
-        setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
-#endif
+    if (CurrentSpeedPWM == 0) {
+        startRampUp(aRequestedSpeedPWM, aRequestedDirection);
+
         /*
-         * Estimate duration for given distance
-         * use 32 bit intermediate to avoid overflow (this also saves around 50 bytes of program memory by using slower functions instead of faster inline code)
+         * Estimate duration for given distance#
+         * MillisPerMillimeter is defined for DEFAULT_DRIVE_SPEED_PWM is
          */
-        computedMillisOfMotorStopForDistance = millis() + DEFAULT_MOTOR_START_UP_TIME_MILLIS
-                + (10 * (((uint32_t) aRequestedDistanceCount * DistanceToTimeFactor) / DriveSpeed));
+        if (aRequestedSpeedPWM == DEFAULT_DRIVE_SPEED_PWM) {
+            computedMillisOfMotorStopForDistance = millis() + DEFAULT_MOTOR_START_UP_TIME_MILLIS
+                    + (((uint16_t) aRequestedDistanceMillimeter * MillisPerMillimeter));
+        } else {
+            computedMillisOfMotorStopForDistance = millis() + DEFAULT_MOTOR_START_UP_TIME_MILLIS
+                    + (((uint32_t) aRequestedDistanceMillimeter * MillisPerMillimeter * DriveSpeedPWM) / DEFAULT_DRIVE_SPEED_PWM);
+        }
+
     } else {
-#ifdef SUPPORT_RAMP_UP
-        MotorRampState = MOTOR_STATE_START;
-        CurrentDriveSpeed = aRequestedSpeed;
-#endif
-        setSpeedCompensated(aRequestedSpeed, aRequestedDirection);
+        MotorRampState = MOTOR_STATE_DRIVE;
+        setSpeedPWMCompensated(aRequestedSpeedPWM, aRequestedDirection);
         /*
          * Estimate duration for given distance
          * use 32 bit intermediate to avoid overflow (this also saves around 50 bytes of program memory by using slower functions instead of faster inline code)
          */
         computedMillisOfMotorStopForDistance = millis()
-                + (10 * (((uint32_t) aRequestedDistanceCount * DistanceToTimeFactor) / DriveSpeed));
+                + (((uint32_t) aRequestedDistanceMillimeter * MillisPerMillimeter * DriveSpeedPWM) / DEFAULT_DRIVE_SPEED_PWM);
     }
-    MotorMovesFixedDistance = true;
+    CheckDistanceInUpdateMotor = true;
 }
 
-void PWMDcMotor::startGoDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-    startGoDistanceCount(DriveSpeed, aRequestedDistanceCount, aRequestedDirection);
+void PWMDcMotor::startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection) {
+    startGoDistanceMillimeter(DriveSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
 }
 
 /*
  * Signed DistanceCount
  */
-void PWMDcMotor::startGoDistanceCount(int aRequestedDistanceCount) {
-    if (aRequestedDistanceCount < 0) {
-        aRequestedDistanceCount = -aRequestedDistanceCount;
-        startGoDistanceCount(DriveSpeed, aRequestedDistanceCount, DIRECTION_BACKWARD);
+void PWMDcMotor::startGoDistanceMillimeter(int aRequestedDistanceMillimeter) {
+    if (aRequestedDistanceMillimeter < 0) {
+        aRequestedDistanceMillimeter = -aRequestedDistanceMillimeter;
+        startGoDistanceMillimeter(DriveSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
     } else {
-        startGoDistanceCount(DriveSpeed, aRequestedDistanceCount, DIRECTION_FORWARD);
+        startGoDistanceMillimeter(DriveSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_FORWARD);
     }
 }
 
 /*
  * Not used by CarControl
  */
-void PWMDcMotor::goDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-    goDistanceCount(DriveSpeed, aRequestedDistanceCount, aRequestedDirection);
+void PWMDcMotor::goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection) {
+    goDistanceMillimeter(DriveSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
 }
 
-void PWMDcMotor::goDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection) {
-    startGoDistanceCount(aRequestedSpeed, aRequestedDistanceCount, aRequestedDirection);
+void PWMDcMotor::goDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+        uint8_t aRequestedDirection) {
+    startGoDistanceMillimeter(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
     while (millis() <= computedMillisOfMotorStopForDistance) {
-#ifdef SUPPORT_RAMP_UP
         updateMotor();
-#endif
     }
     stop(DefaultStopMode);
 }
 
-/*
- * @return true if not stopped (motor expects another update)
- */
-bool PWMDcMotor::updateMotor() {
-#ifdef SUPPORT_RAMP_UP
-    unsigned long tMillis = millis();
-    uint8_t tNewSpeed = CurrentSpeed;
-
-    if (MotorRampState == MOTOR_STATE_START) {
-        //  --> RAMP_UP
-        MotorRampState = MOTOR_STATE_RAMP_UP;
-        /*
-         * Set ramp values, 16 steps a 16 millis for ramp up => 256 milliseconds
-         */
-        NextRampChangeMillis = tMillis + RAMP_UP_UPDATE_INTERVAL_MILLIS;
-        RampDelta = RAMP_UP_VALUE_DELTA; // ((CurrentDriveSpeed - StartSpeed) / RAMP_UP_UPDATE_INTERVAL_STEPS)
-        if (RampDelta < 2) {
-            RampDelta = 2;
-        }
-        /*
-         * Start motor
-         */
-        tNewSpeed = StartSpeed;
-    }
-
-    // do not use else if since state can be changed in code before
-    if (MotorRampState == MOTOR_STATE_RAMP_UP) {
-        /*
-         * Increase motor speed RAMP_UP_UPDATE_INTERVAL_STEPS (16) times every RAMP_UP_UPDATE_INTERVAL_MILLIS (16) milliseconds
-         * or until more than half of distance is done
-         * Distance required for ramp is 0 to 10 or more, increasing with increasing CurrentDriveSpeed
-         */
-        if (tMillis >= NextRampChangeMillis) {
-            NextRampChangeMillis += RAMP_UP_UPDATE_INTERVAL_MILLIS;
-            tNewSpeed = tNewSpeed + RampDelta;
-            // Clip value and check for 8 bit overflow
-            if (tNewSpeed > CurrentDriveSpeed || tNewSpeed <= RampDelta) {
-                tNewSpeed = CurrentDriveSpeed;
-            }
-
-            /*
-             * Transition criteria is:
-             * Max Speed reached or more than half of distance is done
-             */
-            if (tNewSpeed == CurrentDriveSpeed) {
-                //  --> DRIVE_SPEED
-                MotorRampState = MOTOR_STATE_DRIVE_SPEED;
-            }
-        }
-    }
-    // End of motor state machine
-
-    if (tNewSpeed != CurrentSpeed) {
-        PWMDcMotor::setSpeed(tNewSpeed, CurrentDirectionOrBrakeMode);
-    }
-#endif
-
-    /*
-     * Check if target milliseconds are reached
-     */
-    if (CurrentSpeed > 0) {
-        if (MotorMovesFixedDistance && millis() > computedMillisOfMotorStopForDistance) {
-            stop(DefaultStopMode); // resets MotorMovesFixedDistance
-            return false;
-        }
-    }
-    return true;
-}
 #endif // !defined(USE_ENCODER_MOTOR_CONTROL)
 
 /********************************************************************************************
  * EEPROM functions
  * Uses the start of EEPROM for storage of EepromMotorInfoStruct's for motor number 1 to n
- * setDefaultsForFixedDistanceDriving() is called by readMotorValuesFromEeprom() if MotorValuesEepromStorageNumber == 0
  ********************************************************************************************/
-void PWMDcMotor::readMotorValuesFromEeprom() {
-    if (MotorValuesEepromStorageNumber != 0) {
-        EepromMotorInfoStruct tEepromMotorInfo;
-        eeprom_read_block((void*) &tEepromMotorInfo, (void*) ((MotorValuesEepromStorageNumber - 1) * sizeof(EepromMotorInfoStruct)),
-                sizeof(EepromMotorInfoStruct));
+void PWMDcMotor::readMotorValuesFromEeprom(uint8_t aMotorValuesEepromStorageNumber) {
+    EepromMotorInfoStruct tEepromMotorInfo;
+    eeprom_read_block((void*) &tEepromMotorInfo, (void*) ((aMotorValuesEepromStorageNumber) * sizeof(EepromMotorInfoStruct)),
+            sizeof(EepromMotorInfoStruct));
 
-        /*
-         * Overwrite with values if valid
-         */
-        if (tEepromMotorInfo.StartSpeed < 150 && tEepromMotorInfo.StartSpeed > 20) {
-            StartSpeed = tEepromMotorInfo.StartSpeed;
-            if (tEepromMotorInfo.DriveSpeed > 40) {
-                DriveSpeed = tEepromMotorInfo.DriveSpeed;
-            }
-            if (tEepromMotorInfo.SpeedCompensation < 24) {
-                SpeedCompensation = tEepromMotorInfo.SpeedCompensation;
-            }
+    /*
+     * Overwrite with values if valid
+     */
+    if (tEepromMotorInfo.StartSpeedPWM < 150 && tEepromMotorInfo.StartSpeedPWM > 20) {
+        StartSpeedPWM = tEepromMotorInfo.StartSpeedPWM;
+        if (tEepromMotorInfo.DriveSpeedPWM > 40) {
+            DriveSpeedPWM = tEepromMotorInfo.DriveSpeedPWM;
+        }
+        if (tEepromMotorInfo.SpeedPWMCompensation < 24) {
+            SpeedPWMCompensation = tEepromMotorInfo.SpeedPWMCompensation;
         }
-        MotorValuesHaveChanged = true;
-    } else {
-        setDefaultsForFixedDistanceDriving();
     }
+    MotorControlValuesHaveChanged = true;
 }
 
-void PWMDcMotor::writeMotorvaluesToEeprom() {
-    if (MotorValuesEepromStorageNumber != 0) {
-        EepromMotorInfoStruct tEepromMotorInfo;
-        tEepromMotorInfo.StartSpeed = StartSpeed;
-        tEepromMotorInfo.DriveSpeed = DriveSpeed;
-        tEepromMotorInfo.SpeedCompensation = SpeedCompensation;
+void PWMDcMotor::writeMotorValuesToEeprom(uint8_t aMotorValuesEepromStorageNumber) {
+    EepromMotorInfoStruct tEepromMotorInfo;
+    tEepromMotorInfo.StartSpeedPWM = StartSpeedPWM;
+    tEepromMotorInfo.DriveSpeedPWM = DriveSpeedPWM;
+    tEepromMotorInfo.SpeedPWMCompensation = SpeedPWMCompensation;
 
-        eeprom_write_block((void*) &tEepromMotorInfo,
-                (void*) ((MotorValuesEepromStorageNumber - 1) * sizeof(EepromMotorInfoStruct)), sizeof(EepromMotorInfoStruct));
-    }
+    eeprom_write_block((void*) &tEepromMotorInfo, (void*) ((aMotorValuesEepromStorageNumber) * sizeof(EepromMotorInfoStruct)),
+            sizeof(EepromMotorInfoStruct));
+}
+
+const char StringNot[] PROGMEM = { " not" };
+const char StringDefined[] PROGMEM = { " defined" };
+
+void PWMDcMotor::printSettings(Print *aSerial) {
+    aSerial->println();
+    aSerial->println(F("Settings from PWMDcMotor.h:"));
+
+    aSerial->print(F("USE_ENCODER_MOTOR_CONTROL:"));
+#ifndef USE_ENCODER_MOTOR_CONTROL
+    aSerial->print(reinterpret_cast<const __FlashStringHelper*>(StringNot));
+#endif
+    aSerial->println(reinterpret_cast<const __FlashStringHelper*>(StringDefined));
+
+    aSerial->print(F("USE_ADAFRUIT_MOTOR_SHIELD:"));
+#ifndef USE_ADAFRUIT_MOTOR_SHIELD
+    aSerial->print(reinterpret_cast<const __FlashStringHelper*>(StringNot));
+#endif
+    aSerial->println(reinterpret_cast<const __FlashStringHelper*>(StringDefined));
+
+#ifdef USE_ADAFRUIT_MOTOR_SHIELD
+    aSerial->print(F("USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD:"));
+#ifndef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
+    aSerial->print(reinterpret_cast<const __FlashStringHelper *>(StringNot));
+#endif
+    aSerial->println(reinterpret_cast<const __FlashStringHelper*>(StringDefined));
+#endif
+
+    aSerial->print(F("DEFAULT_MOTOR_START_UP_TIME_MILLIS="));
+    aSerial->println(DEFAULT_MOTOR_START_UP_TIME_MILLIS);
+
+    aSerial->print(F("FULL_BRIDGE_OUTPUT_MILLIVOLT="));
+    aSerial->print(FULL_BRIDGE_OUTPUT_MILLIVOLT);
+    aSerial->print(F("mV (= FULL_BRIDGE_INPUT_MILLIVOLT|"));
+    aSerial->print(FULL_BRIDGE_INPUT_MILLIVOLT);
+    aSerial->print(F("mV - FULL_BRIDGE_LOSS_MILLIVOLT|"));
+    aSerial->print(FULL_BRIDGE_LOSS_MILLIVOLT);
+    aSerial->println(F("mV)"));
+
+    aSerial->print(F("DEFAULT_START_SPEED_PWM="));
+    aSerial->print(DEFAULT_START_SPEED_PWM);
+    aSerial->print(F(", DEFAULT_DRIVE_SPEED_PWM="));
+    aSerial->println(DEFAULT_DRIVE_SPEED_PWM);
+
+    aSerial->print(F("DEFAULT_MILLIS_PER_MILLIMETER="));
+    aSerial->println(DEFAULT_MILLIS_PER_MILLIMETER);
+    aSerial->println();
 }
 
 //void PanicWithLed(unsigned int aDelay, uint8_t aCount) {
diff --git a/src/PWMDcMotor.h b/src/PWMDcMotor.h
index 8c006d8..32b2e07 100644
--- a/src/PWMDcMotor.h
+++ b/src/PWMDcMotor.h
@@ -1,10 +1,18 @@
 /*
  * PWMDCMotor.h
  *
- * Motor control has 2 technical dimensions
- * 1. Motor driver control / direction. Can be FORWARD, BACKWARD, BRAKE (motor connections are shortened)
- *    or RELEASE (motor connections are high impedance).
- * 2. Speed / PWM which is ignored for BRAKE or RELEASE.
+ * Motor control has 2 parameters:
+ * 1. SpeedPWM / PWM which is ignored for BRAKE or RELEASE. This library also accepts signed speed (including the direction as sign).
+ * 2. Direction / MotorDriverMode. Can be FORWARD, BACKWARD (BRAKE motor connection are shortened) or RELEASE ( motor connections are high impedance)
+ *
+ * PWM period is 600 us for Adafruit Motor Shield V2 using PCA9685.
+ * PWM period is 1030 us for using AnalogWrite on pin 5 + 6.
+ *
+ * Distance is computed in 3 different ways.
+ * Without IMU or Encoder: - distance is converted to a time for riding.
+ * With IMU: - distance is measured by IMU.
+ * With encoder: - distance is measured by Encoder.
+ *
  *
  *  Created on: 12.05.2019
  *  Copyright (C) 2019-2020  Armin Joachimsmeyer
@@ -12,6 +20,11 @@
  *
  *  This file is part of PWMMotorControl https://github.com/ArminJo/PWMMotorControl.
  *
+ *  PWMMotorControl is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
  *  This program is distributed in the hope that it will be useful,
  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
@@ -26,24 +39,33 @@
 
 #include <stdint.h>
 
-#define VERSION_PWMMOTORCONTROL "1.1.1"
-#define VERSION_PWMMOTORCONTROL_MAJOR 1
-#define VERSION_PWMMOTORCONTROL_MINOR 1
+#define VERSION_PWMMOTORCONTROL "2.0.0"
+#define VERSION_PWMMOTORCONTROL_MAJOR 2
+#define VERSION_PWMMOTORCONTROL_MINOR 0
+// The change log is at the bottom of the file
 
 /*
- * Comment this out, if you have encoder interrupts attached at pin 2 and 3
+ * Activate this, if you have encoder interrupts attached at pin 2 and 3
  * and want to use the methods of the EncoderMotor class for fixed distance / closed loop driving.
  * Enabling it will disable no longer required PWMDCMotor class variables and functions
- * and force the usage of the EncoderMotor class in CarMotorControl.
+ * and force the usage of the EncoderMotor class in CarPWMMotorControl.
  */
 //#define USE_ENCODER_MOTOR_CONTROL
 //
 /*
- * Use Adafruit Motor Shield v2 connected by I2C instead of simple TB6612 or L298 breakout board.
- * This disables tone output by using motor as loudspeaker, but requires only 2 I2C/TWI pins in contrast to the 6 pins used for the full bridge.
+ * Use Adafruit Motor Shield v2 connected by I2C instead of TB6612 or L298 breakout board.
+ * This disables using motor as buzzer, but requires only 2 I2C/TWI pins in contrast to the 6 pins used for the full bridge.
  * For full bridge, analogWrite the millis() timer0 is used since we use pin 5 & 6.
  */
 //#define USE_ADAFRUIT_MOTOR_SHIELD
+#if defined(USE_ADAFRUIT_MOTOR_SHIELD)
+#  if !defined(MOSFET_BRIDGE_USED)
+#define MOSFET_BRIDGE_USED
+#  endif
+#  if !defined(FULL_BRIDGE_LOSS_MILLIVOLT)
+#define FULL_BRIDGE_LOSS_MILLIVOLT             0
+#  endif
+#endif
 //
 /*
  * Own library saves me 694 bytes program memory
@@ -53,65 +75,88 @@
 #endif
 
 /*
- * Disabling SUPPORT_RAMP_UP saves 7 bytes RAM per motor and around 300 bytes program memory
+ * Activate this, if you use default settings and 2 LiPo Cells (around 7.4 volt) as Motor supply.
  */
-#if ! DO_NOT_SUPPORT_RAMP_UP // if defined (externally), disables ramp up support
-#define SUPPORT_RAMP_UP      // 256 milliseconds for ramp, see below
-#endif
-
+//#define VIN_2_LIPO
 /*
- * Comment this out, if you use default settings and 2 LiPo Cells (around 7.4 volt) as Motor supply.
+ * Helper macro for getting a macro definition as string
  */
-//#define VIN_2_LIPO
-#define MAX_SPEED   255
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+#define MAX_SPEED_PWM   255
 
 /*
- * This values are chosen to be compatible with 20 slot encoder discs, giving 20 on and 20 off counts per full rotation.
- * At a circumference of around 20 cm (21.5 cm actual) this gives 5 mm per count.
+ * Circumference of my smart car wheel
  */
-#define DEFAULT_COUNTS_PER_FULL_ROTATION    40
-#define DEFAULT_MILLIMETER_PER_COUNT         5
+#define DEFAULT_CIRCUMFERENCE_MILLIMETER   220
 
-#define DEFAULT_MOTOR_START_UP_TIME_MILLIS 150 // constant value for the for the formula below
 /*
- * DEFAULT_DISTANCE_TO_TIME_FACTOR is the factor used to convert distance in 5mm steps to motor on time in milliseconds. I depends on motor supply voltage.
- * Currently formula is:
- * computedMillisOfMotorStopForDistance = DEFAULT_MOTOR_START_UP_TIME_MILLIS + (10 * ((aRequestedDistanceCount * DistanceToTimeFactor) / DriveSpeed));
- *
- * DEFAULT_START_SPEED is the speed PWM value at which car starts to move. For 8 volt is appr. 35 to 40, for 3,6 volt (USB supply) is appr. 70 to 100
+ * I measured maximum positive acceleration with spinning wheels as 250 cm/s^2 on varnished wood.
+ * I measured maximum negative acceleration with blocking wheels as 350 cm/s^2 on varnished wood.
+ * This corresponds to 5 cm/s every 20 ms
  */
-#define DEFAULT_START_SPEED_7_4_VOLT                 45
-#define DEFAULT_DRIVE_SPEED_7_4_VOLT                 80
-#define DEFAULT_DISTANCE_TO_TIME_FACTOR_7_4_VOLT    135 // for 2 x LIPO batteries (7.4 volt).
-
-#define DEFAULT_START_SPEED_6_VOLT                  140
-#define DEFAULT_DRIVE_SPEED_6_VOLT                  220
-#define DEFAULT_DISTANCE_TO_TIME_FACTOR_6_VOLT      300 // for 4 x AA batteries (6 volt).
-
-// Default values - used if EEPROM values are invalid
-#if defined(VIN_2_LIPO)
-#  if !defined(DEFAULT_START_SPEED)
-#define DEFAULT_START_SPEED                 DEFAULT_START_SPEED_7_4_VOLT
-#  endif
-#  if !defined(DEFAULT_DRIVE_SPEED)
-#define DEFAULT_DRIVE_SPEED                 DEFAULT_DRIVE_SPEED_7_4_VOLT
-#  endif
-#  if !defined(DEFAULT_DISTANCE_TO_TIME_FACTOR)
-#define DEFAULT_DISTANCE_TO_TIME_FACTOR     DEFAULT_DISTANCE_TO_TIME_FACTOR_7_4_VOLT
+#define RAMP_INTERVAL_MILLIS               20 // The smaller the value the steeper the ramp
+#define RAMP_VALUE_UP_OFFSET_MILLIVOLT   2300 // Start positive or negative acceleration with this voltage offset in order to get a reasonable acceleration for ramps
+#define RAMP_VALUE_DOWN_OFFSET_MILLIVOLT 2500 // Start positive or negative acceleration with this voltage offset in order to get a reasonable acceleration for ramps
+#define RAMP_VALUE_UP_OFFSET_SPEED_PWM   ((RAMP_VALUE_UP_OFFSET_MILLIVOLT * (long)MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define RAMP_VALUE_DOWN_OFFSET_SPEED_PWM ((RAMP_VALUE_DOWN_OFFSET_MILLIVOLT * (long)MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define RAMP_VALUE_DOWN_MIN_SPEED_PWM    (((DEFAULT_DRIVE_MILLIVOLT / 2) * (long)MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define RAMP_UP_VALUE_DELTA              (SPEED_FOR_8_VOLT / (1000 / RAMP_INTERVAL_MILLIS)) // Results in a ramp up voltage of 10V/s = 1.0 volt per 100 ms
+#define RAMP_DOWN_VALUE_DELTA            ((SPEED_FOR_8_VOLT * 2)/ (1000 / RAMP_INTERVAL_MILLIS)) // Results in a ramp up voltage of 20V/s = 1.0 volt per 100 ms
+#define RAMP_DECELERATION_TIMES_2        3500 // Take half of the observed maximum. This depends on the type of tires and the mass of the car
+
+#define DEFAULT_MOTOR_START_UP_TIME_MILLIS 15 // 15 to 20, constant value for the for the formula below
+
+#if !defined(FULL_BRIDGE_INPUT_MILLIVOLT)
+#  if defined(VIN_2_LIPO)
+#define FULL_BRIDGE_INPUT_MILLIVOLT         7400 // for 2 x LIPO batteries (7.4 volt).
+#  else
+#define FULL_BRIDGE_INPUT_MILLIVOLT         6000 // for 4 x AA batteries (6 volt).
 #  endif
+#endif
 
-#else
-#  if !defined(DEFAULT_START_SPEED)
-#define DEFAULT_START_SPEED                 DEFAULT_START_SPEED_6_VOLT
-#  endif
-#  if !defined(DEFAULT_DRIVE_SPEED)
-#define DEFAULT_DRIVE_SPEED                 DEFAULT_DRIVE_SPEED_6_VOLT
-#  endif
-#  if !defined(DEFAULT_DISTANCE_TO_TIME_FACTOR)
-#define DEFAULT_DISTANCE_TO_TIME_FACTOR     DEFAULT_DISTANCE_TO_TIME_FACTOR_6_VOLT
+#if !defined(FULL_BRIDGE_LOSS_MILLIVOLT)
+#  if defined(MOSFET_BRIDGE_USED)
+// Speed is almost linear to 1/2 PWM in cm/s without any offset, only with dead band
+#define FULL_BRIDGE_LOSS_MILLIVOLT             0
+#  else
+// Speed is not linear to PWM and has an offset
+// Effective voltage loss includes loss by switching to high impedance at inactive for bipolar full bridges like L298
+#define FULL_BRIDGE_LOSS_MILLIVOLT          2200 // Effective voltage loss
 #  endif
 #endif
 
+#if !defined(FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define FULL_BRIDGE_OUTPUT_MILLIVOLT        (FULL_BRIDGE_INPUT_MILLIVOLT - FULL_BRIDGE_LOSS_MILLIVOLT)
+#endif
+
+#define DEFAULT_START_MILLIVOLT             1100 // Start voltage -motors start to turn- is 1.1 volt
+#define DEFAULT_DRIVE_MILLIVOLT             2000 // Drive voltage is 2.0 volt
+#define SPEED_FOR_1_VOLT                    ((1000L * MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define SPEED_FOR_8_VOLT                    ((8000L * MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#define SPEED_FOR_10_VOLT                   ((10000L * MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+
+// Default values - used if EEPROM values are invalid or nor available
+#if !defined(DEFAULT_START_SPEED_PWM)
+// DEFAULT_START_SPEED_PWM is the speed PWM value at which motor starts to move. 70|127 for 4 volt 37|68 for 7.4 volt
+#define DEFAULT_START_SPEED_PWM             ((DEFAULT_START_MILLIVOLT * (long)MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#endif
+#if !defined(DEFAULT_DRIVE_SPEED_PWM)
+// At 2 volt I measured around 32 cm/s. 68 for 7.4 volt
+#define DEFAULT_DRIVE_SPEED_PWM             ((DEFAULT_DRIVE_MILLIVOLT * (long)MAX_SPEED_PWM) / FULL_BRIDGE_OUTPUT_MILLIVOLT)
+#endif
+
+#if !defined(DEFAULT_MILLIMETER_PER_SECOND)
+// At 2 volt (DEFAULT_DRIVE_MILLIVOLT) we have around 1.25 rotation per second -> 25 distance/encoder counts per second -> 27 cm / second
+#define DEFAULT_MILLIMETER_PER_SECOND       320 // at DEFAULT_DRIVE_MILLIVOLT motor supply
+#define DEFAULT_MILLIS_PER_MILLIMETER       (1000 / DEFAULT_MILLIMETER_PER_SECOND)
+#endif
+/*
+ *  Currently formula used to convert distance in 11 mm steps to motor on time in milliseconds is:
+ * computedMillisOfMotorStopForDistance = DEFAULT_MOTOR_START_UP_TIME_MILLIS + (((aRequestedDistanceCount * MillisPerMillimeter) / DriveSpeedPWM));
+ */
+
 // Motor directions and stop modes. Are used for parameter aMotorDriverMode and sequence is determined by the Adafruit library API.
 #define DIRECTION_FORWARD   0
 #define DIRECTION_BACKWARD  1
@@ -124,22 +169,22 @@
 #define STOP_MODE_AND_MASK  0x03
 #define STOP_MODE_OR_MASK   0x02
 #define DEFAULT_STOP_MODE   MOTOR_RELEASE
-#define CheckStopMODE(aStopMode) ((aStopMode & STOP_MODE_AND_MASK) | STOP_MODE_OR_MASK)
+#define ForceStopMODE(aStopMode) ((aStopMode & STOP_MODE_AND_MASK) | STOP_MODE_OR_MASK)
 
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
 #include <Wire.h>
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
 // some PCA9685 specific constants
+#define PCA9685_DEFAULT_ADDRESS      0x60
 #define PCA9685_GENERAL_CALL_ADDRESS 0x00
-#define PCA9685_SOFTWARE_RESET      6
-#define PCA9685_DEFAULT_ADDRESS     0x40
-#define PCA9685_MAX_CHANNELS        16 // 16 PWM channels on each PCA9685 expansion module
-#define PCA9685_MODE1_REGISTER      0x0
-#define PCA9685_MODE_1_RESTART        7
-#define PCA9685_MODE_1_AUTOINCREMENT  5
-#define PCA9685_MODE_1_SLEEP          4
-#define PCA9685_FIRST_PWM_REGISTER  0x06
-#define PCA9685_PRESCALE_REGISTER   0xFE
+#define PCA9685_SOFTWARE_RESET          6
+#define PCA9685_MAX_CHANNELS           16 // 16 PWM channels on each PCA9685 expansion module
+#define PCA9685_MODE1_REGISTER       0x00
+#define PCA9685_MODE_1_RESTART          7
+#define PCA9685_MODE_1_AUTOINCREMENT    5
+#define PCA9685_MODE_1_SLEEP            4
+#define PCA9685_FIRST_PWM_REGISTER   0x06
+#define PCA9685_PRESCALE_REGISTER    0xFE
 
 #define PCA9685_PRESCALER_FOR_1600_HZ ((25000000L /(4096L * 1600))-1) // = 3 at 1600 Hz
 
@@ -150,93 +195,92 @@
 #endif // USE_ADAFRUIT_MOTOR_SHIELD
 
 struct EepromMotorInfoStruct {
-    uint8_t StartSpeed;
-    uint8_t StopSpeed;
-    uint8_t DriveSpeed;
-    uint8_t SpeedCompensation;
+    uint8_t StartSpeedPWM;
+    uint8_t StopSpeedPWM;
+    uint8_t DriveSpeedPWM;
+    uint8_t SpeedPWMCompensation;
 };
 
 /*
- * For ramp control
+ * Ramp control
+ * Ramp up speed in 16 steps every 16 millis from from StartSpeedPWM to RequestedDriveSpeedPWM.
  */
 #define MOTOR_STATE_STOPPED     0
 #define MOTOR_STATE_START       1
 #define MOTOR_STATE_RAMP_UP     2
-#define MOTOR_STATE_DRIVE_SPEED  3
+#define MOTOR_STATE_DRIVE       3
 #define MOTOR_STATE_RAMP_DOWN   4
 
-#ifdef SUPPORT_RAMP_UP
-#define RAMP_UP_UPDATE_INTERVAL_MILLIS 16 // The smaller the value the steeper the ramp
-#define RAMP_UP_UPDATE_INTERVAL_STEPS  16 // Results in a ramp up time of 16 steps * 16 millis = 256 milliseconds
-#define RAMP_UP_VALUE_DELTA ((CurrentDriveSpeed - StartSpeed) / RAMP_UP_UPDATE_INTERVAL_STEPS)
-#endif
-
 class PWMDcMotor {
 public:
     PWMDcMotor();
 
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
-    void init(uint8_t aMotorNumber, bool aReadFromEeprom = false);
+    void init(uint8_t aMotorNumber);
 #  ifdef USE_OWN_LIBRARY_FOR_ADAFRUIT_MOTOR_SHIELD
     /*
      * Own internal functions for communicating with the PCA9685 Expander IC on the Adafruit motor shield
      */
-    void I2CWriteByte(uint8_t aAddress, uint8_t aData);
-    void I2CSetPWM(uint8_t aPin, uint16_t aOn, uint16_t aOff);
-    void I2CSetPin(uint8_t aPin, bool aSetToOn);
+    void PCA9685WriteByte(uint8_t aAddress, uint8_t aData);
+    void PCA9685SetPWM(uint8_t aPin, uint16_t aOn, uint16_t aOff);
+    void PCA9685SetPin(uint8_t aPin, bool aSetToOn);
 #  else
-    Adafruit_DCMotor * Adafruit_MotorShield_DcMotor;
+    Adafruit_DCMotor *Adafruit_MotorShield_DcMotor;
 #  endif
 #else
-    void init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin, uint8_t aMotorNumber = 0);
+    void init(uint8_t aForwardPin, uint8_t aBackwardPin, uint8_t aPWMPin);
 #endif
 
     /*
      * Basic motor commands
      */
-    void setSpeed(int aRequestedSpeed);
-    void setSpeed(uint8_t aSpeedRequested, uint8_t aRequestedDirection);
-    void setSpeedCompensated(int aRequestedSpeed);
-    void setSpeedCompensated(uint8_t aRequestedSpeed, uint8_t aRequestedDirection);
+    void setSpeedPWM(int aRequestedSpeedPWM);
+    void changeSpeedPWM(uint8_t aRequestedSpeedPWM); // Keeps direction
+    void setSpeedPWM(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
+    void setSpeedPWMCompensated(int aRequestedSpeedPWM);
+    void changeSpeedPWMCompensated(uint8_t aRequestedSpeedPWM); // Keeps direction
+    void setSpeedPWMCompensated(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
 
     void stop(uint8_t aStopMode = STOP_MODE_KEEP); // STOP_MODE_KEEP (take previously defined DefaultStopMode) or MOTOR_BRAKE or MOTOR_RELEASE
-    void setStopMode(uint8_t aStopMode); // mode for Speed==0 or STOP_MODE_KEEP: MOTOR_BRAKE or MOTOR_RELEASE
+    void setStopMode(uint8_t aStopMode); // mode for SpeedPWM==0 or STOP_MODE_KEEP: MOTOR_BRAKE or MOTOR_RELEASE
 
     /*
      * Fixed distance driving
      */
-    void setValuesForFixedDistanceDriving(uint8_t aStartSpeed, uint8_t aDriveSpeed, uint8_t aSpeedCompensation = 0);
+    void setValuesForFixedDistanceDriving(uint8_t aStartSpeedPWM, uint8_t aDriveSpeedPWM, uint8_t aSpeedPWMCompensation = 0);
     void setDefaultsForFixedDistanceDriving();
-    void setSpeedCompensation(uint8_t aSpeedCompensation);
-    void setDriveSpeed(uint8_t aDriveSpeed);
+    void setSpeedPWMCompensation(uint8_t aSpeedPWMCompensation);
+    void setStartSpeedPWM(uint8_t aStartSpeedPWM);
+    void setDriveSpeedPWM(uint8_t aDriveSpeedPWM);
 
-#ifdef SUPPORT_RAMP_UP
     void startRampUp(uint8_t aRequestedDirection);
-    void startRampUp(uint8_t aRequestedSpeed, uint8_t aRequestedDirection);
-#endif
+    void startRampUp(uint8_t aRequestedSpeedPWM, uint8_t aRequestedDirection);
+    void startRampDown();
 
-#ifndef USE_ENCODER_MOTOR_CONTROL
+#ifndef USE_ENCODER_MOTOR_CONTROL // required here, since we cannot access the computedMillisOfMotorStopForDistance and MillisPerMillimeter for the functions below
     // This function only makes sense for non encoder motors
-    void setDistanceToTimeFactorForFixedDistanceDriving(unsigned int aDistanceToTimeFactor);
+    void setMillimeterPerSecondForFixedDistanceDriving(uint16_t aMillimeterPerSecond);
 
     // These functions are implemented by encoder motor too
-    void startGoDistanceCount(int aRequestedDistanceCount); // Signed distance count
-    void startGoDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
-    void startGoDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
+    void startGoDistanceMillimeter(int aRequestedDistanceMillimeter); // Signed distance
+    void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
+    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
     bool updateMotor();
 
     /*
      * Implementation for non encoder motors. Not used by CarControl.
      */
-    void goDistanceCount(unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
-    void goDistanceCount(uint8_t aRequestedSpeed, unsigned int aRequestedDistanceCount, uint8_t aRequestedDirection);
+    void goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
+    void goDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
 #endif
 
     /*
-     * EEPROM functions to read and store control values (DriveSpeed, SpeedCompensation)
+     * EEPROM functions to read and store control values (DriveSpeedPWM, SpeedPWMCompensation)
      */
-    void readMotorValuesFromEeprom();
-    void writeMotorvaluesToEeprom();
+    void readMotorValuesFromEeprom(uint8_t aMotorValuesEepromStorageNumber);
+    void writeMotorValuesToEeprom(uint8_t aMotorValuesEepromStorageNumber);
+
+    static void printSettings(Print *aSerial);
 
     /*
      * Internal functions
@@ -250,56 +294,58 @@ class PWMDcMotor {
     uint8_t BackwardPin;
 #endif
 
-    int8_t MotorValuesEepromStorageNumber; // number of EEPROM EepromMotorInfoStruct block address for one PWMDcMotor. 0 means no corresponding EEPROM block. Set by init.
     /**********************************
-     * Start of EEPROM values
+     * Start of values for EEPROM
      *********************************/
     /*
-     * Minimum speed setting at which motor starts moving. Depend on current voltage, load and surface.
+     * Minimum SpeedPWM setting at which motor starts moving. Depend on current voltage, load and surface.
      * Is set by calibrate() and then stored (with the other values) in eeprom.
      */
-    uint8_t StartSpeed; // Speed PWM value at which car starts to move. For 8 volt is appr. 35 to 40, for 4.3 volt (USB supply) is appr. 90 to 100
-    uint8_t DriveSpeed; // Speed PWM value used for going fixed distance.
+    uint8_t StartSpeedPWM; // SpeedPWM value at which car starts to move. For 8 volt is appr. 35 to 40, for 4.3 volt (USB supply) is appr. 90 to 100
+    uint8_t DriveSpeedPWM; // SpeedPWM value used for going fixed distance.
 
     /*
-     * Positive value to be subtracted from TargetSpeed to get CurrentSpeed to compensate for different left and right motors
-     * Currently SpeedCompensation is in steps of 2 and only one motor can have a positive value, the other is set to zero.
+     * Positive value to be subtracted from TargetPWM to get CurrentSpeedPWM to compensate for different left and right motors
+     * Currently SpeedPWMCompensation is in steps of 2 and only one motor can have a positive value, the other is set to zero.
      * Value is computed in synchronizeMotor()
      */
-    uint8_t SpeedCompensation;
+    uint8_t SpeedPWMCompensation;
     /**********************************
      * End of EEPROM values
      *********************************/
-    uint8_t DefaultStopMode; // used for speed == 0 and STOP_MODE_KEEP
-    static bool MotorValuesHaveChanged; // true if DefaultStopMode, StartSpeed, DriveSpeed or SpeedCompensation have changed - for printing
+    uint8_t DefaultStopMode; // used for PWM == 0 and STOP_MODE_KEEP
+    static bool MotorControlValuesHaveChanged; // true if DefaultStopMode, StartSpeedPWM, DriveSpeedPWM or SpeedPWMCompensation have changed - for printing
+#if defined(USE_MPU6050_IMU) || defined(USE_ENCODER_MOTOR_CONTROL)
+    volatile static bool SensorValuesHaveChanged; // true if encoder data or IMU data have changed
+#endif
 
-    uint8_t CurrentSpeed;
-    uint8_t CurrentDirectionOrBrakeMode; // (of CurrentSpeed etc.) DIRECTION_FORWARD, DIRECTION_BACKWARD, MOTOR_BRAKE, MOTOR_RELEASE
-    static bool SpeedOrMotorModeHasChanged;
+    uint8_t CurrentSpeedPWM;
+    uint8_t CurrentDirectionOrBrakeMode; // (of CurrentSpeedPWM etc.) DIRECTION_FORWARD, DIRECTION_BACKWARD, MOTOR_BRAKE, MOTOR_RELEASE
+    uint8_t LastDirection; // Used for speed and distance. Contains  DIRECTION_FORWARD, DIRECTION_BACKWARD but not MOTOR_BRAKE, MOTOR_RELEASE.
+    static bool MotorPWMHasChanged;
 
-    bool MotorMovesFixedDistance; // if true, stop if end distance condition is true
+    bool CheckDistanceInUpdateMotor;
 
-#ifdef SUPPORT_RAMP_UP
     /*
      * For ramp control
      */
-    uint8_t MotorRampState; // MOTOR_STATE_STOPPED, MOTOR_STATE_START, MOTOR_STATE_RAMP_UP, MOTOR_STATE_DRIVE_SPEED, MOTOR_STATE_RAMP_DOWN
-    uint8_t CurrentDriveSpeed; // DriveSpeed - SpeedCompensation; The DriveSpeed used for current movement. Can be set for eg. turning which better performs with reduced DriveSpeed
+    uint8_t MotorRampState; // MOTOR_STATE_STOPPED, MOTOR_STATE_START, MOTOR_STATE_RAMP_UP, MOTOR_STATE_DRIVE, MOTOR_STATE_RAMP_DOWN
+    uint8_t RequestedDriveSpeedPWM; // DriveSpeedPWM - SpeedPWMCompensation; The DriveSpeedPWM used for current movement. Can be set for eg. turning which better performs with reduced DriveSpeedPWM
 
-    uint8_t RampDelta;
+    uint8_t RampSpeedPWMDelta; // TODO is still constant, so remove?
     unsigned long NextRampChangeMillis;
-#endif
 
-#ifndef USE_ENCODER_MOTOR_CONTROL
+#ifndef USE_ENCODER_MOTOR_CONTROL // this saves 5 bytes ram if we know, that we do not use the PWMDcMotor distance functions
     uint32_t computedMillisOfMotorStopForDistance; // Since we have no distance sensing, we must estimate a duration instead
-    unsigned int DistanceToTimeFactor; // Required for non encoder motors to estimate duration for a fixed distance
+    uint8_t MillisPerMillimeter; // Value for 2 volt motor effective voltage at DEFAULT_DRIVE_SPEED_PWM. Required for non encoder motors to estimate duration for a fixed distance
 #endif
 
 };
 
-//void PanicWithLed(unsigned int aDelay, uint8_t aCount);
 /*
- * Version 1.1.0 - 10/2020
+ * Version 2.0.0 - 11/2020
+ * - IMU / MPU6050 support.
+ * - Support of off the shelf smart cars.
  * - Added and renamed functions.
  *
  * Version 1.0.0 - 9/2020
diff --git a/src/PathInfoPage.cpp b/src/PathInfoPage.cpp
index 52acdb9..0dac202 100644
--- a/src/PathInfoPage.cpp
+++ b/src/PathInfoPage.cpp
@@ -37,10 +37,10 @@ void doResetPath(BDButton * aTheTouchedButton, int16_t aValue) {
 }
 
 void initPathInfoPage(void) {
-    TouchButtonResetPath.init(0, 0, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR_RED, F("Clear"), TEXT_SIZE_22,
+    TouchButtonResetPath.init(0, 0, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_6, COLOR16_RED, F("Clear"), TEXT_SIZE_22,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doResetPath);
 
-    TouchButtonBackSmall.init(BUTTON_WIDTH_4_POS_4, 0, BUTTON_WIDTH_4, BUTTON_HEIGHT_6, COLOR_RED, F("Back"), TEXT_SIZE_22,
+    TouchButtonBackSmall.init(BUTTON_WIDTH_4_POS_4, 0, BUTTON_WIDTH_4, BUTTON_HEIGHT_6, COLOR16_RED, F("Back"), TEXT_SIZE_22,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &GUISwitchPages);
 }
 
@@ -203,7 +203,7 @@ void DrawPath() {
     while (tXDeltaPtr <= sXPathDeltaPtr) {
         int tYDisplayDelta = (-(*tXDeltaPtr++)) >> tScaleShift;
         int tXDisplayDelta = (-(*tYDeltaPtr++)) >> tScaleShift;
-        BlueDisplay1.drawLineRel(tXDisplayPos, tYDisplayPos, tXDisplayDelta, tYDisplayDelta, COLOR_RED);
+        BlueDisplay1.drawLineRel(tXDisplayPos, tYDisplayPos, tXDisplayDelta, tYDisplayDelta, COLOR16_RED);
         tXDisplayPos += tXDisplayDelta;
         tYDisplayPos += tYDisplayDelta;
     }
diff --git a/src/RobotCar.h b/src/RobotCar.h
index c935f92..58859d9 100644
--- a/src/RobotCar.h
+++ b/src/RobotCar.h
@@ -20,14 +20,13 @@
 #define SRC_ROBOTCAR_H_
 
 #include <Arduino.h>
-#include <Servo.h>
 
 //#define CAR_HAS_4_WHEELS
 
 //#define USE_LAYOUT_FOR_NANO
 
 // Modify HC-SR04 by connecting 10kOhm between echo and trigger and then use only trigger.
-//#define USE_US_SENSOR_1_PIN_MODE // Comment it out, if you use modified HC-SR04 modules or HY-SRF05 ones.
+//#define USE_US_SENSOR_1_PIN_MODE // Activate it, if you use modified HC-SR04 modules or HY-SRF05 ones.
 
 //#define CAR_HAS_IR_DISTANCE_SENSOR
 
@@ -49,8 +48,25 @@
  */
 // #define ENABLE_RTTTL
 //
-#include "CarMotorControl.h"
-extern CarMotorControl RobotCarMotorControl;
+/*
+ * Shows VIN voltage and monitors it for undervoltage. VIN/11 at A2, 1MOhm to VIN, 100kOhm to ground
+ */
+//#define MONITOR_VIN_VOLTAGE
+#if !defined(VIN_VOLTAGE_CORRECTION)
+#  ifdef ARDUINO_AVR_UNO
+#define VIN_VOLTAGE_CORRECTION 0.8
+#  endif
+#endif
+/*
+ * Activates the buttons to store compensation and drive speed
+ */
+//#define SUPPORT_EEPROM_STORAGE
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
+#include <Servo.h>
+#endif
+
+#include "CarPWMMotorControl.h"
+extern CarPWMMotorControl RobotCarMotorControl;
 
 /*
  * Pin usage
@@ -65,19 +81,19 @@ extern CarMotorControl RobotCarMotorControl;
  *   6  O   Left motor PWM / NC for UNO board   - connected to ENA
  *   7  O   Right motor back / NC for UNO board - connected to IN3
  *   8  O   Left motor fwd / NC for UNO board   - connected to IN2
- *   9  O   Servo US distance - Servo Nr. 2 on Adafruit Motor Shield
- *   10 O   Servo laser pan   - Servo Nr. 1 on Adafruit Motor Shield
- *   11 O   Servo laser tilt / Speaker for UNO board
- *   12 O   Left motor back / NC for UNO board  - connected to IN1
+ *   9  O   Left motor back / NC for UNO board  - connected to IN1
+ *   10 O   Servo US distance - Servo Nr. 2 on Adafruit Motor Shield
+ *   11 O   Servo laser pan
+ *   12 O   Servo laser tilt / Speaker for UNO board
  *   13 O   Laser power
  *
  *   A0 O   US trigger (and echo in 1 pin US sensor mode)
- *   A1 I   IR distance (needs 1 pin US sensor mode) / US echo
- *   A2 I   VIN/11, 1MOhm to VIN, 100kOhm to ground.
- *   A3 IP  NC
+ *   A1 I   US echo
+ *   A2 I   VIN/11, 1MOhm to VIN, 100kOhm to ground
+ *   A3 I   IR remote control signal in / IR distance / Speaker for Nano board
  *   A4 SDA NC for Nano / I2C for UNO board motor shield
  *   A5 SCL NC for Nano / I2C for UNO board motor shield
- *   A6 O   Speaker for Nano board / not available on UNO board
+ *   A6 O
  *   A7 O   Camera supply control
  */
 
@@ -91,24 +107,28 @@ extern CarMotorControl RobotCarMotorControl;
 #define PIN_RIGHT_MOTOR_BACKWARD    7 // IN3
 #define PIN_RIGHT_MOTOR_PWM         5 // ENB - Must be PWM capable
 
-#define PIN_LEFT_MOTOR_FORWARD     12 // IN1 - Pin 9 is already reserved for distance servo
+#define PIN_LEFT_MOTOR_FORWARD      9 // IN1
 #define PIN_LEFT_MOTOR_BACKWARD     8 // IN2
 #define PIN_LEFT_MOTOR_PWM          6 // ENA - Must be PWM capable
 #endif
 
+#ifdef USE_ENCODER_MOTOR_CONTROL
+#define RIGHT_MOTOR_INTERRUPT    INT0 // Pin 2
+#define LEFT_MOTOR_INTERRUPT     INT1 // Pin 3
+#endif
 
 /*
  * Servo pins
  */
-#define PIN_DISTANCE_SERVO       9 // Servo Nr. 2 on Adafruit Motor Shield
+#define PIN_DISTANCE_SERVO      10 // Servo Nr. 1 on Adafruit Motor Shield
 #ifdef CAR_HAS_PAN_SERVO
-#define PIN_PAN_SERVO           10 // Servo Nr. 1 on Adafruit Motor Shield
+#define PIN_PAN_SERVO           11
 #endif
 #ifdef CAR_HAS_TILT_SERVO
-#define PIN_TILT_SERVO          11
+#define PIN_TILT_SERVO          12
 #endif
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
 // Pin A0 for VCC monitoring - ADC channel 2
 // Assume an attached resistor network of 100k / 10k from VCC to ground (divider by 11)
 #define VIN_11TH_IN_CHANNEL      2 // = A2
@@ -150,7 +170,7 @@ extern CarMotorControl RobotCarMotorControl;
 #  ifdef CAR_HAS_CAMERA
 #define PIN_CAMERA_SUPPLY_CONTROL  4
 #  endif
-#define PIN_BUZZER                11
+#define PIN_BUZZER                12
 #endif
 
 /**************************
@@ -180,20 +200,19 @@ extern Servo PanServo;
 extern Servo TiltServo;
 #endif
 
-
 /************************************************************************************
  * Definitions and declarations only used for GUI in RobotCarBlueDisplay.cpp example
  ************************************************************************************/
 #define MINIMUM_DISTANCE_TO_SIDE 21
 #define MINIMUM_DISTANCE_TO_FRONT 35
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
 #include "ADCUtils.h"
 
 extern float sVINVoltage;
-#if defined(MONITOR_LIPO_VOLTAGE)
-#define VOLTAGE_LOW_THRESHOLD 6.9 // Formula: 2 * 3.5 volt - voltage loss: 25 mV GND + 45 mV VIN + 35 mV Battery holder internal
-#define VOLTAGE_USB_THRESHOLD 5.5
+#if defined(MONITOR_VIN_VOLTAGE)
+#define VOLTAGE_LIPO_LOW_THRESHOLD  6.9 // Formula: 2 * 3.5 volt - voltage loss: 25 mV GND + 45 mV VIN + 35 mV Battery holder internal
+#define VOLTAGE_USB_THRESHOLD       5.5
 #else
 #endif
 #define VOLTAGE_TOO_LOW_DELAY_ONLINE 3000 // display VIN every 500 ms for 4 seconds
diff --git a/src/RobotCarBlueDisplay.ino b/src/RobotCarBlueDisplay.ino
index 7414110..cf574a3 100644
--- a/src/RobotCarBlueDisplay.ino
+++ b/src/RobotCarBlueDisplay.ino
@@ -39,12 +39,15 @@
 #include <PlayRtttl.h>
 #endif
 
+//#define DEBUG_TRACE_INIT
+//#include "AvrTracing.cpp.h"
+
 /****************************************************************************
  * Change this if you have reprogrammed the hc05 module for other baud rate
  ***************************************************************************/
 #ifndef BLUETOOTH_BAUD_RATE
-#define BLUETOOTH_BAUD_RATE BAUD_115200
-//#define BLUETOOTH_BAUD_RATE BAUD_9600
+//#define BLUETOOTH_BAUD_RATE BAUD_115200
+#define BLUETOOTH_BAUD_RATE BAUD_9600
 #endif
 
 #define VERSION_EXAMPLE "3.0"
@@ -52,7 +55,7 @@
 /*
  * Car Control
  */
-CarMotorControl RobotCarMotorControl;
+CarPWMMotorControl RobotCarMotorControl;
 float sVINVoltage;
 
 #ifdef ENABLE_RTTTL
@@ -146,26 +149,33 @@ void setup() {
 
     tone(PIN_BUZZER, 2200, 50); // Booted
 
-    // initialize motors
+    initSerial(BLUETOOTH_BAUD_RATE);
+//    initTrace();
+//    printNumberOfPushesForISR();
+
+    // initialize motors, this also stops motors
 #ifdef USE_ADAFRUIT_MOTOR_SHIELD
-    RobotCarMotorControl.init(true); // true -> read from EEPROM
+    RobotCarMotorControl.init();
 #else
 #  ifdef USE_ENCODER_MOTOR_CONTROL
-    RobotCarMotorControl.init(PIN_RIGHT_MOTOR_FORWARD, PIN_RIGHT_MOTOR_BACKWARD, PIN_RIGHT_MOTOR_PWM, PIN_LEFT_MOTOR_FORWARD,
-    PIN_LEFT_MOTOR_BACKWARD, PIN_LEFT_MOTOR_PWM, true); // true -> read from EEPROM
+    RobotCarMotorControl.init(PIN_RIGHT_MOTOR_FORWARD, PIN_RIGHT_MOTOR_BACKWARD, PIN_RIGHT_MOTOR_PWM, RIGHT_MOTOR_INTERRUPT, PIN_LEFT_MOTOR_FORWARD,
+    PIN_LEFT_MOTOR_BACKWARD, PIN_LEFT_MOTOR_PWM, LEFT_MOTOR_INTERRUPT);
 #  else
     RobotCarMotorControl.init(PIN_RIGHT_MOTOR_FORWARD, PIN_RIGHT_MOTOR_BACKWARD, PIN_RIGHT_MOTOR_PWM, PIN_LEFT_MOTOR_FORWARD,
-    PIN_LEFT_MOTOR_BACKWARD, PIN_LEFT_MOTOR_PWM, false); // false -> do NOT read from EEPROM
+    PIN_LEFT_MOTOR_BACKWARD, PIN_LEFT_MOTOR_PWM);
 #  endif
 #endif
-    RobotCarMotorControl.stopMotors(); // in case motors were running before
+
+#ifdef SUPPORT_EEPROM_STORAGE
+    RobotCarMotorControl.readMotorValuesFromEeprom();
+#endif
+
+    sRuningAutonomousDrive = false;
 
     delay(100);
     tone(PIN_BUZZER, 2200, 50); // motor initialized
 
-    sLastServoAngleInDegrees = 90;
-
-    initSerial(BLUETOOTH_BAUD_RATE);
+    sLastServoAngleInDegrees = 90; // is required before setupGUI()
 
     // Must be after RobotCarMotorControl.init, since it tries to stop motors in connect callback
     setupGUI(); // this enables output by BlueDisplay1 and lasts around 100 milliseconds
@@ -178,8 +188,8 @@ void setup() {
 //        BlueDisplay1.debug("sMCUSR=", sMCUSR);
     } else {
 #if !defined(USE_SIMPLE_SERIAL) && !defined(USE_SERIAL1)  // print it now if not printed above
-#if defined(__AVR_ATmega32U4__) || defined(SERIAL_USB) || defined(SERIAL_PORT_USBVIRTUAL)
-    delay(2000); // To be able to connect Serial monitor after reset and before first printout
+#if defined(__AVR_ATmega32U4__) || defined(SERIAL_USB) || defined(SERIAL_PORT_USBVIRTUAL)  || defined(ARDUINO_attiny3217)
+    delay(4000); // To be able to connect Serial monitor after reset or power up and before first printout
 #endif
         // Just to know which program is running on my Arduino
         Serial.println(F("START " __FILE__ "\r\nVersion " VERSION_EXAMPLE " from  " __DATE__));
@@ -200,18 +210,16 @@ void setup() {
 #endif
     initDistance();
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
     readVINVoltage();
     randomSeed(sVINVoltage * 100);
 #endif
 
-//    initTrace();
-
     delay(100);
     if (sBootReasonWasPowerUp) {
-        tone(PIN_BUZZER, 2200, 50); // power up finished
+        tone(PIN_BUZZER, 1000, 50); // power up finished
     } else {
-        tone(PIN_BUZZER, 2200, 300); // long tone, reset finished - only detectable with Optiboot 8.0
+        tone(PIN_BUZZER, 1000, 300); // long tone, reset finished - only detectable with Optiboot 8.0
     }
 }
 
@@ -222,10 +230,11 @@ void loop() {
      */
     if ((!BlueDisplay1.isConnectionEstablished()) && (millis() < (TIMOUT_BEFORE_DEMO_MODE_STARTS_MILLIS + 1000))
             && (millis() > TIMOUT_BEFORE_DEMO_MODE_STARTS_MILLIS)
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
             && (sVINVoltage > VOLTAGE_USB_THRESHOLD)
 #endif
             ) {
+
         /*
          * Timeout just reached, play melody and start autonomous drive
          */
@@ -235,6 +244,7 @@ void loop() {
 #else
         delayAndLoopGUI(6000); // delay needed for millis() check above!
 #endif
+        // check again, maybe we are connected now
         if (!BlueDisplay1.isConnectionEstablished()) {
             // Set right page for reconnect
             GUISwitchPages(NULL, PAGE_AUTOMATIC_CONTROL);
@@ -246,6 +256,10 @@ void loop() {
         }
     }
 
+    /*
+     * Required, if we use rotation, ramps and fixed distance driving
+     */
+    RobotCarMotorControl.updateMotors();
     /*
      * check for user input and update display output
      */
@@ -257,7 +271,11 @@ void loop() {
     if (BlueDisplay1.isConnectionEstablished() && sMillisOfLastReceivedBDEvent + TIMOUT_AFTER_LAST_BD_COMMAND_MILLIS < millis()) {
         sMillisOfLastReceivedBDEvent = millis() - (TIMOUT_AFTER_LAST_BD_COMMAND_MILLIS / 2); // adjust sMillisOfLastReceivedBDEvent to have the next scan in 2 minutes
         fillAndShowForwardDistancesInfo(true, true);
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
         DistanceServo.write(90); // set servo back to normal
+#else
+        write10(90);
+#endif
     }
 
 #ifdef ENABLE_RTTTL
@@ -265,25 +283,12 @@ void loop() {
      * check for playing melody
      */
     if (sPlayMelody) {
-        RobotCarMotorControl.stopMotors();
+        RobotCarMotorControl.stop();
         playRandomMelody();
     }
 
 #endif
 
-    if (sCurrentPage == PAGE_TEST) {
-        /*
-         * Direct speed control by GUI
-         */
-        if (RobotCarMotorControl.updateMotors()) {
-#ifdef USE_ENCODER_MOTOR_CONTROL
-            // At least one motor is moving here
-            RobotCarMotorControl.rightCarMotor.synchronizeMotor(&RobotCarMotorControl.leftCarMotor,
-            MOTOR_DEFAULT_SYNCHRONIZE_INTERVAL_MILLIS);
-#endif
-        }
-    }
-
     if (sRuningAutonomousDrive) {
         if (sDriveMode == MODE_FOLLOWER) {
             driveFollowerModeOneStep();
@@ -293,21 +298,18 @@ void loop() {
     }
 }
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
 void readVINVoltage() {
-    uint8_t tOldADMUX = checkAndWaitForReferenceAndChannelToSwitch(VIN_11TH_IN_CHANNEL, INTERNAL);
-    uint16_t tVIN = readADCChannelWithReferenceOversample(VIN_11TH_IN_CHANNEL, INTERNAL, 2); // 4 samples
+    uint16_t tVIN = readADCChannelWithReferenceOversampleFast(VIN_11TH_IN_CHANNEL, INTERNAL, 2); // 4 samples
 //    BlueDisplay1.debug("VIN Raw=", tVIN);
-            // Switch back (to DEFAULT)
-    ADMUX = tOldADMUX;
 
-// assume resistor network of 1Mk / 100k (divider by 11)
-// tVCC * 0,01181640625
+// assume resistor network of 1MOhm / 100kOhm (divider by 11)
+// tVIN * 0,01182795
 #ifdef VIN_VOLTAGE_CORRECTION
     // we have a diode (requires 0.8 volt) between LIPO and VIN
-    sVINVoltage = (tVIN * ((11.0 * 1.07) / 1023)) + VIN_VOLTAGE_CORRECTION;
+    sVINVoltage = (tVIN * ((11.0 * 1.1) / 1023)) + VIN_VOLTAGE_CORRECTION;
 #else
-    sVINVoltage = tVIN * ((11.0 * 1.07) / 1023);
+    sVINVoltage = tVIN * ((11.0 * 1.1) / 1023);
 #endif
 }
 #endif
@@ -323,7 +325,8 @@ void playRandomMelody() {
 //    BlueDisplay1.debug("Play melody");
 
 #if defined(USE_ADAFRUIT_MOTOR_SHIELD)
-    startPlayRandomRtttlFromArrayPGM(PIN_BUZZER, RTTTLMelodiesSmall, ARRAY_SIZE_MELODIES_SMALL);
+    startPlayRandomRtttlFromArrayPGM(PIN_BUZZER, RTTTLMelodiesTiny, ARRAY_SIZE_MELODIES_TINY);
+//    startPlayRandomRtttlFromArrayPGM(PIN_BUZZER, RTTTLMelodiesSmall, ARRAY_SIZE_MELODIES_SMALL);
 #else
     OCR2B = 0;
     bitWrite(TIMSK2, OCIE2B, 1);            // enable interrupt for inverted pin handling
@@ -391,6 +394,7 @@ Servo TiltServo;
 #endif
 
 void resetServos() {
+    sLastServoAngleInDegrees = 0; // to force setting of 90 degree
     DistanceServoWriteAndDelay(90, false);
 #ifdef CAR_HAS_PAN_SERVO
     PanServo.write(90);
@@ -401,10 +405,16 @@ void resetServos() {
 }
 
 void initServos() {
+#if defined(CAR_HAS_PAN_SERVO) || defined(CAR_HAS_TILT_SERVO)
 //        DistanceServo.attach(PIN_DISTANCE_SERVO, DISTANCE_SERVO_MIN_PULSE_WIDTH, DISTANCE_SERVO_MAX_PULSE_WIDTH);
     DistanceServo.attach(PIN_DISTANCE_SERVO);
+#else
+    // Servo for distance sensor
+    initLightweightServoPin10();
+#endif
+
 #ifdef CAR_HAS_PAN_SERVO
-// initialize and set Laser pan servo
+// initialize and set laser pan servo
     PanServo.attach(PIN_PAN_SERVO);
 #endif
 #ifdef CAR_HAS_TILT_SERVO
diff --git a/src/RobotCarCommonGui.cpp b/src/RobotCarCommonGui.cpp
index 88c3004..a4e9405 100644
--- a/src/RobotCarCommonGui.cpp
+++ b/src/RobotCarCommonGui.cpp
@@ -27,6 +27,9 @@
 #include "RobotCar.h"
 #include "RobotCarGui.h"
 #include "Distance.h"
+#ifdef USE_MPU6050_IMU
+#include "IMUCarData.h"
+#endif
 
 // a string buffer for BD info output
 char sStringBuffer[128];
@@ -36,14 +39,14 @@ bool sSensorCallbacksEnabled;
 uint8_t sCurrentPage;
 BDButton TouchButtonBack;
 BDButton TouchButtonAutomaticDrivePage;
-#ifdef USE_ENCODER_MOTOR_CONTROL
-BDButton TouchButtonCalibrate;
-#else
-BDButton TouchButtonCompensation;
-#endif
 BDButton TouchButtonCompensationRight;
 BDButton TouchButtonCompensationLeft;
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+BDButton TouchButtonCalibrate;
+#endif
+#ifdef SUPPORT_EEPROM_STORAGE
 BDButton TouchButtonCompensationStore;
+#endif
 
 BDButton TouchButtonRobotCarStartStop;
 //bool sRobotCarMoving; // main start flag. If true motors are running and will be updated by main loop.
@@ -68,8 +71,6 @@ BDSlider SliderIRDistance;
 unsigned int sSliderIRLastCentimeter;
 #endif
 
-uint32_t sMillisOfNextVCCInfo = 0;
-
 void setupGUI(void) {
     sCurrentPage = PAGE_HOME;
 
@@ -86,15 +87,21 @@ void delayAndLoopGUI(uint16_t aDelayMillis) {
 }
 
 void loopGUI(void) {
+    /*
+     * Update IMU data first, they may be displayed later on
+     */
+#ifdef USE_MPU6050_IMU
+    // if we are going a fixed distance or are turning, updateTurnAngle() is yet called by updateMotors(),
+    // but updateIMUData has a timer to avoid multiple reading
+    RobotCarMotorControl.updateIMUData();
+#endif
 
     if (BlueDisplay1.isConnectionEstablished()) {
-        // do not show anything during motor speed ramps
-        if (!RobotCarMotorControl.isState(MOTOR_STATE_RAMP_UP)) {
 
-            /*
-             * All functions are empty until now
-             * actions are centrally managed below
-             */
+        /*
+         * All functions are empty until now
+         * actions are centrally managed below
+         */
 //            if (sCurrentPage == PAGE_HOME) {
 //                loopHomePage();
 //            } else if (sCurrentPage == PAGE_TEST) {
@@ -112,32 +119,26 @@ void loopGUI(void) {
             // for all but PathInfo page
             if (sCurrentPage != PAGE_SHOW_PATH) {
 #endif
-#if defined(MONITOR_LIPO_VOLTAGE)
-            readCheckAndPrintVinPeriodically();
-#endif
-            // For Home, sensorDrive and Test page
-            if (sCurrentPage != PAGE_AUTOMATIC_CONTROL) {
-                if (sCurrentPage != PAGE_BT_SENSOR_CONTROL) {
-                    // For Home and Test page
-                    readAndShowDistancePeriodically(DISTANCE_DISPLAY_PERIOD_MILLIS);
-                }
-                printMotorValues();
-#ifdef USE_ENCODER_MOTOR_CONTROL
-                displayVelocitySliderValues();
-                /*
-                 * Print changed tick values
-                 */
-                if (EncoderMotor::EncoderTickCounterHasChanged) {
-                    EncoderMotor::EncoderTickCounterHasChanged = false;
-                    printMotorDistanceValues();
-                }
+#if defined(MONITOR_VIN_VOLTAGE)
+        readCheckAndPrintVinPeriodically();
 #endif
+        // For Home, sensorDrive and Test page
+        if (sCurrentPage != PAGE_AUTOMATIC_CONTROL) {
+            if (sCurrentPage != PAGE_BT_SENSOR_CONTROL) {
+                // For Home and Test page
+                readAndShowDistancePeriodically();
             }
+#if defined(USE_MPU6050_IMU)
+            printIMUOffsetValues();
+#endif
+            printMotorValuesPeriodically();
+        }
 #ifdef ENABLE_PATH_INFO_PAGE
             }
 #endif
-        }
+
     }
+
     /*
      * Check if receive buffer contains an event
      * Do it at end since it may change the condition for calling this function and its printing
@@ -156,16 +157,19 @@ void startStopRobotCar(bool aDoStart) {
              * Start for sensor drive
              */
             sSensorChangeCallCountForZeroAdjustment = 0;
-            registerSensorChangeCallback(FLAG_SENSOR_TYPE_ACCELEROMETER, FLAG_SENSOR_DELAY_UI, FLAG_SENSOR_NO_FILTER,
+            registerSensorChangeCallback(FLAG_SENSOR_TYPE_ACCELEROMETER, FLAG_SENSOR_DELAY_NORMAL, FLAG_SENSOR_NO_FILTER,
                     &doSensorChange);
             // Lock the screen orientation to avoid screen flip while rotating the smartphone
             BlueDisplay1.setScreenOrientationLock(FLAG_SCREEN_ORIENTATION_LOCK_CURRENT);
             sSensorCallbacksEnabled = true;
-        } else if (sLastSpeedSliderValue > 0) {
+        } else {
+            if (sLastSpeedSliderValue == 0) {
+                sLastSpeedSliderValue = RobotCarMotorControl.rightCarMotor.StartSpeedPWM;
+            }
             /*
              * Start car to last speed slider value
              */
-            RobotCarMotorControl.setSpeedCompensated(sLastSpeedSliderValue, sRobotCarDirection);
+            RobotCarMotorControl.setSpeedPWMCompensated(sLastSpeedSliderValue, sRobotCarDirection);
             tSpeedSliderValue = sLastSpeedSliderValue;
         }
     } else {
@@ -173,21 +177,21 @@ void startStopRobotCar(bool aDoStart) {
          * Stop car
          */
         if (sRuningAutonomousDrive) {
-            startStopAutomomousDrive(false);
+            startStopAutomomousDrive(false, MODE_MANUAL_DRIVE);
         }
         if (sSensorCallbacksEnabled) {
             /*
              * Global stop for sensor drive
              */
-            registerSensorChangeCallback(FLAG_SENSOR_TYPE_ACCELEROMETER, FLAG_SENSOR_DELAY_UI, FLAG_SENSOR_NO_FILTER, NULL);
+            registerSensorChangeCallback(FLAG_SENSOR_TYPE_ACCELEROMETER, FLAG_SENSOR_DELAY_NORMAL, FLAG_SENSOR_NO_FILTER, NULL);
             BlueDisplay1.setScreenOrientationLock(FLAG_SCREEN_ORIENTATION_LOCK_UNLOCK);
             sSensorCallbacksEnabled = false;
         }
-        RobotCarMotorControl.stopMotors();
+        RobotCarMotorControl.stop();
     }
 
     bool tShowValues = sCurrentPage == PAGE_HOME || sCurrentPage == PAGE_TEST;
-    // set button value always just for the case we are called by another than Stop button callback
+// set button value always just for the case we are called by another than Stop button callback
     TouchButtonRobotCarStartStop.setValue(!RobotCarMotorControl.isStopped() || sSensorCallbacksEnabled, tShowValues);
     if (tShowValues) {
         SliderSpeed.setValueAndDrawBar(tSpeedSliderValue);
@@ -197,14 +201,22 @@ void startStopRobotCar(bool aDoStart) {
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 
-void doRobotCarStartStop(BDButton * aTheTouchedButton, int16_t aDoStart) {
+void doStartStopRobotCar(BDButton *aTheTouchedButton, int16_t aDoStart) {
     startStopRobotCar(aDoStart);
 }
 
-#ifdef USE_ENCODER_MOTOR_CONTROL
-void doCalibrate(BDButton * aTheTouchedButton, int16_t aValue) {
-    RobotCarMotorControl.calibrate();
-    printMotorValues();
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+void doCalibrate(BDButton *aTheTouchedButton, int16_t aValue) {
+    TouchButtonRobotCarStartStop.setValueAndDraw(RobotCarMotorControl.isStopped());
+    if (RobotCarMotorControl.isStopped()) {
+        RobotCarMotorControl.calibrate(&loopGUI);
+#ifdef SUPPORT_EEPROM_STORAGE
+        RobotCarMotorControl.writeMotorValuesToEeprom();
+#endif
+    } else {
+        // second / recursive call of doCalibrate()
+        RobotCarMotorControl.stop();
+    }
 }
 #endif
 
@@ -212,7 +224,7 @@ void doCalibrate(BDButton * aTheTouchedButton, int16_t aValue) {
  * Minimum Speed is 30 for USB power and no load, 50 for load
  * Minimum Speed is 20 for 2 Lithium 18650 battery power and no load, 25 for load
  */
-void doSpeedSlider(BDSlider * aTheTouchedSlider, uint16_t aValue) {
+void doSpeedSlider(BDSlider *aTheTouchedSlider, uint16_t aValue) {
     if (aValue != sLastSpeedSliderValue) {
         sLastSpeedSliderValue = aValue;
 
@@ -220,64 +232,41 @@ void doSpeedSlider(BDSlider * aTheTouchedSlider, uint16_t aValue) {
             // handle GUI
             startStopRobotCar(true);
         } else {
-            RobotCarMotorControl.setSpeedCompensated(aValue, sRobotCarDirection);
+            RobotCarMotorControl.setSpeedPWMCompensated(aValue, sRobotCarDirection);
         }
     }
 }
 
-void doUSServoPosition(BDSlider * aTheTouchedSlider, uint16_t aValue) {
+void doUSServoPosition(BDSlider *aTheTouchedSlider, uint16_t aValue) {
     DistanceServoWriteAndDelay(aValue);
 }
 
-#ifdef USE_ENCODER_MOTOR_CONTROL
-/*
- * Display velocity as slider values
- */
-void displayVelocitySliderValues() {
-    EncoderMotor * tMotorInfo = &RobotCarMotorControl.leftCarMotor;
-    BDSlider * tSliderPtr = &SliderSpeedLeft;
-    uint16_t tXPos = 0;
-    for (int i = 0; i < 2; ++i) {
-        if (EncoderMotor::EncoderTickCounterHasChanged) {
-            tSliderPtr->setValueAndDrawBar(tMotorInfo->CurrentVelocity);
-        }
-        tMotorInfo = &RobotCarMotorControl.rightCarMotor;
-        tSliderPtr = &SliderSpeedRight;
-        tXPos += BUTTON_WIDTH_16 + 4;
-    }
-}
-#endif
-
 /*
  * Stops car and change direction
  */
-void doSetDirection(BDButton * aTheTouchedButton, int16_t aValue) {
+void doSetDirection(BDButton *aTheTouchedButton, int16_t aValue) {
     sRobotCarDirection = !aValue; // use inverse value since true is forward BUT 0 is DIRECTION_FORWARD
 
 // Stop fixed directions and turns using RobotCarMotorControl
     if (!RobotCarMotorControl.isStopped()) {
-        RobotCarMotorControl.stopMotors();
+        RobotCarMotorControl.stop();
     }
 // Stop direct movement by slider
     startStopRobotCar(false);
 }
 
-void doStoreRightMotorSpeedCompensation(float aRightMotorSpeedCompensation) {
-    int8_t tRightMotorSpeedCompensation = aRightMotorSpeedCompensation;
-    RobotCarMotorControl.setValuesForFixedDistanceDriving(RobotCarMotorControl.rightCarMotor.StartSpeed,
-            RobotCarMotorControl.rightCarMotor.DriveSpeed, tRightMotorSpeedCompensation);
-}
-
 /*
- * Request speed value as number
+ * changes speed compensation by +1 or -1
  */
-void doSetCompensation(BDButton * aTheTouchedButton, int16_t aRightMotorSpeedCompensation) {
-    RobotCarMotorControl.setSpeedCompensation(aRightMotorSpeedCompensation);
+void doSetCompensation(BDButton *aTheTouchedButton, int16_t aRightMotorSpeedPWMCompensation) {
+    RobotCarMotorControl.changeSpeedPWMCompensation(aRightMotorSpeedPWMCompensation);
 }
 
-void doStoreCompensation(BDButton * aTheTouchedButton, int16_t aRightMotorSpeedCompensation) {
-    RobotCarMotorControl.writeMotorvaluesToEeprom();
+#ifdef SUPPORT_EEPROM_STORAGE
+void doStoreCompensation(BDButton * aTheTouchedButton, int16_t aRightMotorSpeedPWMCompensation) {
+    RobotCarMotorControl.writeMotorValuesToEeprom();
 }
+#endif
 
 void startCurrentPage() {
     switch (sCurrentPage) {
@@ -307,7 +296,7 @@ void startCurrentPage() {
  * Stop old page and start new one
  * @param aValue the Page number of the new page number
  */
-void GUISwitchPages(BDButton * aTheTouchedButton, int16_t aValue) {
+void GUISwitchPages(BDButton *aTheTouchedButton, int16_t aValue) {
     /*
      * Stop old page
      */
@@ -332,6 +321,9 @@ void GUISwitchPages(BDButton * aTheTouchedButton, int16_t aValue) {
 #endif
     }
 
+#ifdef USE_MPU6050_IMU
+    RobotCarMotorControl.IMUData.resetOffsetData(); // just to have a fresh start
+#endif
     /*
      * Start new page
      */
@@ -340,9 +332,6 @@ void GUISwitchPages(BDButton * aTheTouchedButton, int16_t aValue) {
 }
 
 void initRobotCarDisplay(void) {
-// Stop any demo movement.
-    RobotCarMotorControl.stopMotors();
-    sRuningAutonomousDrive = false;
 
     BlueDisplay1.setFlagsAndSize(BD_FLAG_FIRST_RESET_ALL | BD_FLAG_TOUCH_BASIC_DISABLE | BD_FLAG_USE_MAX_SIZE, DISPLAY_WIDTH,
     DISPLAY_HEIGHT);
@@ -354,43 +343,45 @@ void initRobotCarDisplay(void) {
     /*
      * Common control buttons
      */
-    TouchButtonRobotCarStartStop.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR_BLUE, F("Start"),
-    TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doRobotCarStartStop);
+    TouchButtonRobotCarStartStop.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_BLUE, F("Start"),
+    TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, sRuningAutonomousDrive, &doStartStopRobotCar);
     TouchButtonRobotCarStartStop.setCaptionForValueTrue(F("Stop"));
 
-    TouchButtonBack.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR_RED, F("Back"),
+    TouchButtonBack.init(BUTTON_WIDTH_3_POS_3, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED, F("Back"),
     TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, PAGE_HOME, &GUISwitchPages);
 
-#ifdef USE_ENCODER_MOTOR_CONTROL
-    TouchButtonCalibrate.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_RED, F("CAL"),
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+    TouchButtonCalibrate.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_RED, F("CAL"),
     TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 1, &doCalibrate);
 #endif
 
 // Direction Button value true is forward, false is backward BUT 0 is DIRECTION_FORWARD!!!
-    TouchButtonDirection.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLACK, F("\x88"),
+    TouchButtonDirection.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLACK, F("\x88"),
     TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, true, &doSetDirection);
     TouchButtonDirection.setCaptionForValueTrue("\x87");
 
-    TouchButtonCompensationLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_5,
-    BUTTON_WIDTH_8 + (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8, COLOR_BLUE, F("<-Co"), TEXT_SIZE_11,
+    TouchButtonCompensationLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_4,
+    BUTTON_WIDTH_8 + (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8, COLOR16_BLUE, F("<-Co"), TEXT_SIZE_11,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, -1, &doSetCompensation);
-    TouchButtonCompensationRight.init(BUTTON_WIDTH_8_POS_5 - (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8_LINE_5,
-    BUTTON_WIDTH_8 + (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8, COLOR_BLUE, F("mp->"), TEXT_SIZE_11,
+    TouchButtonCompensationRight.init(BUTTON_WIDTH_8_POS_5 - (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8_LINE_4,
+    BUTTON_WIDTH_8 + (BUTTON_DEFAULT_SPACING_QUARTER - 1), BUTTON_HEIGHT_8, COLOR16_BLUE, F("mp->"), TEXT_SIZE_11,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH, 1, &doSetCompensation);
-    TouchButtonCompensationStore.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+#ifdef SUPPORT_EEPROM_STORAGE
+    TouchButtonCompensationStore.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_4, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("Store"), TEXT_SIZE_10, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 1, &doStoreCompensation);
+#endif
     /*
      * Speed Sliders
      */
-    SliderSpeed.init(0, SLIDER_TOP_MARGIN, BUTTON_WIDTH_6, SPEED_SLIDER_SIZE, 200, 0, COLOR_YELLOW, SLIDER_DEFAULT_BAR_COLOR,
+    SliderSpeed.init(0, SLIDER_TOP_MARGIN, BUTTON_WIDTH_6, SPEED_SLIDER_SIZE, 200, 0, COLOR16_YELLOW, SLIDER_DEFAULT_BAR_COLOR,
             FLAG_SLIDER_SHOW_VALUE, &doSpeedSlider);
     SliderSpeed.setScaleFactor(255.0 / SPEED_SLIDER_SIZE); // Slider is virtually 2 times larger than displayed, values were divided by 2
 
-    SliderSpeedLeft.init(BUTTON_WIDTH_6 + 4, 0, BUTTON_WIDTH_16, SPEED_SLIDER_SIZE / 2, SPEED_SLIDER_SIZE / 2 - 1, 0,
+    SliderSpeedLeft.init(MOTOR_INFO_START_X, 0, BUTTON_WIDTH_16, SPEED_SLIDER_SIZE / 2, SPEED_SLIDER_SIZE / 2 - 1, 0,
     SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
     SliderSpeedLeft.setValueFormatString("%3d"); // Since we also send values grater 100
 
-    SliderSpeedRight.init(BUTTON_WIDTH_6 + 4 + BUTTON_WIDTH_16 + 8, 0, BUTTON_WIDTH_16, SPEED_SLIDER_SIZE / 2,
+    SliderSpeedRight.init(MOTOR_INFO_START_X + BUTTON_WIDTH_16 + 8, 0, BUTTON_WIDTH_16, SPEED_SLIDER_SIZE / 2,
     SPEED_SLIDER_SIZE / 2 - 1, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
             FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
     SliderSpeedRight.setValueFormatString("%3d");
@@ -417,9 +408,9 @@ void initRobotCarDisplay(void) {
 #endif
 
     SliderUSPosition.init(POS_X_US_POSITION_SLIDER - BUTTON_WIDTH_6, SLIDER_TOP_MARGIN, BUTTON_WIDTH_6, US_SLIDER_SIZE, 90, 90,
-    COLOR_YELLOW,
+    COLOR16_YELLOW,
     SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE, &doUSServoPosition);
-    SliderUSPosition.setBarThresholdColor(COLOR_BLUE);
+    SliderUSPosition.setBarThresholdColor(COLOR16_BLUE);
     SliderUSPosition.setScaleFactor(180.0 / US_SLIDER_SIZE); // Values from 0 to 180 degrees
     SliderUSPosition.setValueUnitString("\xB0"); // \xB0 is degree character
 
@@ -433,22 +424,22 @@ void initRobotCarDisplay(void) {
     // Small US distance slider with captions and without cm units
     SliderUSDistance.init(POS_X_US_DISTANCE_SLIDER - ((BUTTON_WIDTH_10 / 2) - 2), SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8,
             (BUTTON_WIDTH_10 / 2) - 2,
-            DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
+            DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER / DISTANCE_SLIDER_SCALE_FACTOR, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
             FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
-    SliderUSDistance.setCaptionProperties(TEXT_SIZE_10, FLAG_SLIDER_CAPTION_ALIGN_LEFT | FLAG_SLIDER_CAPTION_BELOW, 2, COLOR_BLACK,
-    COLOR_WHITE);
+    SliderUSDistance.setCaptionProperties(TEXT_SIZE_10, FLAG_SLIDER_CAPTION_ALIGN_LEFT | FLAG_SLIDER_CAPTION_BELOW, 2, COLOR16_BLACK,
+    COLOR16_WHITE);
     SliderUSDistance.setCaption("US");
     // below caption - left aligned
     SliderUSDistance.setPrintValueProperties(11, FLAG_SLIDER_CAPTION_ALIGN_LEFT | FLAG_SLIDER_CAPTION_BELOW,
-            4 + TEXT_SIZE_10_HEIGHT, COLOR_BLACK, COLOR_WHITE);
+            4 + TEXT_SIZE_10_HEIGHT, COLOR16_BLACK, COLOR16_WHITE);
 #else
-    // Big US distance slider without caption but with cm units POS_X_THIRD_SLIDER because it is the position of the left edge
+// Big US distance slider without caption but with cm units POS_X_THIRD_SLIDER because it is the position of the left edge
     SliderUSDistance.init(POS_X_US_DISTANCE_SLIDER - BUTTON_WIDTH_10, SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8, BUTTON_WIDTH_10,
-    DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
-            FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
+    DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER / DISTANCE_SLIDER_SCALE_FACTOR, 0, SLIDER_DEFAULT_BACKGROUND_COLOR,
+    SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
     SliderUSDistance.setValueUnitString("cm");
 #endif
-    SliderUSDistance.setScaleFactor(2); // Slider is virtually 2 times larger, values were divided by 2
+    SliderUSDistance.setScaleFactor(DISTANCE_SLIDER_SCALE_FACTOR); // Slider is virtually 2 times larger, values were divided by 2
     SliderUSDistance.setBarThresholdColor(DISTANCE_TIMEOUT_COLOR);
 
     /*
@@ -458,25 +449,25 @@ void initRobotCarDisplay(void) {
     // Small IR distance slider with captions and without cm units
     SliderIRDistance.init(POS_X_THIRD_SLIDER - ((BUTTON_WIDTH_10 / 2) - 2), SLIDER_TOP_MARGIN + BUTTON_HEIGHT_8,
             (BUTTON_WIDTH_10 / 2) - 2,
-            DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
+            DISTANCE_SLIDER_SIZE, DISTANCE_TIMEOUT_CM_FOLLOWER / DISTANCE_SLIDER_SCALE_FACTOR, 0, SLIDER_DEFAULT_BACKGROUND_COLOR, SLIDER_DEFAULT_BAR_COLOR,
             FLAG_SLIDER_SHOW_VALUE | FLAG_SLIDER_IS_ONLY_OUTPUT, NULL);
-    SliderIRDistance.setScaleFactor(2); // Slider is virtually 2 times larger, values were divided by 2
+    SliderIRDistance.setScaleFactor(DISTANCE_SLIDER_SCALE_FACTOR); // Slider is virtually 2 times larger, values were divided by 2
     SliderIRDistance.setBarThresholdColor(DISTANCE_TIMEOUT_COLOR);
     // Caption properties
-    SliderIRDistance.setCaptionProperties(TEXT_SIZE_10, FLAG_SLIDER_CAPTION_ALIGN_RIGHT | FLAG_SLIDER_CAPTION_BELOW, 2, COLOR_BLACK,
-    COLOR_WHITE);
+    SliderIRDistance.setCaptionProperties(TEXT_SIZE_10, FLAG_SLIDER_CAPTION_ALIGN_RIGHT | FLAG_SLIDER_CAPTION_BELOW, 2, COLOR16_BLACK,
+    COLOR16_WHITE);
     // Captions
     SliderIRDistance.setCaption("IR");
     // value below caption - right aligned
     SliderIRDistance.setPrintValueProperties(11, FLAG_SLIDER_CAPTION_ALIGN_RIGHT | FLAG_SLIDER_CAPTION_BELOW,
-            4 + TEXT_SIZE_10_HEIGHT, COLOR_BLACK, COLOR_WHITE);
+            4 + TEXT_SIZE_10_HEIGHT, COLOR16_BLACK, COLOR16_WHITE);
 #endif
 
 #ifdef CAR_HAS_PAN_SERVO
     // left of SliderUSPosition
-    SliderPan.init(POS_X_PAN_SLIDER - BUTTON_WIDTH_12, SLIDER_TOP_MARGIN, BUTTON_WIDTH_12, LASER_SLIDER_SIZE, 90, 90, COLOR_YELLOW,
+    SliderPan.init(POS_X_PAN_SLIDER - BUTTON_WIDTH_12, SLIDER_TOP_MARGIN, BUTTON_WIDTH_12, LASER_SLIDER_SIZE, 90, 90, COLOR16_YELLOW,
     SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE, &doHorizontalServoPosition);
-    SliderPan.setBarThresholdColor(COLOR_BLUE);
+    SliderPan.setBarThresholdColor(COLOR16_BLUE);
     // scale slider values
     SliderPan.setScaleFactor(180.0 / LASER_SLIDER_SIZE); // Values from 0 to 180 degrees
     SliderPan.setValueUnitString("\xB0"); // \xB0 is degree character
@@ -484,9 +475,8 @@ void initRobotCarDisplay(void) {
 
 #ifdef CAR_HAS_TILT_SERVO
     SliderTilt.init(POS_X_TILT_SLIDER - BUTTON_WIDTH_12, SLIDER_TOP_MARGIN, BUTTON_WIDTH_12, LASER_SLIDER_SIZE, 90,
-    TILT_SERVO_MIN_VALUE, COLOR_YELLOW,
-    SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE, &doVerticalServoPosition);
-    SliderTilt.setBarThresholdColor(COLOR_BLUE);
+    TILT_SERVO_MIN_VALUE, COLOR16_YELLOW, SLIDER_DEFAULT_BAR_COLOR, FLAG_SLIDER_SHOW_VALUE, &doVerticalServoPosition);
+    SliderTilt.setBarThresholdColor(COLOR16_BLUE);
     // scale slider values
     SliderTilt.setScaleFactor(180.0 / LASER_SLIDER_SIZE); // Values from 0 to 180 degrees
     SliderTilt.setValueUnitString("\xB0"); // \xB0 is degree character
@@ -504,18 +494,18 @@ void initRobotCarDisplay(void) {
 void drawCommonGui(void) {
     clearDisplayAndDisableButtonsAndSliders();
 
-    BlueDisplay1.drawText(HEADER_X, TEXT_SIZE_22_HEIGHT, F("Robot Car"), TEXT_SIZE_22, COLOR_BLUE,
-    COLOR_NO_BACKGROUND);
+    BlueDisplay1.drawText(HEADER_X, TEXT_SIZE_22_HEIGHT, F("Robot Car"), TEXT_SIZE_22, COLOR16_BLUE,
+    COLOR16_NO_BACKGROUND);
 }
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
 /*
  * Print VIN (used as motor supply) periodically
  * returns true if voltage was printed
  */
 void readAndPrintVin() {
     char tDataBuffer[18];
-    char tVCCString[6];
+    char tVCCString[5];
     readVINVoltage();
     dtostrf(sVINVoltage, 4, 2, tVCCString);
     sprintf_P(tDataBuffer, PSTR("%s volt"), tVCCString);
@@ -534,24 +524,24 @@ void readAndPrintVin() {
         tPosX = BUTTON_WIDTH_3_POS_3 - BUTTON_DEFAULT_SPACING - (8 * TEXT_SIZE_11_WIDTH);
         tPosY = BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_DECEND;
     }
-    BlueDisplay1.drawText(tPosX, tPosY, tDataBuffer, TEXT_SIZE_11, COLOR_BLACK, COLOR_WHITE);
+    BlueDisplay1.drawText(tPosX, tPosY, tDataBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
 
 }
 
 void checkForLowVoltage() {
     static uint8_t sLowVoltageCount = 0;
-    if (sVINVoltage < VOLTAGE_LOW_THRESHOLD && sVINVoltage > VOLTAGE_USB_THRESHOLD) {
+    if (sVINVoltage < VOLTAGE_LIPO_LOW_THRESHOLD && sVINVoltage > VOLTAGE_USB_THRESHOLD) {
         sLowVoltageCount++;
     } else if (sLowVoltageCount > 1) {
         sLowVoltageCount--;
     }
     if (sLowVoltageCount > 2) {
         // Here more than 2 consecutive times (for 6 seconds) low voltage detected
-        RobotCarMotorControl.stopMotors();
+        startStopRobotCar(false);
 
         if (BlueDisplay1.isConnectionEstablished()) {
             drawCommonGui();
-            BlueDisplay1.drawText(10, 50, F("Battery voltage"), TEXT_SIZE_33, COLOR_RED, COLOR_WHITE);
+            BlueDisplay1.drawText(10, 50, F("Battery voltage"), TEXT_SIZE_33, COLOR16_RED, COLOR16_WHITE);
             // print current "too low" voltage
             char tDataBuffer[18];
             char tVCCString[6];
@@ -572,7 +562,7 @@ void checkForLowVoltage() {
                 delayMillisWithCheckAndHandleEvents(500); // and wait
                 tLoopCount--;
                 readVINVoltage(); // read new VCC value
-            } while (tLoopCount > 0 || (sVINVoltage < VOLTAGE_LOW_THRESHOLD && sVINVoltage > VOLTAGE_USB_THRESHOLD));
+            } while (tLoopCount > 0 || (sVINVoltage < VOLTAGE_LIPO_LOW_THRESHOLD && sVINVoltage > VOLTAGE_USB_THRESHOLD));
             // refresh current page
             GUISwitchPages(NULL, 0);
         } else {
@@ -582,53 +572,154 @@ void checkForLowVoltage() {
 }
 
 void readCheckAndPrintVinPeriodically() {
+    static uint32_t sMillisOfLastVCCInfo;
     uint32_t tMillis = millis();
 
-    if (tMillis >= sMillisOfNextVCCInfo) {
-        sMillisOfNextVCCInfo = tMillis + PRINT_VOLTAGE_PERIOD_MILLIS;
+    if (tMillis - sMillisOfLastVCCInfo >= PRINT_VOLTAGE_PERIOD_MILLIS) {
+        sMillisOfLastVCCInfo = tMillis;
         readAndPrintVin();
         checkForLowVoltage();
+        PWMDcMotor::MotorControlValuesHaveChanged = true; // to signal, that PWM voltages may have changed
     }
 }
-#endif
-
-void printMotorSpeed() {
-    if (PWMDcMotor::SpeedOrMotorModeHasChanged) {
-        PWMDcMotor::SpeedOrMotorModeHasChanged = false;
-// position below caption of speed slider
-        uint16_t tYPos = SPEED_SLIDER_SIZE / 2 + 25 + TEXT_SIZE_11_HEIGHT;
-        sprintf_P(sStringBuffer, PSTR("speed%3d %3d"), RobotCarMotorControl.leftCarMotor.CurrentSpeed,
-                RobotCarMotorControl.rightCarMotor.CurrentSpeed);
-        BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR_BLACK, COLOR_WHITE);
-    }
-}
+#endif // defined(MONITOR_VIN_VOLTAGE)
 
-void printMotorValues() {
-    printMotorSpeed();
-    if (PWMDcMotor::MotorValuesHaveChanged) {
-        PWMDcMotor::MotorValuesHaveChanged = false;
-// position below speed values
-        uint16_t tYPos = SPEED_SLIDER_SIZE / 2 + 25 + (2 * TEXT_SIZE_11_HEIGHT);
-        sprintf_P(sStringBuffer, PSTR("comp. %2d  %2d"), RobotCarMotorControl.leftCarMotor.SpeedCompensation,
-                RobotCarMotorControl.rightCarMotor.SpeedCompensation);
-        BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR_BLACK, COLOR_WHITE);
+/*
+ * Checks MotorControlValuesHaveChanged and print values
+ */
+void printMotorValuesPeriodically() {
+    static long sLastPrintMillis;
 
-        tYPos += TEXT_SIZE_11;
-        sprintf_P(sStringBuffer, PSTR("min. %3d %3d"), RobotCarMotorControl.leftCarMotor.StartSpeed,
-                RobotCarMotorControl.rightCarMotor.StartSpeed);
-        BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
+    uint32_t tMillis = millis();
+    if (tMillis - sLastPrintMillis >= PRINT_MOTOR_INFO_PERIOD_MILLIS) {
+        sLastPrintMillis = tMillis;
+        /*
+         * Print speed value
+         */
+        if (PWMDcMotor::MotorPWMHasChanged) {
+            PWMDcMotor::MotorPWMHasChanged = false;
+            // position below caption of speed slider
+            uint16_t tYPos = MOTOR_INFO_START_Y + TEXT_SIZE_11;
+            sprintf_P(sStringBuffer, PSTR("PWM  %3d %3d"), RobotCarMotorControl.leftCarMotor.CurrentSpeedPWM,
+                    RobotCarMotorControl.rightCarMotor.CurrentSpeedPWM);
+            BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
+        }
+        /*
+         * Print motor control values
+         */
+        if (PWMDcMotor::MotorControlValuesHaveChanged) {
+            PWMDcMotor::MotorControlValuesHaveChanged = false;
+            // position below speed values
+            uint16_t tYPos = MOTOR_INFO_START_Y + (2 * TEXT_SIZE_11);
+            sprintf_P(sStringBuffer, PSTR("lcomp %2d"),
+                    RobotCarMotorControl.rightCarMotor.SpeedPWMCompensation
+                            - RobotCarMotorControl.leftCarMotor.SpeedPWMCompensation);
+            BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
+
+            tYPos += TEXT_SIZE_11;
+            char tVCCString[5];
+#ifdef MONITOR_VIN_VOLTAGE
+            dtostrf(
+                    (((float) RobotCarMotorControl.rightCarMotor.StartSpeedPWM * sVINVoltage)
+                            - (FULL_BRIDGE_LOSS_MILLIVOLT / 1000.0)) / MAX_SPEED_PWM, 4, 2, tVCCString);
+#else
+            dtostrf(
+                    (RobotCarMotorControl.rightCarMotor.StartSpeedPWM * (FULL_BRIDGE_OUTPUT_MILLIVOLT / 1000.0)) / MAX_SPEED_PWM, 4, 2, tVCCString);
+#endif
+            sprintf_P(sStringBuffer, PSTR("st.%3d %sV"), RobotCarMotorControl.rightCarMotor.StartSpeedPWM, tVCCString);
+            BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
+
+            tYPos += TEXT_SIZE_11;
+#ifdef MONITOR_VIN_VOLTAGE
+            dtostrf(
+                    (((float) RobotCarMotorControl.rightCarMotor.DriveSpeedPWM * sVINVoltage)
+                            - (FULL_BRIDGE_LOSS_MILLIVOLT / 1000.0)) / MAX_SPEED_PWM, 4, 2, tVCCString);
+#else
+            dtostrf(
+                    (RobotCarMotorControl.rightCarMotor.DriveSpeedPWM * (FULL_BRIDGE_OUTPUT_MILLIVOLT / 1000.0)) / MAX_SPEED_PWM, 4, 2, tVCCString);
+#endif
+            sprintf_P(sStringBuffer, PSTR("drv%3d %sV"), RobotCarMotorControl.rightCarMotor.DriveSpeedPWM, tVCCString);
+            BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
 
-        tYPos += TEXT_SIZE_11;
-        sprintf_P(sStringBuffer, PSTR("max. %3d %3d"), RobotCarMotorControl.leftCarMotor.DriveSpeed,
-                RobotCarMotorControl.rightCarMotor.DriveSpeed);
-        BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
+        }
 #ifdef USE_ENCODER_MOTOR_CONTROL
         if (sShowDebug && sCurrentPage == PAGE_TEST) {
             printMotorDebugValues();
         }
 #endif
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+        printMotorSensorValues();
+#endif
+    }
+}
+
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+/*
+ * Display speed as slider values encoder values have precedence over IMU values
+ */
+void displayMotorSpeedSliderValues() {
+#  if defined(USE_ENCODER_MOTOR_CONTROL)
+    EncoderMotor *tMotorInfo = &RobotCarMotorControl.leftCarMotor;
+    BDSlider *tSliderPtr = &SliderSpeedLeft;
+    for (int i = 0; i < 2; ++i) {
+        tSliderPtr->setValueAndDrawBar(tMotorInfo->getSpeed());
+        tMotorInfo = &RobotCarMotorControl.rightCarMotor;
+        tSliderPtr = &SliderSpeedRight;
+    }
+#  else
+    int tCarSpeedCmPerSecondFromIMU = abs(RobotCarMotorControl.CarSpeedCmPerSecondFromIMU);
+    SliderSpeedLeft.setValueAndDrawBar(tCarSpeedCmPerSecondFromIMU);
+    SliderSpeedRight.setValueAndDrawBar(tCarSpeedCmPerSecondFromIMU);
+#  endif
+}
+
+/*
+ * Encoder speed has precedence over IMU speed
+ */
+void printMotorSensorValues() {
+    if (PWMDcMotor::SensorValuesHaveChanged) {
+        PWMDcMotor::SensorValuesHaveChanged = false;
+
+#  if defined(USE_ENCODER_MOTOR_CONTROL)
+        /*
+         * Print encoder counts
+         */
+        uint16_t tYPos;
+        if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
+            tYPos = BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_DECEND;
+        } else {
+            tYPos = MOTOR_INFO_START_Y;
+        }
+        sprintf_P(sStringBuffer, PSTR("cnt.%4d%4d"), RobotCarMotorControl.leftCarMotor.EncoderCount,
+                RobotCarMotorControl.rightCarMotor.EncoderCount);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);
+#  endif
+
+#  if defined(USE_MPU6050_IMU)
+        /*
+         * Print distance and rotation from IMU
+         */
+        sprintf_P(sStringBuffer, PSTR("%5dcm%4d\xB0"), RobotCarMotorControl.IMUData.getDistanceCm(),
+                RobotCarMotorControl.CarTurnAngleHalfDegreesFromIMU / 2);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, MOTOR_INFO_START_Y, sStringBuffer);
+#  endif
+
+        displayMotorSpeedSliderValues();
+    }
+}
+#endif // defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+
+#if defined(USE_MPU6050_IMU)
+void printIMUOffsetValues() {
+    if (RobotCarMotorControl.IMUData.OffsetsHaveChanged) {
+        RobotCarMotorControl.IMUData.OffsetsHaveChanged = false;
+        sprintf_P(sStringBuffer, PSTR("off.%4d%4d"), RobotCarMotorControl.IMUData.AcceleratorForwardOffset,
+                RobotCarMotorControl.IMUData.GyroscopePanOffset);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, MOTOR_INFO_START_Y + (5 * TEXT_SIZE_11), sStringBuffer, TEXT_SIZE_11, COLOR16_BLACK,
+        COLOR16_WHITE);
     }
 }
+#endif // defined(USE_MPU6050_IMU)
 
 #ifdef USE_ENCODER_MOTOR_CONTROL
 /*
@@ -638,45 +729,41 @@ void printMotorDebugValues() {
     /*
      * Debug info
      */
-    uint16_t tYPos = SPEED_SLIDER_SIZE / 2 + 25 + TEXT_SIZE_11_HEIGHT + (4 * TEXT_SIZE_11);
-#ifdef SUPPORT_RAMP_UP
-    sprintf_P(sStringBuffer, PSTR("ramp1%3d %3d"), RobotCarMotorControl.leftCarMotor.DistanceCountAfterRampUp,
-            RobotCarMotorControl.rightCarMotor.DistanceCountAfterRampUp);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
-
-    tYPos += TEXT_SIZE_11;
-    sprintf_P(sStringBuffer, PSTR("endSp%3d %3d"), RobotCarMotorControl.leftCarMotor.DebugSpeedAtTargetCountReached,
-            RobotCarMotorControl.rightCarMotor.DebugSpeedAtTargetCountReached);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
-
-    tYPos += TEXT_SIZE_11;
-    sprintf_P(sStringBuffer, PSTR("dcnt %3d %3d"), RobotCarMotorControl.leftCarMotor.DebugCount,
-            RobotCarMotorControl.rightCarMotor.DebugCount);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
-    tYPos += TEXT_SIZE_11;
-#endif
-    sprintf_P(sStringBuffer, PSTR("debug%3d %3d"), RobotCarMotorControl.leftCarMotor.Debug,
-            RobotCarMotorControl.rightCarMotor.Debug);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
-
-    tYPos += TEXT_SIZE_11;
-    sprintf_P(sStringBuffer, PSTR("tcnt %3d %3d"), RobotCarMotorControl.leftCarMotor.LastTargetDistanceCount,
-            RobotCarMotorControl.rightCarMotor.LastTargetDistanceCount);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer);
-}
+//    if (EncoderMotor::EncoderRampUpDataHaveChanged) {
+//        EncoderMotor::EncoderRampUpDataHaveChanged = false;
 
-void printMotorDistanceValues() {
-    uint16_t tYPos;
-    if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-        tYPos = BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_DECEND;
-    } else {
-        tYPos = SPEED_SLIDER_SIZE / 2 + 25;
-    }
-    sprintf_P(sStringBuffer, PSTR("cnt.%4d%4d"), RobotCarMotorControl.leftCarMotor.EncoderCount,
-            RobotCarMotorControl.rightCarMotor.EncoderCount);
-    BlueDisplay1.drawText(BUTTON_WIDTH_6 + 4, tYPos, sStringBuffer, TEXT_SIZE_11, COLOR_BLACK, COLOR_WHITE);
+#  if defined(USE_MPU6050_IMU)
+        uint16_t tYPos = MOTOR_INFO_START_Y + (6 * TEXT_SIZE_11);
+#  else
+        uint16_t tYPos = MOTOR_INFO_START_Y + (5 * TEXT_SIZE_11);
+#  endif
+
+#  ifdef SUPPORT_RAMP_UP
+        sprintf_P(sStringBuffer, PSTR("ramp1%3d %3d"), RobotCarMotorControl.leftCarMotor.DistanceCountAfterRampUp,
+                RobotCarMotorControl.rightCarMotor.DistanceCountAfterRampUp);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
+
+        tYPos += TEXT_SIZE_11;
+        sprintf_P(sStringBuffer, PSTR("endSp%3d %3d"), RobotCarMotorControl.leftCarMotor.DebugSpeedAtTargetCountReached,
+                RobotCarMotorControl.rightCarMotor.DebugSpeedAtTargetCountReached);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
+
+        tYPos += TEXT_SIZE_11;
+#  endif
+
+        sprintf_P(sStringBuffer, PSTR("tcnt %3d %3d"), RobotCarMotorControl.leftCarMotor.LastTargetDistanceMillimeter,
+                RobotCarMotorControl.rightCarMotor.LastTargetDistanceMillimeter);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
+
+#  if !defined(USE_MPU6050_IMU) // no space if IMU data is displayed
+        tYPos += TEXT_SIZE_11;
+        sprintf_P(sStringBuffer, PSTR("debug%3d %3d"), RobotCarMotorControl.leftCarMotor.Debug,
+                RobotCarMotorControl.rightCarMotor.Debug);
+        BlueDisplay1.drawText(MOTOR_INFO_START_X, tYPos, sStringBuffer);
+#  endif
+//    }
 }
-#endif
+#endif // USE_ENCODER_MOTOR_CONTROL
 
 void showUSDistance(unsigned int aCentimeter, bool aForceDraw) {
 // feedback as slider length
diff --git a/src/RobotCarGui.h b/src/RobotCarGui.h
index 24783c7..9e31eed 100644
--- a/src/RobotCarGui.h
+++ b/src/RobotCarGui.h
@@ -31,7 +31,7 @@
 #define PATH_LENGTH_MAX 100
 
 #define PRINT_VOLTAGE_PERIOD_MILLIS 2000
-extern uint32_t sMillisOfNextVCCInfo;
+#define PRINT_MOTOR_INFO_PERIOD_MILLIS 200
 
 // a string buffer for BD info output
 extern char sStringBuffer[128];
@@ -46,10 +46,14 @@ extern char sStringBuffer[128];
 #define US_SLIDER_SIZE          BUTTON_HEIGHT_4_LINE_3     // 128
 #define LASER_SLIDER_SIZE       BUTTON_HEIGHT_4_LINE_3  // 128
 #define DISTANCE_SLIDER_SIZE    (BUTTON_HEIGHT_4_LINE_3 - BUTTON_HEIGHT_8)  // 104
+#define DISTANCE_SLIDER_SCALE_FACTOR    2 // Slider is virtually 2 times larger, values were divided by 2
 
 #define US_DISTANCE_MAP_ORIGIN_X 200
 #define US_DISTANCE_MAP_ORIGIN_Y 150
 
+#define MOTOR_INFO_START_X (BUTTON_WIDTH_6 + 4)
+#define MOTOR_INFO_START_Y (SPEED_SLIDER_SIZE / 2 + 26)
+
 #define PAGE_HOME               0 // Manual control page
 #define PAGE_AUTOMATIC_CONTROL  1
 #define PAGE_BT_SENSOR_CONTROL  2
@@ -88,11 +92,11 @@ void loopAutonomousDrivePage(void);
 void stopAutonomousDrivePage(void);
 
 void handleAutomomousDriveRadioButtons();
-void doStartStopFollowerMode(BDButton * aTheTouchedButton, int16_t aValue);
-void doStartStopAutomomousDrive(BDButton * aTheTouchedButton, int16_t aValue);
-void doStartStopTestUser(BDButton * aTheTouchedButton, int16_t aValue);
+void doStartStopFollowerMode(BDButton *aTheTouchedButton, int16_t aValue);
+void doStartStopAutomomousDrive(BDButton *aTheTouchedButton, int16_t aValue);
+void doStartStopTestUser(BDButton *aTheTouchedButton, int16_t aValue);
 
-void doStartStopAutonomousForPathPage(BDButton * aTheTouchedButton, int16_t aValue);
+void doStartStopAutonomousForPathPage(BDButton *aTheTouchedButton, int16_t aValue);
 void setStepMode(uint8_t aStepMode);
 
 // from BTSensorDrivePage
@@ -103,7 +107,7 @@ void loopBTSensorDrivePage(void);
 void stopBTSensorDrivePage(void);
 
 extern uint8_t sSensorChangeCallCountForZeroAdjustment;
-void doSensorChange(uint8_t aSensorType, struct SensorCallback * aSensorCallbackInfo);
+void doSensorChange(uint8_t aSensorType, struct SensorCallback *aSensorCallbackInfo);
 
 // from TestPage
 extern bool sShowDebug;
@@ -120,8 +124,8 @@ extern BDButton TouchButtonMelody;
 extern bool sPlayMelody;
 #endif
 
-extern void doHorizontalServoPosition(BDSlider * aTheTouchedSlider, uint16_t aValue);
-extern void doVerticalServoPosition(BDSlider * aTheTouchedSlider, uint16_t aValue);
+extern void doHorizontalServoPosition(BDSlider *aTheTouchedSlider, uint16_t aValue);
+extern void doVerticalServoPosition(BDSlider *aTheTouchedSlider, uint16_t aValue);
 
 void initHomePage(void);
 void drawHomePage(void);
@@ -136,7 +140,7 @@ extern uint8_t sCurrentPage;
 extern BDButton TouchButtonAutomaticDrivePage;
 extern BDButton TouchButtonReset;
 extern BDButton TouchButtonBack;
-void GUISwitchPages(BDButton * aTheTouchedButton, int16_t aValue);
+void GUISwitchPages(BDButton *aTheTouchedButton, int16_t aValue);
 void startCurrentPage();
 
 /*
@@ -145,17 +149,20 @@ void startCurrentPage();
 extern BDButton TouchButtonRobotCarStartStop;
 void setStartStopButtonValue();
 void startStopRobotCar(bool aDoStart);
-void doRobotCarStartStop(BDButton * aTheTochedButton, int16_t aDoStart);
+void doStartStopRobotCar(BDButton *aTheTochedButton, int16_t aDoStart);
+void doReset(BDButton *aTheTochedButton, int16_t aValue);
 
 extern BDButton TouchButtonDirection;
 
-#ifdef USE_ENCODER_MOTOR_CONTROL
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
 extern BDButton TouchButtonCalibrate;
-void doCalibrate(BDButton * aTheTouchedButton, int16_t aValue);
+void doCalibrate(BDButton *aTheTouchedButton, int16_t aValue);
 #endif
 extern BDButton TouchButtonCompensationRight;
 extern BDButton TouchButtonCompensationLeft;
+#ifdef SUPPORT_EEPROM_STORAGE
 extern BDButton TouchButtonCompensationStore;
+#endif
 
 extern BDSlider SliderSpeed;
 extern uint16_t sLastSpeedSliderValue;
@@ -177,8 +184,12 @@ extern BDSlider SliderPan;
 extern BDSlider SliderTilt;
 #endif
 
-#ifdef USE_ENCODER_MOTOR_CONTROL
-void displayVelocitySliderValues();
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
+void displayMotorSpeedSliderValues();
+void printMotorSensorValues();
+#endif
+#if defined(USE_MPU6050_IMU)
+void printIMUOffsetValues();
 #endif
 
 void drawCommonGui(void);
@@ -189,18 +200,18 @@ void setupGUI(void);
 void loopGUI(void);
 
 void initRobotCarDisplay(void);
-void readAndShowDistancePeriodically(uint16_t aPeriodMillis);
+void readAndShowDistancePeriodically();
 void rotate(int16_t aRotationDegrees, bool inPlace = true);
 void showDistance(int aCentimeter);
 
-void printMotorSpeed();
-void printMotorValues();
+void printAndDisplayMotorSpeed();
+void printMotorValuesPeriodically();
 #ifdef USE_ENCODER_MOTOR_CONTROL
 void printMotorDebugValues();
 void printMotorDistanceValues();
 #endif
 
-#if defined(MONITOR_LIPO_VOLTAGE)
+#if defined(MONITOR_VIN_VOLTAGE)
 void readAndPrintVin();
 void readCheckAndPrintVinPeriodically();
 #endif
diff --git a/src/TestPage.cpp b/src/TestPage.cpp
index bf57cc6..e2c590e 100644
--- a/src/TestPage.cpp
+++ b/src/TestPage.cpp
@@ -28,7 +28,9 @@
  */
 BDButton TouchButtonReset;
 
+#ifdef SUPPORT_EEPROM_STORAGE
 BDButton TouchButtonGetAndStoreSpeed;
+#endif
 
 BDButton TouchButtonDebug;
 
@@ -46,18 +48,37 @@ BDButton TouchButton360Degree;
 bool sShowDebug = false;
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
-void doDistance(BDButton * aTheTouchedButton, int16_t aValue) {
-    RobotCarMotorControl.startGoDistanceCentimeter(aValue, sRobotCarDirection);
+void doDistance(BDButton *aTheTouchedButton, int16_t aValue) {
+    RobotCarMotorControl.startGoDistanceMillimeter(aValue, sRobotCarDirection);
 }
 
-void doShowDebug(BDButton * aTheTouchedButton, int16_t aValue) {
+void doShowDebug(BDButton *aTheTouchedButton, int16_t aValue) {
     sShowDebug = aValue;
 }
 
-void doRotation(BDButton * aTheTouchedButton, int16_t aValue) {
-    RobotCarMotorControl.startRotateCar(aValue, sRobotCarDirection, true);
+/*
+ * stop and reset motors
+ * reset IMU data and compute new offsets
+ */
+void doReset(BDButton *aTheTouchedButton, int16_t aValue) {
+    startStopRobotCar(false);
+    RobotCarMotorControl.resetControlValues();
+    sLastSpeedSliderValue = 0;
 }
 
+void doRotation(BDButton *aTheTouchedButton, int16_t aValue) {
+    if (aValue == 360) {
+        // use in place for 360 degree and change turn direction according to sRobotCarDirection
+        if (sRobotCarDirection != DIRECTION_FORWARD) {
+            aValue = -aValue;
+        }
+        RobotCarMotorControl.startRotate(aValue, TURN_IN_PLACE);
+    } else {
+        RobotCarMotorControl.startRotate(aValue, sRobotCarDirection);
+    }
+}
+
+#ifdef SUPPORT_EEPROM_STORAGE
 /*
  * Callback handler for user speed input
  * Store user speed input as DriveSpeed
@@ -69,64 +90,108 @@ void doStoreSpeed(float aValue) {
         RobotCarMotorControl.rightCarMotor.DriveSpeed = tValue;
         // use the same value here !
         RobotCarMotorControl.leftCarMotor.DriveSpeed = tValue;
-        RobotCarMotorControl.writeMotorvaluesToEeprom();
+        RobotCarMotorControl.writeMotorValuesToEeprom();
     }
     printMotorValues();
 }
 
+
 /*
  * Request speed value as number from user
  */
 void doGetSpeedAsNumber(BDButton * aTheTouchedButton, int16_t aValue) {
     BlueDisplay1.getNumberWithShortPrompt(&doStoreSpeed, "Drive speed [11-255]", sLastSpeedSliderValue);
 }
+#endif
+
+//const struct ButtonInit ButtonReset PROGMEM { BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
+//COLOR16_BLUE, TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doReset };
+//
+//const struct ButtonInit Button5cm PROGMEM { BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE, TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 50, &doDistance };
+//const struct ButtonInit Button10cm PROGMEM { BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE, TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 100, &doDistance };
+//
+//const struct ButtonInit Button20cm PROGMEM { BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE, TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 200, &doDistance };
+//const struct ButtonInit Button40cm PROGMEM { BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE, TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 400, &doDistance };
+//const struct ButtonInit ButtonDebug PROGMEM { BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_RED, TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doShowDebug };
+//
+//const struct ButtonInit Button45DegreeLeft PROGMEM { BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE,
+//TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 45, &doRotation }; // \xB0 is degree character
+//const struct ButtonInit Button45DegreeRight PROGMEM { BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE,
+//TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, -45, &doRotation }; // \xB0 is degree character
+//const struct ButtonInit Button360Degree PROGMEM { BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE,
+//TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 360, &doRotation }; // \xB0 is degree character
+//
+//const struct ButtonInit Button90DegreeLeft PROGMEM { BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE,
+//TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 90, &doRotation }; // \xB0 is degree character
+//const struct ButtonInit Button90DegreeRight PROGMEM { BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8,
+//COLOR16_BLUE,
+//TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, -90, &doRotation }; // \xB0 is degree character
 
 /*
- * stop and reset motors
+ * replacing parameter init with structure init INCREASES code size by 82 bytes
  */
-void doReset(BDButton * aTheTouchedButton, int16_t aValue) {
-    startStopRobotCar(false);
-    RobotCarMotorControl.resetControlValues();
-}
-
 void initTestPage(void) {
     /*
      * Control buttons
      */
-
     TouchButtonReset.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
-    COLOR_BLUE, F("Reset"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doReset);
+    COLOR16_BLUE, F("Reset"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doReset);
 
+#ifdef SUPPORT_EEPROM_STORAGE
     TouchButtonGetAndStoreSpeed.init(0, BUTTON_HEIGHT_4_LINE_4 - BUTTON_HEIGHT_6 - BUTTON_DEFAULT_SPACING_QUARTER, BUTTON_WIDTH_6,
-    BUTTON_HEIGHT_6, COLOR_BLUE, F("Set\nspeed"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doGetSpeedAsNumber);
-
+    BUTTON_HEIGHT_6, COLOR16_BLUE, F("Set\nspeed"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 0, &doGetSpeedAsNumber);
+#endif
     /*
      * Test buttons
      * Many calls requires 36 bytes code + sometimes 52 bytes to clean up the stack.
      */
-    TouchButton5cm.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE, F("5cm"),
-    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 5, &doDistance);
-    TouchButton10cm.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE, F("10cm"),
-    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 10, &doDistance);
-
-    TouchButton20cm.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE, F("20cm"),
-    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 20, &doDistance);
-    TouchButton40cm.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE, F("40cm"),
-    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 40, &doDistance);
-    TouchButtonDebug.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_RED, F("dbg"),
+    TouchButton5cm.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE, F("5cm"),
+    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 50, &doDistance);
+    TouchButton10cm.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_2, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE, F("10cm"),
+    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 100, &doDistance);
+
+    TouchButton20cm.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE, F("20cm"),
+    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 200, &doDistance);
+    TouchButton40cm.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE, F("40cm"),
+    TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 400, &doDistance);
+    TouchButtonDebug.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_3, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_RED, F("dbg"),
     TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doShowDebug);
 
-    TouchButton45DegreeLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_4, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+//    TouchButtonReset.init(&ButtonReset, F("Reset"));
+//    TouchButton5cm.init(&Button5cm, F("5cm"));
+//    TouchButton10cm.init(&Button10cm, F("10cm"));
+//
+//    TouchButton20cm.init(&Button20cm, F("20cm"));
+//    TouchButton40cm.init(&Button40cm, F("40cm"));
+//    TouchButtonDebug.init(&ButtonDebug, F("dbg"));
+
+    TouchButton45DegreeLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("45\xB0"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 45, &doRotation); // \xB0 is degree character
-    TouchButton45DegreeRight.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_4, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+    TouchButton45DegreeRight.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("-45\xB0"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, -45, &doRotation); // \xB0 is degree character
-    TouchButton360Degree.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_4, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+    TouchButton360Degree.init(BUTTON_WIDTH_8_POS_6, BUTTON_HEIGHT_8_LINE_5, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("360\xB0"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 360, &doRotation); // \xB0 is degree character
 
-    TouchButton90DegreeLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+    TouchButton90DegreeLeft.init(BUTTON_WIDTH_8_POS_4, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("90\xB0"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, 90, &doRotation); // \xB0 is degree character
-    TouchButton90DegreeRight.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR_BLUE,
+    TouchButton90DegreeRight.init(BUTTON_WIDTH_8_POS_5, BUTTON_HEIGHT_8_LINE_6, BUTTON_WIDTH_8, BUTTON_HEIGHT_8, COLOR16_BLUE,
             F("-90\xB0"), TEXT_SIZE_11, FLAG_BUTTON_DO_BEEP_ON_TOUCH, -90, &doRotation); // \xB0 is degree character
+
+//    TouchButton45DegreeLeft.init(&Button45DegreeLeft, F("45\xB0")); // \xB0 is degree character
+//    TouchButton45DegreeRight.init(&Button45DegreeRight, F("-45\xB0")); // \xB0 is degree character
+//    TouchButton360Degree.init(&Button360Degree, F("360\xB0")); // \xB0 is degree character
+//
+//    TouchButton90DegreeLeft.init(&Button90DegreeLeft, F("90\xB0")); // \xB0 is degree character
+//    TouchButton90DegreeRight.init(&Button90DegreeRight, F("-90\xB0")); // \xB0 is degree character
 }
 
 void drawTestPage(void) {
@@ -139,7 +204,7 @@ void drawTestPage(void) {
 
     TouchButton5cm.drawButton();
     TouchButton10cm.drawButton();
-#ifdef USE_ENCODER_MOTOR_CONTROL
+#if defined(USE_ENCODER_MOTOR_CONTROL) || defined(USE_MPU6050_IMU)
     TouchButtonCalibrate.drawButton();
 #endif
 
@@ -153,7 +218,9 @@ void drawTestPage(void) {
 
     TouchButtonCompensationLeft.drawButton();
     TouchButtonCompensationRight.drawButton();
+#ifdef SUPPORT_EEPROM_STORAGE
     TouchButtonCompensationStore.drawButton();
+#endif
 
     TouchButton90DegreeLeft.drawButton();
     TouchButton90DegreeRight.drawButton();
@@ -164,7 +231,9 @@ void drawTestPage(void) {
     SliderSpeedRight.drawSlider();
     SliderSpeedLeft.drawSlider();
 #endif
+#ifdef SUPPORT_EEPROM_STORAGE
     TouchButtonGetAndStoreSpeed.drawButton();
+#endif
 
     SliderUSPosition.setValueAndDrawBar(sLastServoAngleInDegrees);
     SliderUSPosition.drawSlider();
@@ -174,7 +243,7 @@ void drawTestPage(void) {
     SliderIRDistance.drawSlider();
 #  endif
 
-    PWMDcMotor::MotorValuesHaveChanged = true; // trigger drawing of values
+    PWMDcMotor::MotorControlValuesHaveChanged = true; // trigger drawing of values
 }
 
 /*
diff --git a/src/digitalWriteFast.h b/src/digitalWriteFast.h
index 3bbfc97..6267ec1 100644
--- a/src/digitalWriteFast.h
+++ b/src/digitalWriteFast.h
@@ -1,12 +1,14 @@
 /*
- Optimized digital functions for AVR microcontrollers
- by Watterott electronic (www.watterott.com)
- based on http://code.google.com/p/digitalwritefast
+  Optimized digital functions for AVR microcontrollers
+  by Watterott electronic (www.watterott.com)
+  based on http://code.google.com/p/digitalwritefast
  */
 
 #ifndef __digitalWriteFast_h_
 #define __digitalWriteFast_h_ 1
 
+//#define SANGUINO_PINOUT //define for Sanguino pinout
+
 // general macros/defines
 #ifndef BIT_READ
 # define BIT_READ(value, bit)            ((value) &   (1UL << (bit)))
@@ -22,7 +24,7 @@
 #endif
 
 #ifndef SWAP
-#define SWAP(x,y) do{ (x)=(x)^(y); (y)=(x)^(y); (x)=(x)^(y); }while(0)
+# define SWAP(x,y) do{ (x)=(x)^(y); (y)=(x)^(y); (x)=(x)^(y); }while(0)
 #endif
 
 #ifndef DEC
@@ -38,8 +40,9 @@
 # define BIN (2)
 #endif
 
+
 // workarounds for ARM microcontrollers
-#if (!defined(__AVR__) && !defined(ESP8266) || \
+#if (!defined(__AVR__) || \
      defined(ARDUINO_ARCH_SAM) || \
      defined(ARDUINO_ARCH_SAMD))
 
@@ -96,6 +99,7 @@
 
 #endif
 
+
 // digital functions
 //#ifndef digitalPinToPortReg
 #define SPI_SW_SS_PIN   (10) //SS on Uno (for software SPI)
@@ -103,6 +107,7 @@
 #define SPI_SW_MISO_PIN (12) //MISO on Uno (for software SPI)
 #define SPI_SW_SCK_PIN  (13) //SCK on Uno (for software SPI)
 
+
 // --- Arduino Due and SAM3X8E based boards ---
 #if (defined(ARDUINO_SAM_DUE) || \
      defined(__SAM3X8E__))
@@ -210,21 +215,21 @@
 
 
 // --- Arduino MightyCore standard pinout ---
-#elif defined(__AVR_ATmega1284P__) || \
-      defined(__AVR_ATmega1284P__) || \
-      defined(__AVR_ATmega644P__)  || \
-      defined(__AVR_ATmega644__)   || \
-      defined(__AVR_ATmega324PB__) || \
-      defined(__AVR_ATmega324PA__) || \
-      defined(__AVR_ATmega324P__)  || \
-      defined(__AVR_ATmega324A__)  || \
-      defined(__AVR_ATmega164P__)  || \
-      defined(__AVR_ATmega164A__)  || \
-      defined(__AVR_ATmega32__)    || \
-      defined(__AVR_ATmega16__)    || \
-      defined(__AVR_ATmega8535__)  && \
-      !defined(BOBUINO_PINOUT)     && \
-      !defined(SANGUINO_PINOUT)
+#elif (defined(__AVR_ATmega1284P__) || \
+       defined(__AVR_ATmega1284__)  || \
+       defined(__AVR_ATmega644P__)  || \
+       defined(__AVR_ATmega644A__)  || \
+       defined(__AVR_ATmega644__)   || \
+       defined(__AVR_ATmega324PB__) || \
+       defined(__AVR_ATmega324PA__) || \
+       defined(__AVR_ATmega324P__)  || \
+       defined(__AVR_ATmega324A__)  || \
+       defined(__AVR_ATmega164P__)  || \
+       defined(__AVR_ATmega164A__)  || \
+       defined(__AVR_ATmega32__)    || \
+       defined(__AVR_ATmega16__)    || \
+       defined(__AVR_ATmega8535__))  && \
+      !defined(BOBUINO_PINOUT)
 
 #define UART_RX_PIN     (8) //PD0
 #define UART_TX_PIN     (9) //PD1
@@ -241,22 +246,33 @@
 #define __digitalPinToPortReg(P) \
 (((P) >= 0 && (P) <= 7) ? &PORTB : (((P) >= 8 && (P) <= 15) ? &PORTD : (((P) >= 16 && (P) <= 23) ? &PORTC : (((P) >= 24 && (P) <= 31) ? &PORTA : &PORTE))))
 #define __digitalPinToDDRReg(P) \
-(((P) >= 0 && (P) <= 7) ? &DDRB : (((P) >= 8 && (P) <= 15) ? &DDRD : (((P) >= 8 && (P) <= 15) ? &DDRC : (((P) >= 24 && (P) <= 31) ? &DDRA : &DDRE))))
+(((P) >= 0 && (P) <= 7) ? &DDRB : (((P) >= 8 && (P) <= 15) ? &DDRD : (((P) >= 16 && (P) <= 23) ? &DDRC : (((P) >= 24 && (P) <= 31) ? &DDRA : &DDRE))))
 #define __digitalPinToPINReg(P) \
-(((P) >= 0 && (P) <= 7) ? &PINB : (((P) >= 8 && (P) <= 15) ? &PIND : (((P) >= 8 && (P) <= 15) ? &PINC : (((P) >= 24 && (P) <= 31) ? &PINA : &PINE))))
+(((P) >= 0 && (P) <= 7) ? &PINB : (((P) >= 8 && (P) <= 15) ? &PIND : (((P) >= 16 && (P) <= 23) ? &PINC : (((P) >= 24 && (P) <= 31) ? &PINA : &PINE))))
+# if defined(SANGUINO_PINOUT)
+#define __digitalPinToBit(P) \
+(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 15) ? (P) - 8 : (((P) >= 16 && (P) <= 23) ? (P) - 16 : (((P) >= 16 && (P) <= 23) ? (7 - ((P) - 24)) : (P) - 32))))
+# else //MightyCore Pinout
 #define __digitalPinToBit(P) \
 (((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 15) ? (P) - 8 : (((P) >= 16 && (P) <= 23) ? (P) - 16 : (((P) >= 16 && (P) <= 23) ? (P) - 24 : (P) - 32))))
+# endif
 #else
 #define __digitalPinToPortReg(P) \
 (((P) >= 0 && (P) <= 7) ? &PORTB : (((P) >= 8 && (P) <= 15) ? &PORTD : (((P) >= 16 && (P) <= 23) ? &PORTC : &PORTA)))
 #define __digitalPinToDDRReg(P) \
-(((P) >= 0 && (P) <= 7) ? &DDRB : (((P) >= 8 && (P) <= 15) ? &DDRD : (((P) >= 8 && (P) <= 15) ? &DDRC : &DDRA)))
+(((P) >= 0 && (P) <= 7) ? &DDRB : (((P) >= 8 && (P) <= 15) ? &DDRD : (((P) >= 16 && (P) <= 23) ? &DDRC : &DDRA)))
 #define __digitalPinToPINReg(P) \
-(((P) >= 0 && (P) <= 7) ? &PINB : (((P) >= 8 && (P) <= 15) ? &PIND : (((P) >= 8 && (P) <= 15) ? &PINC : &PINA)))
+(((P) >= 0 && (P) <= 7) ? &PINB : (((P) >= 8 && (P) <= 15) ? &PIND : (((P) >= 16 && (P) <= 23) ? &PINC : &PINA)))
+# if defined(SANGUINO_PINOUT)
+#define __digitalPinToBit(P) \
+(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 15) ? (P) - 8 : (((P) >= 16 && (P) <= 23) ? (P) - 16 : (7 - ((P) - 24)))))
+# else //MightyCore Pinout
 #define __digitalPinToBit(P) \
 (((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 15) ? (P) - 8 : (((P) >= 16 && (P) <= 23) ? (P) - 16 : (P) - 24)))
+# endif
 #endif
 
+
 // --- Arduino Leonardo and ATmega16U4/32U4 based boards ---
 #elif (defined(ARDUINO_AVR_LEONARDO) || \
        defined(__AVR_ATmega16U4__) || \
@@ -330,7 +346,9 @@
 (((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
 #endif
 
-#elif defined(__AVR_ATmega4809__) // Uno WiFi Rev 2, Nano Every
+
+// --- Arduino Uno WiFi Rev 2, Nano Every ---
+#elif defined(__AVR_ATmega4809__)
 
 #define UART_RX_PIN     (0) //PB0
 #define UART_TX_PIN     (1) //PB1
@@ -353,48 +371,56 @@
 (((P) == 2 || (P) == 9 || (P) == 11 || (P) == 17) ? 0 : ((P) == 7 || (P) == 10 || (P) == 12 || (P) == 16) ? 1 : ((P) == 5 || (P) == 13 || (P) == 15 || (P) == 18) ? 2 : ((P) == 9 || (P) == 14 || (P) == 19) ? 3 : ((P) == 6 || (P) == 20) ? 4 : ((P) == 3 || (P) == 21) ? 5 :  6 )
 
 
+// TinyCore
+// https://raw.githubusercontent.com/xukangmin/TinyCore/master/avr/package/package_tinycore_index.json
+// https://docs.tinycore.dev/en/latest/
+#elif  defined(__AVR_ATtiny1616__)  || defined(__AVR_ATtiny3216__) || defined(__AVR_ATtiny3217__)
+#define __digitalPinToPortReg(P) ((P) <= 5 ? &VPORTB.OUT : ((P) <= 9 ? &VPORTC.OUT : ((P) <= 16 ? &VPORTA.OUT : ((P) <= 18 ? &VPORTB.OUT : &VPORTC.OUT))))
+#define __digitalPinToDDRReg(P) ((P) <= 5 ? &VPORTB.DIR : ((P) <= 9 ? &VPORTC.DIR : ((P) <= 16 ? &VPORTA.DIR : ((P) <= 18 ? &VPORTB.DIR : &VPORTC.DIR))))
+#define __digitalPinToPINReg(P) ((P) <= 5 ? &VPORTB.IN : ((P) <= 9 ? &VPORTC.IN : ((P) <= 16 ? &VPORTA.IN : ((P) <= 18 ? &VPORTB.IN : &VPORTC.IN))))
+#define __digitalPinToBit(P) ( (P) <= 3 ? (3 - P) : ((P) <= 5 ? (P) : ((P) <= 9 ? (P - 6) : ((P) <= 16 ? ((P) - 9) : ((P) <= 18 ? ((P) - 11) : ((P) - 15))))) )
+
+
 // --- ATtinyX5 ---
 #elif defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
 // we have only PORTB
 #define __digitalPinToPortReg(P) (&PORTB)
 #define __digitalPinToDDRReg(P)  (&DDRB)
 #define __digitalPinToPINReg(P)  (&PINB)
-#define __digitalPinToBit(P) (( (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
+#define __digitalPinToBit(P)     (((P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14))
 
 
 // --- ATtiny88 ---
 #elif defined(__AVR_ATtiny88__)
-#  if defined(ARDUINO_AVR_DIGISPARKPRO)
+# if defined(ARDUINO_AVR_DIGISPARKPRO)
 #define __digitalPinToPortReg(P) ((P) <= 7 ? &PORTD : ((P) <= 14 ? &PORTB : ((P) <= 18 ? &PORTA : &PORTC)))
 #define __digitalPinToDDRReg(P)  ((P) <= 7 ? &DDRD : ((P) <= 14 ? &DDRB : ((P) <= 18 ? &DDRA : &DDRC)))
 #define __digitalPinToPINReg(P)  ((P) <= 7 ? &PIND : ((P) <= 14 ? &PINB : ((P) <= 18 ? &PINA : &PINC)))
 #define __digitalPinToBit(P) ( (P) <= 7 ? (P) : ((P) <= 13 ? ((P) - 8) : ((P) == 14 ? 7 : ((P) <= 16 ? ((P) - 14) : ((P) <= 18 ? ((P) - 17) : ((P) == 25 ? 7 : ((P) - 19)))))) )
-#  else
+# else
 #define __digitalPinToPortReg(P) ((P) <= 7 ? &PORTD : ((P) <= 15 ? &PORTB : ((P) <= 22 ? &PORTC : ((P) <= 26 ? &PORTA : &PORTC))))
 #define __digitalPinToDDRReg(P) ((P) <= 7 ? &DDRD : ((P) <= 15 ? &DDRB : ((P) <= 22 ? &DDRC : ((P) <= 26 ? &DDRA : &DDRC))))
 #define __digitalPinToPINReg(P) ((P) <= 7 ? &PIND : ((P) <= 15 ? &PINB : ((P) <= 22 ? &PINC : ((P) <= 26 ? &PINA : &PINC))))
 #define __digitalPinToBit(P) ((P) <= 15 ? ((P) & 0x7) : ((P) == 16 ? (7) : ((P) <= 22 ? ((P) - 17) : ((P) == 27 ? (6) : ((P) - 23)))))
-#  endif
+# endif
 
 
 // --- ATtinyX4 + ATtinyX7 ---
 #elif  defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny87__) || defined(__AVR_ATtiny167__)
-#  if defined(ARDUINO_AVR_DIGISPARKPRO)
-/// Strange enumeration of pins on Digispark board and core library
+# if defined(ARDUINO_AVR_DIGISPARKPRO)
+// Strange enumeration of pins on Digispark board and core library
 #define __digitalPinToPortReg(P) (((P) <= 4) ? &PORTB : &PORTA)
 #define __digitalPinToDDRReg(P)  (((P) <= 4) ? &DDRB : &DDRA)
 #define __digitalPinToPINReg(P)  (((P) <= 4) ? &PINB : &PINA)
 #define __digitalPinToBit(P)     (((P) <= 2) ? (P) : (((P) == 3) ? 6 : (((P) == 4) ? 3 : (((P) == 5) ? 7 : (P) - 6 ))))
-
-#  else
-//  ATtinyX4: PORTA for 0 to 7, PORTB for 8 to 11
-//  ATtinyX7: PORTA for 0 to 7, PORTB for 8 to 15
+# else
+// ATtinyX4: PORTA for 0 to 7, PORTB for 8 to 11
+// ATtinyX7: PORTA for 0 to 7, PORTB for 8 to 15
 #define __digitalPinToPortReg(P) (((P) <= 7) ? &PORTA : &PORTB)
 #define __digitalPinToDDRReg(P)  (((P) <= 7) ? &DDRA : &DDRB)
 #define __digitalPinToPINReg(P)  (((P) <= 7) ? &PINA : &PINB)
 #define __digitalPinToBit(P)     (((P) <= 7) ? (P) : (P) - 8 )
-#  endif
-
+# endif
 
 // --- Other ---
 #else
@@ -411,6 +437,7 @@
 #endif
 //#endif  //#ifndef digitalPinToPortReg
 
+
 #ifndef digitalWriteFast
 #if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
 #define digitalWriteFast(P, V) \
@@ -424,6 +451,7 @@ if (__builtin_constant_p(P)) { \
 #endif
 #endif
 
+
 #ifndef pinModeFast
 #if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
 #define pinModeFast(P, V) \
@@ -442,6 +470,7 @@ if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
 #endif
 #endif
 
+
 #ifndef digitalReadFast
 #if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
 #define digitalReadFast(P) ( (int) __digitalReadFast((P)) )
@@ -454,6 +483,7 @@ if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
 #endif
 #endif
 
+
 #ifndef digitalToggleFast
 #if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
 #define digitalToggleFast(P) \
@@ -467,4 +497,5 @@ if (__builtin_constant_p(P)) { \
 #endif
 #endif
 
+
 #endif //__digitalWriteFast_h_