diff --git a/EmbeddedSystemsTHM/CLI.c b/EmbeddedSystemsTHM/CLI.c
index 14ce601..ed8774f 100644
--- a/EmbeddedSystemsTHM/CLI.c
+++ b/EmbeddedSystemsTHM/CLI.c
@@ -281,6 +281,7 @@ static void cmd_led_on(const char* _data){
 	}
 }
 
+
 //================================================================================================================================
 // Funktion:		cmd_led_off
 //					Kann verwendet werden, um eine LED auszuschalten
@@ -349,8 +350,6 @@ static void cmd_adc(const char* _data){
 	char lm35Data[50];
 	int loopInterval = 500;
 
-	int repeat = strcmp(_data, "R") == 0 ? 1 : 0; /* Check if repeat flag is set*/
-	
 	do
 	{
 		if(Timer_getTick() - g_startMS >= loopInterval){
@@ -372,14 +371,13 @@ static void cmd_adc(const char* _data){
 			print_string("----------");
 			print_string(NEXT_LINE);
 		}
-	} while (repeat); // repeat if repeat-flag is given
-
-	
+	} while (strcmp(_data, "R") == 0 ? 1 : 0); /* Check if repeat flag is set*/
 }
 
+
 //================================================================================================================================
 // Funktion:		cmd_rotary
-//					Wird verwendet um die Daten von Poti und LM35 zu lesen
+//					Wird verwendet um die Bewegung von Dregeber zu lesen
 // Parameter:		_data: Zeichenkette mit Parametern des Befehls.
 //
 // Rückgabewert:	keine
diff --git a/EmbeddedSystemsTHM/adc.c b/EmbeddedSystemsTHM/adc.c
index e3499d8..a0c6e34 100644
--- a/EmbeddedSystemsTHM/adc.c
+++ b/EmbeddedSystemsTHM/adc.c
@@ -7,42 +7,73 @@
 
 #include "adc.h"
 
+typedef struct ADC_t ADC_t;
+struct ADC_t{
+	/* ADC Data */
+	uint16_t uiADC :16;
+	
+	/* ADCSRA */
+	uint8_t uiADPS0 :1;
+	uint8_t uiADPS1 :1;
+	uint8_t uiADPS2 :1;
+	uint8_t uiADIE :1;
+	uint8_t uiADIF :1;
+	uint8_t uiADATE :1;
+	uint8_t uiADSC :1;
+	uint8_t uiADEN :1;
+	
+	/* ADCSRB */
+	uint8_t uiADTS0 :1;
+	uint8_t uiADTS1 :1;
+	uint8_t uiADTS2 :1;
+	uint8_t nui2 :3;
+	uint8_t uiACME :1;
+	uint8_t nui1 :1;
+	
+	/* ADMUX */
+	uint8_t uiMUX :5;
+	uint8_t uiADLAR :1;
+	uint8_t uiREFS0 :1;
+	uint8_t uiREFS1 :1;
+};
+
+#define myADC ((ADC_t*)(0x78))
+
 void 
 adc_init(void) 
 {
-	ADMUX = (1<<REFS1)|
-			(0<<REFS0)|		/* Set Voltage reference to 2.56V */
-			(0<<ADLAR)		/* Set ADLAR to 0 to not left adjust the presentation of the conversion result */
-	;
+	myADC->uiADLAR = 0;
+	myADC->uiREFS0 = 0;		/* Set ADLAR to 0 to not left adjust the presentation of the conversion result */
+	myADC->uiREFS1 = 0;		/* Set Voltage reference to 2.56V */
 	
-	ADCSRA = (1<<ADEN)|		/* Enable ADC */
-			 (0<<ADATE)|	/* Disable the ADC auto trigger */
-			 (1<<ADIE)|		/* Enable the ADC interrupt */
-			 (1<<ADPS2)|
-			 (1<<ADPS1)|
-			 (1<<ADPS0)		/* Set ADC Prescaler to 128 */
-	;
+	myADC->uiADPS0 = 1;		/* Set ADC Prescaler to 128 */
+	myADC->uiADPS1 = 1;
+	myADC->uiADPS2 = 1;
+	myADC->uiADIE = 1;		/* Enable the ADC interrupt */
+	myADC->uiADATE = 0;		/* Disable the ADC auto trigger */
+	myADC->uiADEN = 1;		/* Enable ADC */
 }
 
 volatile int done = 1;
 
 /* ADC 1 */
-uint16_t 
+uint16_t
 adc_get_poti(void) 
 {		
 	uint16_t adc;
-	ADCSRA &= ~(1<<ADIE);	/* Disable interrupt */
-		
-	ADMUX |= (1<<MUX0);		/* Set ADMUX to access ADC channel 1 */
-	ADCSRA |= (1<<ADSC);	/* Start the conversion */
+	
+	//myADC->uiADIE = 0;		/* Disable interrupt */
+
+	myADC->uiMUX = 1;		/* Set ADMUX to access ADC channel 1 */	
+
+	myADC->uiADSC = 1;		/* Start the conversion */
 
 	done = 0;				/* reset the done flag to false */
-	
 	while(done == 0);		/* Wait till conversion completes */
 	
-	adc = ADC;
+	adc = myADC->uiADC;
 
-	ADCSRA |= (1<<ADIE);	/* Enable the interrupt again */
+	//myADC->uiADIE = 1;		/* Enable the interrupt again */
 
 	return adc;
 }
@@ -53,18 +84,19 @@ uint16_t
 adc_get_LM35(void) 
 {
 	uint16_t adc;
-	ADCSRA &= ~(1<<ADIE);	/* Disable interrupt */
-	
-	ADMUX &= (0<<MUX0);		/* Set ADMUX to access ADC channel 0 */
-	ADCSRA |= (1<<ADSC);	/* Start the conversion */
-	
+
+	//myADC->uiADIE = 0;		/* Disable interrupt */
+
+	myADC->uiMUX = 0;		/* Set ADMUX to access ADC channel 1 */
+
+	myADC->uiADSC = 1;		/* Start the conversion */
+
 	done = 0;				/* reset the done flag to false */
-	
 	while(done == 0);		/* Wait till conversion completes */
 
-	adc = ADC;
+	adc = myADC->uiADC;
 
-	ADCSRA |= (1<<ADIE);	/* Enable the interrupt again */
+	//myADC->uiADIE = 1;		/* Enable the interrupt again */
 
 	return adc;
 }
diff --git a/EmbeddedSystemsTHM/rotaryEncoder.c b/EmbeddedSystemsTHM/rotaryEncoder.c
index bdef5fa..6e9645f 100644
--- a/EmbeddedSystemsTHM/rotaryEncoder.c
+++ b/EmbeddedSystemsTHM/rotaryEncoder.c
@@ -13,9 +13,9 @@
 
 /* enums */
 enum{
-	S2, S3, S4, S5, S6, S7,
+	LEFT1, LEFT2, LEFT3, RIGHT1, RIGHT2, RIGHT3,
 	INIT, WAIT
-	} RotaryState = INIT; /* Emus for the stoplight task (task 3) */
+	} RotaryState = INIT; /* Enum for the rotary enc */
 
 int16_t count;
 
@@ -24,23 +24,12 @@ drehgeber_init(void)
 {
 	DDRC &= ~(7<<DDC5);			/* Set bit 5-7 of Data Direction Register C as input */
 	PORTC |= (7<<PORTC5);		/* Initialize bit 5-7 of PORTC as for pull up resistor */
-	
-	/* With Timer */
-// 	TCCR2A |= (1<<WGM21);
-// 	TCCR2B |= (3<<CS20);
-// 	TIMSK2 |= (1<<OCIE2A);
-// 	OCR2A = 250 - 1;
-	
+		
 	/* With external interrupt */
 	PCICR |= (1<<PCIE2);
 	PCMSK2 |= (1<<PCINT23)|(1<<PCINT22);
 }
 
-// ISR(TIMER2_COMPA_vect)
-// {
-// 	drehgeber_process();
-// }
-
 ISR(PCINT2_vect)
 {
 	drehgeber_process();
@@ -63,18 +52,18 @@ drehgeber_process(void)
 		case WAIT:
 		if(enc == 1)
 		{
-			RotaryState = S2;
+			RotaryState = LEFT1;
 		}
 		if(enc == 2)
 		{
-			RotaryState = S5;
+			RotaryState = RIGHT1;
 		}
 		break;
 		
-		case S2:
+		case LEFT1:
 		if(enc == 3)
 		{
-			RotaryState = S3;
+			RotaryState = LEFT2;
 		}
 		if(enc == 0)
 		{
@@ -82,18 +71,18 @@ drehgeber_process(void)
 		}
 		break;
 		
-		case S3:
+		case LEFT2:
 		if(enc == 2)
 		{
-			RotaryState = S4;
+			RotaryState = LEFT3;
 		}
 		if(enc == 1)
 		{
-			RotaryState = S2;
+			RotaryState = LEFT1;
 		}
 		break;
 		
-		case S4:
+		case LEFT3:
 		if(enc == 0)
 		{
 			count++;
@@ -101,14 +90,14 @@ drehgeber_process(void)
 		}
 		if(enc == 3)
 		{
-			RotaryState = S3;
+			RotaryState = LEFT2;
 		}
 		break;
 		
-		case S5:
+		case RIGHT1:
 		if(enc == 3)
 		{
-			RotaryState = S6;
+			RotaryState = RIGHT2;
 		}
 		if(enc == 0)
 		{
@@ -116,19 +105,19 @@ drehgeber_process(void)
 		}
 		break;
 				
-		case S6:
+		case RIGHT2:
 		if(enc == 1)
 		{
-			RotaryState = S7;
+			RotaryState = RIGHT3;
 		}
 		if(enc == 2)
 		{
-			RotaryState = S5;
+			RotaryState = RIGHT1;
 		}
 		break;
 		
 				
-		case S7:
+		case RIGHT3:
 		if(enc == 0)
 		{
 			count--;
@@ -136,7 +125,7 @@ drehgeber_process(void)
 		}
 		if(enc == 3)
 		{
-			RotaryState = S6;
+			RotaryState = RIGHT2;
 		}
 		break;
 	}