diff --git a/RC excavator/FW/src/controller.cpp b/RC excavator/FW/src/controller.cpp
index aa06caf..a1cb3aa 100644
--- a/RC excavator/FW/src/controller.cpp	
+++ b/RC excavator/FW/src/controller.cpp	
@@ -3,8 +3,16 @@
 XboxSeriesXControllerESP32_asukiaaa::Core xboxController; //"40:8e:2c:41:e4:eb"); //("a4:c1:38:38:e3:c0");
 uint32_t lastcontrollernotify = 0;
 
+int joymin = 0;
+int joymax = 0;
 
 
+direction getdirection(int setpoint)
+{
+  if(setpoint > )
+  
+}
+
 void setup_controller()
 {
   xboxController.begin();
@@ -14,7 +22,6 @@ void setup_controller()
 
 void loop_controller()
 {
-
     xboxController.onLoop();
     if (xboxController.isConnected())
     {
@@ -38,11 +45,7 @@ void loop_controller()
           log_i("received at %l", receivedAt);
           lastcontrollernotify = millis();
         }
-        handle_notify(((float)xboxController.xboxNotif.joyLVert / joystickMax *100),
-                      ((float)xboxController.xboxNotif.joyRVert / joystickMax *100), 
-                      ((float)xboxController.xboxNotif.joyLHori / joystickMax *100),
-                      ((float)xboxController.xboxNotif.joyRHori / joystickMax *100)
-                      );
+        controlMotor("mainboom", direction::stop)
       }
     }
     else  
diff --git a/RC excavator/FW/src/controller.h b/RC excavator/FW/src/controller.h
index 5f7b02b..9c0f896 100644
--- a/RC excavator/FW/src/controller.h	
+++ b/RC excavator/FW/src/controller.h	
@@ -1,8 +1,10 @@
 #include "Arduino.h"
+#include "motors.h"
 #include <XboxSeriesXControllerESP32_asukiaaa.hpp>
 
 #define CONTROLLERNOTIFY 1000
 
+
 void setup_controller();
 void loop_controller();
 void handle_notify(int motR, int motL, int motArm, int bucket);
\ No newline at end of file
diff --git a/RC excavator/FW/src/motors.h b/RC excavator/FW/src/motors.h
index 82633e2..9e2777c 100644
--- a/RC excavator/FW/src/motors.h	
+++ b/RC excavator/FW/src/motors.h	
@@ -34,7 +34,7 @@ enum direction
   left,
   right,
   stop
-}
+};
 
 
 class motor