diff --git a/.DS_Store b/.DS_Store
index 57c24af..1d49d2c 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/.gitignore b/.gitignore
index 89cc49c..f642bf9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,5 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+lib
+.DS_Store
diff --git a/datasheet/cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf b/datasheet/cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
new file mode 100644
index 0000000..d1b38ad
Binary files /dev/null and b/datasheet/cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf differ
diff --git a/platformio.ini b/platformio.ini
index 9f7e04c..6c64e6b 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -17,6 +17,15 @@ debug_tool = stlink
 board_build.f_cpu = 72000000L
 monitor_speed = 115200
 lib_deps = 
-#	danya0x07/NRF24L01_SimpleLibrary@^1.0.0
+    http://192.168.2.3/Bonobo.Git.Server/rc-radio.git
+	http://192.168.2.3/Bonobo.Git.Server/Radiohead.git
+    http://192.168.2.3/Bonobo.Git.Server/MC34933.git
+    https://github.com/br3ttb/Arduino-PID-Library/
+    http://192.168.2.3/Bonobo.Git.Server/PWMFrequency.git
+    http://192.168.2.3/Bonobo.Git.Server/Statusled.git
+
+
+build_flags = 
+#    -D DEBUG
 
 
diff --git a/rc-micro-car.code-workspace b/rc-micro-car.code-workspace
index 0a6fbf3..850d31b 100644
--- a/rc-micro-car.code-workspace
+++ b/rc-micro-car.code-workspace
@@ -2,6 +2,27 @@
 	"folders": [
 		{
 			"path": "."
+		},
+		{
+			"path": "../libs/Radiohead"
+		},
+		{
+			"path": "../libs/MC34933"
+		},
+		{
+			"path": "../libs/rc-radio"
+		},
+		{
+			"path": "../RC-transmitter"
+		},
+		{
+			"path": "../libs/Arduino_PID_Library"
+		},
+		{
+			"path": "../libs/PWMFrequency"
+		},
+		{
+			"path": "../libs/Statusled"
 		}
 	],
 	"settings": {
@@ -20,7 +41,16 @@
 			"vector": "cpp",
 			"ostream": "cpp",
 			"*.tcc": "cpp",
-			"ios": "cpp"
+			"ios": "cpp",
+			"bitset": "cpp",
+			"iomanip": "cpp",
+			"istream": "cpp",
+			"limits": "cpp",
+			"ratio": "cpp",
+			"sstream": "cpp",
+			"streambuf": "cpp",
+			"functional": "cpp",
+			"memory": "cpp"
 		}
 	}
 }
\ No newline at end of file
diff --git a/src/MPU6050.cpp b/src/MPU6050.cpp
index a2d2ebf..2a0c94d 100644
--- a/src/MPU6050.cpp
+++ b/src/MPU6050.cpp
@@ -2,7 +2,7 @@
 #include "MPU6050.h"
 #include <Wire.h>
 #include "vehicleConfig.h"
-//#include "radio.h"
+#include "balancing.h"
 
 
 
@@ -64,7 +64,7 @@ void writeDebug() {
     Serial.print("   R: ");
     Serial.print(angle_roll);    //Print roll
     Serial.print("   Motor: ");
-    Serial.println(angleOutput);    //Print Motor output
+    Serial.println(getAngleOut());    //Print Motor output
   }
 #endif
 }
diff --git a/src/balancing.cpp b/src/balancing.cpp
index d0e571e..dbc2b26 100644
--- a/src/balancing.cpp
+++ b/src/balancing.cpp
@@ -4,7 +4,7 @@
 #include "vehicleConfig.h"
 #include "MPU6050.h"
 #include "radio.h"
-#include <../lib/Arduino-PID-Library/PID_v1.h> // https://github.com/br3ttb/Arduino-PID-Library/
+#include "PID_v1.h" // https://github.com/br3ttb/Arduino-PID-Library/
 #include "motors.h"
 
 int speedPot;
@@ -24,7 +24,10 @@ PID speedPid(&speedMeasured, &speedOutput, &speedTarget, 0.0, 0.0, 0.0, DIRECT);
 PID anglePid(&angleMeasured, &angleOutput, &angleTarget, 0.0, 0.0, 0.0, DIRECT); // Angle: inner, fast control loop
 
 
-
+double getAngleOut( void )
+{
+  return angleOutput;
+}
 //
 // =======================================================================================================
 // PID SETUP
@@ -69,7 +72,7 @@ void balancing() {
 
   // PID Parameters (Test)
   double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
-  double angleKp = data->pot1 / 8.0, angleKi = 25.0, angleKd = 0.12; // /You need to connect a potentiometer to the transmitter analog input A6
+  double angleKp = data->pot / 8.0, angleKi = 25.0, angleKd = 0.12; // /You need to connect a potentiometer to the transmitter analog input A6
 
   // PID Parameters (Working)
   //double speedKp = 0.9, speedKi = 0.03, speedKd = 0.0;
@@ -109,8 +112,6 @@ void mrsc() {
 
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
-  //MC34933* Motor1 = getMotorptr(MOTOR1);
-  MC34933* Motor2 = getMotorptr(MOTOR2);
 
   // Read sensor data
   readMpu6050Data();
@@ -123,7 +124,7 @@ void mrsc() {
   // Compute steering compensation overlay
   int turnRateSetPoint = data->axis1 - 50;  // turnRateSetPoint = steering angle (0 to 100) - 50 = -50 to 50
   int turnRateMeasured = Mpu6050_getyaw_rate() * abs(data->axis3 - 50); // degrees/s * speed
-  int steeringAngle = turnRateSetPoint + (turnRateMeasured * data->pot1 / 100);  // Compensation depending on the pot value
+  int steeringAngle = turnRateSetPoint + (turnRateMeasured * data->pot / 100);  // Compensation depending on the pot value
 
   steeringAngle = constrain (steeringAngle, -50, 50); // range = -50 to 50
 
@@ -133,7 +134,7 @@ void mrsc() {
 #endif //CONFIG_HAS_SERVO
   // Control motor 2 (steering, not on "High Power" board type)
   if (!cfg->getHP()) {
-    Motor2->drive((steeringAngle + 50), 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
+    motordrive(MOTOR2, (steeringAngle + 50), 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
   }
 
   // Control motors
@@ -146,8 +147,6 @@ void driveMotorsBalancing()
 {
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
-  MC34933* Motor1 = getMotorptr(MOTOR1);
-  MC34933* Motor2 = getMotorptr(MOTOR2);
 
   // The steering overlay is in degrees per second, controlled by the MPU 6050 yaw rate and yoystick axis 1
   int steering = ((data->axis1 - 50) / 7) - Mpu6050_getyaw_rate(); // -50 to 50 / 8 = 7°/s - yaw_rate
@@ -163,11 +162,11 @@ void driveMotorsBalancing()
   speed = constrain(speed, 7, 93); // same range as in setupPID() + 50 offset from above!
 
   if (angleMeasured > -20.0 && angleMeasured < 20.0) { // Only drive motors, if robot stands upright
-    Motor1->drive(speed - steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp! 50 = neutral!
-    Motor2->drive(speed + steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
+    motordrive(MOTOR1, speed - steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp! 50 = neutral!
+    motordrive(MOTOR2, speed + steering, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
   }
   else { // keep motors off
-    Motor1->drive(50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp!
-    Motor2->drive(50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
+    motordrive(MOTOR1, 50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // left caterpillar, 0ms ramp!
+    motordrive(MOTOR2, 50, cfg->getminPWM(), cfg->getmaxPWMfull(), 0, false); // right caterpillar
   }
 }
\ No newline at end of file
diff --git a/src/balancing.h b/src/balancing.h
index 79fd8c3..701ee29 100644
--- a/src/balancing.h
+++ b/src/balancing.h
@@ -6,5 +6,7 @@ void driveMotorsBalancing( void );
 void setupPid( void );
 void mrsc();
 
+double getAngleOut( void );
+
 
 #endif //BALANCINGH
\ No newline at end of file
diff --git a/src/battery.cpp b/src/battery.cpp
index af55b6a..e9f38eb 100644
--- a/src/battery.cpp
+++ b/src/battery.cpp
@@ -12,7 +12,7 @@ bool battSense;
 void checkBattery() 
 { 
   vehicleConfig* cfg = getConfigptr();
-  ackPayload* payload = getPayloadptr();
+  RcData* data = getDataptr();
 
   if (cfg->getboardVersion() < 1.2) battSense = false;
   else battSense = true;
@@ -31,15 +31,9 @@ void checkBattery()
     lastTrigger = millis();
 
     // Read both averaged voltages
-    payload->batteryVoltage = batteryAverage();
-    payload->vcc = vccAverage();
+    data->setVoltage(batteryAverage());
+    //payload->vcc = vccAverage();
 
-    if (battSense) { // Observe battery voltage
-      if (payload->batteryVoltage <= cfg->getcutoffVoltage()) payload->batteryOk = false;
-    }
-    else { // Observe vcc voltage
-      if (payload->vcc <= cfg->getcutoffVoltage()) payload->batteryOk = false;
-    }
   }
 }
 
diff --git a/src/lights.cpp b/src/lights.cpp
index dc0a6a6..b266051 100644
--- a/src/lights.cpp
+++ b/src/lights.cpp
@@ -3,8 +3,9 @@
 #include "radio.h"
 #include "vehicleConfig.h"
 #include "motors.h"
+#include "rc_board.h"
 
-#include <../lib/statusLED/statusLED.h> // https://github.com/TheDIYGuy999/statusLED
+#include <statusLED.h> // https://github.com/TheDIYGuy999/statusLED
 
 
 // Headlight off delay
@@ -54,6 +55,21 @@ unsigned long getMillisLightsOff( void )
   return millisLightOff;
 }
 
+void setupLights( void )
+{
+#ifdef CONFIG_HAS_LIGHTS
+  // LED setup
+  if (vehicleType == 4 || vehicleType == 5 ) indicators = false; // Indicators use the same pins as the MPU-6050, so they can't be used in vehicleType 4 or 5!
+
+  if (tailLights) tailLight.begin(A1); // A1 = Servo 2 Pin
+  if (headLights) headLight.begin(0); // 0 = RXI Pin
+  if (indicators) {
+    indicatorL.begin(A4); // A4 = SDA Pin
+    indicatorR.begin(A5); // A5 = SCL Pin
+  }
+  if (beacons) beaconLights.begin(A3); // A3 = Servo 4 Pin
+#endif //CONFIG_HAS_LIGHTS
+}
 
 //
 // =======================================================================================================
@@ -109,7 +125,7 @@ void led()
     beaconLights.off(); // Beacons off
   }
   else {
-    if (!cfg->getescBrakeLights() && ((!cfg->getHP() && getMotorptr(MOTOR1)->brakeActive()) || (cfg->getHP() && getMotorptr(MOTOR2)->brakeActive()) )) { // if braking detected from TB6612FNG motor driver
+    if (!cfg->getescBrakeLights() && ((!cfg->getHP() && motorBrakeActive(MOTOR1)) || (cfg->getHP() && motorBrakeActive(MOTOR2)) )) { // if braking detected from TB6612FNG motor driver
       tailLight.on(); // Brake light (full brightness)
     }
 
diff --git a/src/lights.h b/src/lights.h
index c649938..5efa92a 100644
--- a/src/lights.h
+++ b/src/lights.h
@@ -11,4 +11,6 @@ bool getLeft( void );
 bool getRight( void );
 bool getHazard( void );
 
+void setupLights( void );
+
 #endif //LIGHTSH
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index cb51f66..21edd6e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -10,26 +10,10 @@
 
 const float codeVersion = 3.4; // Software revision (see https://github.com/TheDIYGuy999/Micro_RC_Receiver/blob/master/README.md)
 
-//
-// =======================================================================================================
-// BUILD OPTIONS (comment out unneeded options)
-// =======================================================================================================
-//
-
-//#define DEBUG // if not commented out, Serial.print() is active! For debugging only!!
-
-//
-// =======================================================================================================
-// INCLUDE LIRBARIES
-// =======================================================================================================
-//
 
 // Libraries
-#include <Wire.h> // I2C library (for the MPU-6050 gyro /accelerometer)
-//#include <RF24.h> // Installed via Tools > Board > Boards Manager > Type RF24
-#include <Servo.h>
+#include <Arduino.h>
 #include "vehicleConfig.h"
-// Tabs (header files in sketch directory)
 #include "readVCC.h"
 #include "steeringCurves.h"
 #include "tone.h"
@@ -44,10 +28,8 @@ const float codeVersion = 3.4; // Software revision (see https://github.com/TheD
 #include "balancing.h"
 #include "lights.h"
 
-
-
-
-
+#define CLIENT_ADDRESS 1   
+#define SERVER_ADDRESS 2
 
 //
 // =======================================================================================================
@@ -55,22 +37,25 @@ const float codeVersion = 3.4; // Software revision (see https://github.com/TheD
 // =======================================================================================================
 //
 
+radio_c radio(CLIENT_ADDRESS,PIN_NRF_CE, PIN_NRF_CSN);
+
+
+
 void setup() 
 {
-
+  setupConfig(STANDARDCAR);
+  
   vehicleConfig* cfg = getConfigptr();
-  cfg->begin(COKECANCAR);
-
-  RcData* data = getDataptr();
 
 #ifdef DEBUG  
   Serial.begin(115200);
-  printf_begin();
-  serialCommands = false;
+   #ifdef STM32F1xx
+    USART1->BRR = 0x271;
+  #endif
+  //printf_begin();
+  cfg->serialCommands = false;
   delay(3000);
-#endif
-
-#ifndef DEBUG
+#else
   // If TXO pin or RXI pin is used for other things, disable Serial
   if (cfg->getTXO_momentary1() || cfg->getTXO_toggle1() || cfg->getheadLights()) 
   {
@@ -80,59 +65,22 @@ void setup()
     #endif
     cfg->serialCommands = false;
   }
-  else 
-  { // Otherwise use it for serial commands to the light and sound controller
-
-#ifdef CONFIG_HAS_SBUS
-    SBUS* x8r = getSBUSptr();
-    x8r->begin(); // begin the SBUS communication
-#else
-    Serial.begin(115200); // begin the standart serial communication
-#endif
-    cfg->serialCommands = true;
-  }
 #endif
 
+#ifdef CONFIG_HAS_TONE
   if(cfg->gettoneOut())
   {
     R2D2_tell();
   }
+#endif
+  //setup lights
+  setupLights();
 
-
-  // LED setup
-#ifdef CONFIG_HAS_LIGHTS
-  if (vehicleType == 4 || vehicleType == 5 ) indicators = false; // Indicators use the same pins as the MPU-6050, so they can't be used in vehicleType 4 or 5!
-
-  if (tailLights) tailLight.begin(A1); // A1 = Servo 2 Pin
-  if (headLights) headLight.begin(0); // 0 = RXI Pin
-  if (indicators) {
-    indicatorL.begin(A4); // A4 = SDA Pin
-    indicatorR.begin(A5); // A5 = SCL Pin
-  }
-  if (beacons) beaconLights.begin(A3); // A3 = Servo 4 Pin
-#endif //CONFIG_HAS_LIGHTS
-
-// Radio setup
-#ifdef CONFIG_HAS_NRF24
-  setupRadio();
-#endif //CONFIG_HAS_NRF24
+  // Radio setup
+  radio.begin();
 
   // Servo pins
-#ifdef CONFIG_HAS_SERVO
-  servo1.attach(A0);
-  if (!tailLights) servo2.attach(A1);
-  if (!engineSound && !toneOut) servo3.attach(A2);
-  if (!beacons) servo4.attach(A3);
-#endif //CONFIG_HAS_SERVO
-
-  // All axes to neutral position
-  data->axis1 = 50;
-  data->axis2 = 50;
-  data->axis3 = 50;
-  data->axis4 = 50;
-  data->pot1 = 50; // Added in v3.32
-
-  
+  setupServos();
 
   // Special functions
   if (cfg->getTXO_momentary1() || cfg->getTXO_toggle1()) pinMode(PIN_SPARE1, OUTPUT);
@@ -140,8 +88,9 @@ void setup()
   // Motor driver setup
   setupMotors();
 
-  if (cfg->getvehicleType() == balancingthing || cfg->getvehicleType() == carwithMRSC) { // Only for self balancing vehicles and cars with MRSC
-    // MPU 6050 accelerometer / gyro setup
+  if (cfg->usesMPU()) // Only for self balancing vehicles and cars with MRSC
+  { 
+    // setup MPU 6050 accelerometer / gyro setup
     setupMpu6050();
 
     // PID controller setup
@@ -157,7 +106,8 @@ void setup()
 // =======================================================================================================
 //
 
-void digitalOutputs() {
+void digitalOutputs() 
+{
 
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
@@ -186,8 +136,6 @@ void digitalOutputs() {
 
 
 
-
-
 //
 // =======================================================================================================
 // MAIN LOOP
@@ -196,7 +144,7 @@ void digitalOutputs() {
 
 void loop() {
   // Read radio data from transmitter
-  readRadio();
+  radio.receiveData();
 
   // Write the servo positions
   writeServos();
@@ -214,12 +162,7 @@ void loop() {
   led();
 
   // Send serial commands
-#ifdef CONFIG_HAS_SBUS
-  // Serial commands are transmitted in SBUS standard
-  sendSbusCommands();
-#else
   // Normal protocol (for ESP32 engine sound controller only)
   sendSerialCommands();
-#endif
 }
 
diff --git a/src/motors.cpp b/src/motors.cpp
index b028dd1..4681c0c 100644
--- a/src/motors.cpp
+++ b/src/motors.cpp
@@ -8,8 +8,8 @@
 #include "balancing.h"
 
 
-#include "../lib/MC34933/MC34933.h"  // https://github.com/willumpie82/MC34933
-#include <../lib/PWMFrequency/PWMFrequency.h> // https://github.com/TheDIYGuy999/PWMFrequency
+#include "MC34933.h"
+#include "PWMFrequency.h"
 
 bool isDriving; // is the vehicle driving?
 // Motor objects
@@ -66,8 +66,8 @@ void setupMotors()
 
   // SYNTAX: IN1, IN2, PWM, min. input value, max. input value, neutral position width
   // invert rotation direction true or false
-  Motor1.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
-  Motor2.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
+  Motor2.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
+  Motor1.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
 
   // Motor PWM frequency prescalers (Requires the PWMFrequency.h library)
   // Differential steering vehicles: locked to 984Hz, to make sure, that both motors use 984Hz.
@@ -84,15 +84,25 @@ void setupMotors()
 
 MC34933* getMotorptr(motor_t motor)
 {
-  if(motor==1)
+  switch(motor)
   {
-    return &Motor1;
+    case MOTOR1:
+    {
+      return &Motor1;
+    }
+    break;
+
+    case MOTOR2:
+    {
+      return &Motor2;
+    }
+    break;
+    
+    default:
+    {
+      return NULL;
+    }
   }
-  else
-  {
-    return &Motor2;
-  }
-  
 }
 
 //
@@ -101,6 +111,16 @@ MC34933* getMotorptr(motor_t motor)
 // =======================================================================================================
 //
 
+void motordrive(motor_t motor, int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake)
+{
+   getMotorptr(motor)->drive( controlValue,  minPWM,  maxPWM,  rampTime,  neutralBrake);
+}
+
+bool motorBrakeActive(motor_t motor)
+{
+  return getMotorptr(motor)->brakeActive();
+}
+
 void drive()
 {
   vehicleConfig* cfg = getConfigptr();
@@ -110,7 +130,6 @@ void drive()
     case car:
     {
       driveMotorsCar();
-
     }
     break;
 
@@ -149,7 +168,7 @@ void driveMotorsCar() {
 
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
-  ackPayload* payload = getPayloadptr();
+  //ackPayload* payload = getPayloadptr();
 
   int maxPWM;
   byte maxAcceleration;
@@ -161,7 +180,7 @@ void driveMotorsCar() {
     maxPWM = cfg->getmaxPWMfull(); // Full
   }
 
-  if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
+  if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
 
   // Acceleration & deceleration limitation (ms per 1 step input signal change)
   if (data->mode2) {
@@ -178,7 +197,7 @@ void driveMotorsCar() {
     if (Motor1.drive(data->axis3, cfg->getminPWM(), maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
       UpdatemillisLightOff(); // Reset the headlight delay timer, if the vehicle is driving!
     }
-    if (cfg->getvehicleType() != 5) { // If not car with MSRC stabilty control
+    if (cfg->getvehicleType() != carwithMRSC) { // If not car with MSRC stabilty control
       Motor2.drive(data->axis1, 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
     }
   }
@@ -199,7 +218,7 @@ void driveMotorsForklift() {
 
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
-  ackPayload* payload = getPayloadptr();
+  //ackPayload* payload = getPayloadptr();
 
   int maxPWM;
   byte maxAcceleration;
@@ -211,7 +230,7 @@ void driveMotorsForklift() {
     maxPWM = cfg->getmaxPWMfull(); // Full
   }
 
-  if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
+  if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
 
   // Acceleration & deceleration limitation (ms per 1 step input signal change)
   if (data->mode2) {
@@ -254,7 +273,7 @@ void driveMotorsSteering() {
 
   vehicleConfig* cfg = getConfigptr();
   RcData* data = getDataptr();
-  ackPayload* payload = getPayloadptr();
+  //ackPayload* payload = getPayloadptr();
 
   // The steering overlay
   int steeringFactorLeft=0;
@@ -312,7 +331,7 @@ void driveMotorsSteering() {
   pwm[0] = map(pwm[0], 100, -100, 100, 0); // convert -100 to 100% to 0-100 for motor control
   pwm[1] = map(pwm[1], 100, -100, 100, 0);
 
-  if (!payload->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
+  if (!data->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
     pwm[0] = 0;
     pwm[1] = 0;
   }
diff --git a/src/motors.h b/src/motors.h
index 5801640..f1a280b 100644
--- a/src/motors.h
+++ b/src/motors.h
@@ -1,7 +1,7 @@
 #ifndef MOTORSH
 #define MOTORSH
 
-#include "../lib/MC34933/MC34933.h"  // https://github.com/willumpie82/MC34933
+#include "MC34933.h" 
 
 typedef enum motor_e
 {
@@ -9,6 +9,9 @@ typedef enum motor_e
     MOTOR2
 }motor_t;
 
+// motor wrapper functions
+void motordrive(motor_t motor, int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake);
+bool motorBrakeActive(motor_t motor);
 
 // Motors
 bool getIsDriving();
@@ -20,6 +23,8 @@ void driveMotorsForklift();
 void driveMotorsSteering();
 void drive();
 
-MC34933* getMotorptr(motor_t motor);
+
+
+//MC34933* getMotorptr(motor_t motor);
 
 #endif //MOTORSH
\ No newline at end of file
diff --git a/src/radio.cpp b/src/radio.cpp
deleted file mode 100644
index d901254..0000000
--- a/src/radio.cpp
+++ /dev/null
@@ -1,217 +0,0 @@
-#include <arduino.h>
-#include "radio.h"
-#include "lights.h"
-#include "vehicleConfig.h"
-#include "rc_board.h"
-
-#include "../../lib/SBUS/src/SBUS.h"
-
-// Hardware configuration: Set up nRF24L01 radio on hardware SPI bus & pins 8 (CE) & 7 (CSN)
-#ifdef CONFIG_HAS_NRF24
-  RF24 radio(8, 7);
-#endif
-
-// SBUS object
-#ifdef CONFIG_HAS_SBUS
-  #ifndef DEBUG
-    SBUS x8r(Serial);
-
-    SBUS* getSBUSptr( void ){return &x8r;}
-  #endif
-#endif
-
-RcData data;
-
-RcData* getDataptr(void)
-{
-  return &data;
-}
-// Radio channels (126 channels are supported)
-byte chPointer = 0; // Channel 1 (the first entry of the array) is active by default
-const byte NRFchannel[] {
-  1, 2
-};
-
-// the ID number of the used "radio pipe" must match with the selected ID on the transmitter!
-// 10 ID's are available @ the moment
-const uint64_t pipeIn[] = {
-  0xE9E8F0F0B1LL, 0xE9E8F0F0B2LL, 0xE9E8F0F0B3LL, 0xE9E8F0F0B4LL, 0xE9E8F0F0B5LL,
-  0xE9E8F0F0B6LL, 0xE9E8F0F0B7LL, 0xE9E8F0F0B8LL, 0xE9E8F0F0B9LL, 0xE9E8F0F0B0LL
-};
-const int maxVehicleNumber = (sizeof(pipeIn) / (sizeof(uint64_t)));
-
-ackPayload payload;
-
-ackPayload* getPayloadptr( void )
-{
-  return &payload;
-}
-
-//
-// =======================================================================================================
-// RADIO SETUP
-// =======================================================================================================
-//
-
-void setupRadio() {
-#ifdef CONFIG_HAS_NRF24
-
-  radio.begin();
-  radio.setChannel(NRFchannel[chPointer]);
-
-  // Set Power Amplifier (PA) level to one of four levels: RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
-  radio.setPALevel(RF24_PA_HIGH); // HIGH
-
-  radio.setDataRate(RF24_250KBPS);
-  radio.setAutoAck(pipeIn[vehicleNumber - 1], true); // Ensure autoACK is enabled
-  radio.enableAckPayload();
-  radio.enableDynamicPayloads();
-  radio.setRetries(5, 5);                  // 5x250us delay (blocking!!), max. 5 retries
-  //radio.setCRCLength(RF24_CRC_8);          // Use 8-bit CRC for performance
-
-#ifdef DEBUG
-  radio.printDetails();
-  delay(3000);
-#endif
-
-  radio.openReadingPipe(1, pipeIn[vehicleNumber - 1]);
-  radio.startListening();
-#endif
-}
-
-//
-// =======================================================================================================
-// READ RADIO DATA
-// =======================================================================================================
-//
-
-void readRadio() {
-#ifdef CONFIG_HAS_NRF24
-
-  static unsigned long lastRecvTime = 0;
-  byte pipeNo;
-
-  if (radio.available(&pipeNo)) {
-    radio.writeAckPayload(pipeNo, &payload, sizeof(struct ackPayload) );  // prepare the ACK payload
-    radio.read(&data, sizeof(struct RcData)); // read the radia data and send out the ACK payload
-    hazard = false;
-    lastRecvTime = millis();
-#ifdef DEBUG
-    Serial.print(data.axis1);
-    Serial.print("\t");
-    Serial.print(data.axis2);
-    Serial.print("\t");
-    Serial.print(data.axis3);
-    Serial.print("\t");
-    Serial.print(data.axis4);
-    Serial.println("\t");
-#endif
-  }
-
-  // Switch channel
-  if (millis() - lastRecvTime > 500) {
-    chPointer ++;
-    if (chPointer >= sizeof((*NRFchannel) / sizeof(byte))) chPointer = 0;
-    radio.setChannel(NRFchannel[chPointer]);
-    payload.channel = NRFchannel[chPointer];
-  }
-
-  if (millis() - lastRecvTime > 1000) { // set all analog values to their middle position, if no RC signal is received during 1s!
-    data.axis1 = 50; // Aileron (Steering for car)
-    data.axis2 = 50; // Elevator
-    data.axis3 = 50; // Throttle
-    data.axis4 = 50; // Rudder
-    hazard = true; // Enable hazard lights
-    payload.batteryOk = true; // Clear low battery alert (allows to re-enable the vehicle, if you switch off the transmitter)
-#ifdef DEBUG
-    Serial.println("No Radio Available - Check Transmitter!");
-#endif
-  }
-
-  if (millis() - lastRecvTime > 2000) {
-    setupRadio(); // re-initialize radio
-    lastRecvTime = millis();
-  }
-#endif
-}
-
-
-//
-// =======================================================================================================
-// SBUS COMMANDS TO LIGHT- & SOUND CONTROLLER (if not DEBUG, not TXO_momentary1, not TXO_toggle1, not headLights)
-// =======================================================================================================
-//
-
-void sendSbusCommands() 
-{
-   vehicleConfig* cfg = getConfigptr();
-
-  static unsigned long lastSbusTime;
-  uint16_t channels[16];
-
-  // See: https://github.com/TheDIYGuy999/Rc_Engine_Sound_ESP32
-
-  if (cfg->serialCommands) { // only, if we are in serial command mode
-    if (millis() - lastSbusTime > 14) { // Send the data every 14ms
-      lastSbusTime = millis();
-
-      // Fill SBUS packet with our channels
-
-      // Proportional channels
-      channels[0] = map(data.axis1, 0, 100, 172, 1811);
-      channels[1] = map(data.axis2, 0, 100, 172, 1811);
-      channels[2] = map(data.axis3, 0, 100, 172, 1811);
-      channels[3] = map(data.axis4, 0, 100, 172, 1811);
-      channels[4] = map(data.pot1, 0, 100, 172, 1811);
-
-      // Switches etc.
-      if (data.mode1) channels[5] = 1811; else channels[5] = 172;
-      if (data.mode2) channels[6] = 1811; else channels[6] = 172;
-      if (data.momentary1) channels[7] = 1811; else channels[7] = 172;
-      if (getHazard()) channels[8] = 1811; else channels[8] = 172;
-      if (getLeft()) channels[9] = 1811; else channels[9] = 172;
-      if (getRight()) channels[10] = 1811; else channels[10] = 172;
-
-      // write the SBUS packet
-#ifdef CONFIG_HAS_SBUS
-      x8r.write(&channels[0]);
-#endif
-    }
-  }
-}
-
-//
-// =======================================================================================================
-// SERIAL COMMANDS TO LIGHT- & SOUND CONTROLLER (if not DEBUG, not TXO_momentary1, not TXO_toggle1, not headLights)
-// =======================================================================================================
-//
-
-void sendSerialCommands()
-{
-    vehicleConfig* cfg = getConfigptr();
-
-  static unsigned long lastSerialTime;
-
-  // '\n' is used as delimiter (separator of variables) during parsing on the sound controller
-  // it is generated by the "println" (print line) command!
-  // See: https://github.com/TheDIYGuy999/Rc_Engine_Sound_ESP32
-
-  if (cfg->serialCommands) { // only, if we are in serial command mode
-    if (millis() - lastSerialTime > 20) { // Send the data every 20ms
-      lastSerialTime = millis();
-      Serial.print('<'); // Start marker
-      Serial.println(data.axis1);
-      Serial.println(data.axis2);
-      Serial.println(data.axis3);
-      Serial.println(data.axis4);
-      Serial.println(data.pot1);
-      Serial.println(data.mode1);
-      Serial.println(data.mode2);
-      Serial.println(data.momentary1);
-      Serial.println(getHazard());
-      Serial.println(getLeft());
-      Serial.println(getRight());
-      Serial.print('>'); // End marker
-    }
-  }
-}
diff --git a/src/radio.h b/src/radio.h
deleted file mode 100644
index 53bfcc8..0000000
--- a/src/radio.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef RADIOH
-#define RADIOH
-
-#include <Arduino.h>
-#include "../../lib/SBUS/src/SBUS.h"
-
-
-
-
-// The size of this struct should not exceed 32 bytes
-struct RcData {
-  byte axis1; // Aileron (Steering for car)
-  byte axis2; // Elevator
-  byte axis3; // Throttle
-  byte axis4; // Rudder
-  bool mode1 = false; // Mode1 (toggle speed limitation)
-  bool mode2 = false; // Mode2 (toggle acc. / dec. limitation)
-  bool momentary1 = false; // Momentary push button
-  byte pot1; // Potentiometer
-};
-
-
-// This struct defines data, which are embedded inside the ACK payload
-struct ackPayload {
-  float vcc; // vehicle vcc voltage
-  float batteryVoltage; // vehicle battery voltage
-  bool batteryOk = true; // the vehicle battery voltage is OK!
-  byte channel = 1; // the channel number
-};
-
-
-
-// Function prototypes
-ackPayload* getPayloadptr( void );
-RcData* getDataptr(void);
-void readRadio( void );
-void setupRadio( void );
-
-void sendSerialCommands( void );
-SBUS* getSBUSptr( void );
-void sendSbusCommands( void );
-
-
-#endif // RADIOH
\ No newline at end of file
diff --git a/src/rc_board.h b/src/rc_board.h
index e6257f4..f1ec8b5 100644
--- a/src/rc_board.h
+++ b/src/rc_board.h
@@ -2,8 +2,8 @@
 #define RCBOARDH
 
 //#define CONFIG_HAS_TONE
-//#define CONFIG_HAS_NRF24
-#define CONFIG_HAS_SBUS
+#define CONFIG_HAS_NRF24
+//#define CONFIG_HAS_SBUS
 //#define CONFIG_HAS_LIGHTS
 //#define CONFIG_HAS_SERVO
 
diff --git a/src/servos.cpp b/src/servos.cpp
index 69b4679..431e355 100644
--- a/src/servos.cpp
+++ b/src/servos.cpp
@@ -7,6 +7,16 @@
 // =======================================================================================================
 //
 
+void setupServos( void )
+{
+#ifdef CONFIG_HAS_SERVO
+  servo1.attach(A0);
+  if (!tailLights) servo2.attach(A1);
+  if (!engineSound && !toneOut) servo3.attach(A2);
+  if (!beacons) servo4.attach(A3);
+#endif //CONFIG_HAS_SERVO
+}
+
 void writeServos() 
 {
 #ifdef CONFIG_HAS_SERVO
diff --git a/src/servos.h b/src/servos.h
index 1e8a0ab..517d27b 100644
--- a/src/servos.h
+++ b/src/servos.h
@@ -1,6 +1,7 @@
 #ifndef SERVOSH
 #define SERVOSH
 
-void writeServos();
+void writeServos( void );
+void setupServos( void );
 
 #endif //SERVOSH
\ No newline at end of file
diff --git a/src/vehicleConfig.cpp b/src/vehicleConfig.cpp
index 40f8598..99c6dae 100644
--- a/src/vehicleConfig.cpp
+++ b/src/vehicleConfig.cpp
@@ -89,14 +89,19 @@ vehicleConfig* getConfigptr( void )
   return &cfg;
 }
 
+void setupConfig(vehicleconfig_t type)
+{
+  cfg.begin(type);
+}
+
 void vehicleConfig::begin(vehicleconfig_t vehicle)
 {
   switch (vehicle)
   {
     case COKECANCAR:
     {
-      setBasicParams(true,3.6,1.3,false,6,carwithMRSC,false,false);
-      setIndicators(false,false,true,false,false);
+      setBasicParams(false,3.6,1.3,false,6,carwithMRSC,false,false);
+      setIndicators(false,false,false,false,false);
       setServoLimits(45,135,45,135,45,135,75,105,45,135);
       setMotorConfig(255,170,0,3,12,0,160,1);
     } 
diff --git a/src/vehicleConfig.h b/src/vehicleConfig.h
index 8251ea1..090fef4 100644
--- a/src/vehicleConfig.h
+++ b/src/vehicleConfig.h
@@ -2,6 +2,7 @@
 #ifndef vehicleConfig_h
 #define vehicleConfig_h
 
+
 typedef enum vehicleconfig_e
 {
   STANDARDCAR,
@@ -175,9 +176,12 @@ public:
   bool getengineSound(){ return m_engineSound;}
   bool gettoneOut(){ return m_toneOut;}
 
+  bool usesMPU( void ){return (getvehicleType() == balancingthing || getvehicleType() == carwithMRSC); }
+
 }; //class vehicleConfig
 
 vehicleConfig* getConfigptr( void );
+void setupConfig(vehicleconfig_t type);
 
 
 #endif