diff --git a/src/main.c b/src/main.c
index 8cca6a7f..264dfa7a 100644
--- a/src/main.c
+++ b/src/main.c
@@ -106,33 +106,38 @@ void link_pid(){
 	set_hal_pin("pid0.volt", 60.0);
 	set_hal_pin("p2uvw0.poles", 1.0);
 	set_hal_pin("pid0.enable", 1.0);
-}
-
-void link_ac_sync_res(){
-	link_pid();
-	// cmd
-	link_hal_pins("enc0.pos0", "net0.cmd");
-	// fb
-	link_hal_pins("res0.pos", "net0.fb");
-}
-
-void link_ac_sync_enc(){
-	link_pid();
-	// cmd
-	link_hal_pins("enc0.pos0", "net0.cmd");
+	
+	
 	link_hal_pins("pid0.pwm_cmd", "cauto0.pwm_in");
 	link_hal_pins("cauto0.pwm_out", "p2uvw0.pwm");
 
 	// magpos
 	link_hal_pins("cauto0.mag_pos_out", "p2uvw0.magpos");
-	link_hal_pins("enc0.pos1", "cauto0.fb_in");
 	link_hal_pins("cauto0.fb_out", "net0.fb");
 }
 
+void link_ac_sync_res(){
+	link_pid();
+	link_hal_pins("enc0.pos0", "net0.cmd");
+	link_hal_pins("res0.pos", "cauto0.fb_in");
+}
+
+void link_ac_sync_enc(){
+	link_pid();
+	link_hal_pins("enc0.pos0", "net0.cmd");
+	link_hal_pins("enc0.pos1", "cauto0.fb_in");
+}
+
 void set_bosch(){
 	link_ac_sync_res();
 	// pole count
-	set_hal_pin("auto0.pole_count", 4.0);
+	set_hal_pin("cauto0.pole_count", 4.0);
+
+	// auto time
+	set_hal_pin("cauto0.time", 0.5);
+
+	// auto scale
+	set_hal_pin("cauto0.scale", 0.6);
 
 	set_hal_pin("pderiv0.in_lp", 1);
 	set_hal_pin("pderiv0.out_lp", 1);
@@ -156,6 +161,50 @@ void set_bosch(){
 	set_hal_pin("pid0.vel_max", 1000.0 / 60.0 * 2.0 * M_PI);
 	set_hal_pin("pid0.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005);
 }
+
+void set_festo(){
+	link_ac_sync_res();
+
+	set_hal_pin("enc0.res0", 2000.0);
+	set_hal_pin("res0.enable", 1.0);
+	set_hal_pin("pderiv0.in_lp", 1);
+	set_hal_pin("pderiv0.out_lp", 1);
+	set_hal_pin("pderiv0.vel_max", 13000.0 / 60.0 * 2.0 * M_PI);
+	set_hal_pin("pderiv0.acc_max", 13000.0 / 60.0 * 2.0 * M_PI / 0.005);
+
+	// fb
+	set_hal_pin("res0.enable", 1.0);
+	set_hal_pin("pderiv1.in_lp", 1);
+	set_hal_pin("pderiv1.out_lp", 1);
+	set_hal_pin("pderiv1.vel_max", 13000.0 / 60.0 * 2.0 * M_PI);
+	set_hal_pin("pderiv1.acc_max", 13000.0 / 60.0 * 2.0 * M_PI / 0.005);
+
+	set_hal_pin("pderiv0.out_lp", 0.5);
+	// pole count
+	set_hal_pin("cauto0.pole_count", 4.0);
+
+	// auto time
+	set_hal_pin("cauto0.time", 0.5);
+
+	// auto scale
+	set_hal_pin("cauto0.scale", 0.6);
+
+	// pid
+	set_hal_pin("pid0.pos_p", 35.0);
+	set_hal_pin("pid0.vel_p", 1.0);
+	set_hal_pin("pid0.vel_i", 50.0);
+	set_hal_pin("pid0.pos_lp", 1.0);
+	set_hal_pin("pid0.force_p", 1.0);
+	set_hal_pin("pid0.cur_ind", 2.34);
+	set_hal_pin("pid0.pos_lp", 1.0);
+	set_hal_pin("pid0.vel_lp", 1.0);
+	set_hal_pin("pid0.cur_ff", 28.0);//dc wicklungswiederstand
+	set_hal_pin("pid0.vel_d", 0.0);
+
+	set_hal_pin("pid0.vel_max", 13000.0 / 60.0 * 2.0 * M_PI);
+	set_hal_pin("pid0.acc_max", 13000.0 / 60.0 * 2.0 * M_PI / 0.005);
+}
+
 void set_manutec(){
 	link_ac_sync_enc();
 	
@@ -329,7 +378,8 @@ int main(void)
 	TIM_Cmd(TIM4, ENABLE);//PWM
 
 
-	set_bergerlahr();
+	//set_bergerlahr();
+	set_festo();
 	link_hal_pins("cauto0.ready", "led0.g");
 	link_hal_pins("cauto0.start", "led0.r");
 	//link_hal_pins("led0.g", "test0.test2");