diff --git a/README.md b/README.md
index 3224b46..b5c95d5 100644
--- a/README.md
+++ b/README.md
@@ -92,21 +92,26 @@ A diagram which shows what components are connected to which terminals of the pc
 - Anti slip regulation
 - Self driving algorithm
 - Lights
+- drinks holder
 
 
 
 # Usage
 ## Switch functions
 **Currently implemented**
-| Count | Action |
-| --- | ---|
-| 1 | |
-| 2 | toggle IDLE mode |
-| 3 | |
-| 4 | toggle between HTTP and JOYSTICK mode|
-| 5 | |
-| 6 | toggle between MASSAGE and JOYSTICK mode |
-| 7 | |
+| Count | Type | Action | Description |
+| --- | --- | --- | --- |
+| 1x | configure | [JOYSTICK] **calibrate stick** | when in joystick mode: set joystick center to current joystick pos |
+| 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position |
+| 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout |
+| 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK |
+| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app' or back to JOYSTICK mode |
+| 5x | | | |
+| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode |
+| 7x | | | |
+| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive |
+| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second | 
+
 
 
 **previous functions - not implemented**
diff --git a/main/button.cpp b/main/button.cpp
index 7b6f5cd..5eada13 100644
--- a/main/button.cpp
+++ b/main/button.cpp
@@ -43,14 +43,20 @@ void buttonCommands::action (uint8_t count){
             buzzer->beep(3, 400, 100);
             break;
 
-        case 1:
-            //ESP_LOGW(TAG, "RESTART");
-            //buzzer->beep(1,1000,1);
-            //vTaskDelay(1000 / portTICK_PERIOD_MS);
-            //esp_restart();
+        case 0: //special case when last button press is longer than timeout (>1s)
+            ESP_LOGW(TAG, "RESTART");
+            buzzer->beep(1,1000,1);
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+            esp_restart();
 
+        case 1:
             ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
-            control->sendButtonEvent(count);
+            control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
+            break;
+
+        case 3:
+            ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
+            control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
             break;
 
         case 2:
@@ -123,9 +129,16 @@ void buttonCommands::startHandleLoop() {
                     state = inputState_t::IDLE;
                     buzzer->beep(count, 50, 50);
                     //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
-                    //run action function with current count of button presses
                     ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
-                    action(count);
+                    //--- run action function ---
+                    //check if still pressed
+                    if (button->state == true){
+                        //run special case when last press was longer than timeout
+                        action(0); 
+                    } else {
+                        //run action function with current count of button presses
+                        action(count);
+                    }
                 }
                 break;
         }
diff --git a/main/joystick.cpp b/main/joystick.cpp
index 64bbf1c..cb9c90b 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -456,6 +456,7 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
                     stickQuadrant = joystickPos_t::BOTTOM_RIGHT;
                 }
             }
+            break;
 
         case joystickPos_t::X_AXIS:
             //when moving from center to axis initially start in a certain quadrant
@@ -480,7 +481,7 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
 
 
 
-    //--- handle different modes (joystich in any of 4 quadrants) ---
+    //--- handle different modes (joystick in any of 4 quadrants) ---
     switch (stickQuadrant){
         case joystickPos_t::CENTER:
         case joystickPos_t::X_AXIS: //never true