diff --git a/connection-plan.drawio.pdf b/connection-plan.drawio.pdf
index 6e266c9..299be63 100644
Binary files a/connection-plan.drawio.pdf and b/connection-plan.drawio.pdf differ
diff --git a/main/config.cpp b/main/config.cpp
index 518eff5..4dd861f 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -1,9 +1,9 @@
 #include "config.hpp"
 
-//-----------------------------------
-//------- motor configuration -------
-//-----------------------------------
-//--- configure left motor ---
+//===================================
+//======= motor configuration =======
+//===================================
+//--- configure left motor (hardware) ---
 single100a_config_t configDriverLeft = {
     .gpio_pwm = GPIO_NUM_26,
     .gpio_a = GPIO_NUM_16,
@@ -16,7 +16,7 @@ single100a_config_t configDriverLeft = {
     .pwmFreq = 10000
 };
 
-//--- configure right motor ---
+//--- configure right motor (hardware) ---
 single100a_config_t configDriverRight = {
     .gpio_pwm = GPIO_NUM_27,
     .gpio_a = GPIO_NUM_2,
@@ -29,8 +29,9 @@ single100a_config_t configDriverRight = {
     .pwmFreq = 10000
 };
 
+
 //TODO add motor name string -> then use as log tag?
-//--- configure motor contol ---
+//--- configure left motor (contol) ---
 motorctl_config_t configMotorControlLeft = {
     .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
     .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
@@ -39,6 +40,8 @@ motorctl_config_t configMotorControlLeft = {
 	.currentSensor_ratedCurrent = 50,
     .currentMax = 30
 };
+
+//--- configure right motor (contol) ---
 motorctl_config_t configMotorControlRight = {
     .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
     .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
@@ -48,15 +51,11 @@ motorctl_config_t configMotorControlRight = {
     .currentMax = 30
 };
 
-//create controlled motor instances
-controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
-controlledMotor motorRight(configDriverRight, configMotorControlRight);
 
 
-
-//------------------------------
-//------- control config -------
-//------------------------------
+//==============================
+//======= control config =======
+//==============================
 control_config_t configControl = {
     .defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
     //--- timeout ---    
@@ -68,9 +67,9 @@ control_config_t configControl = {
 
 
 
-//-------------------------------
-//----- httpJoystick config -----
-//-------------------------------
+//===============================
+//===== httpJoystick config =====
+//===============================
 httpJoystick_config_t configHttpJoystickMain{
     .toleranceZeroX_Per = 1,  //percentage around joystick axis the coordinate snaps to 0
     .toleranceZeroY_Per = 6,
@@ -80,9 +79,9 @@ httpJoystick_config_t configHttpJoystickMain{
 
 
 
-//--------------------------------------
-//------- joystick configuration -------
-//--------------------------------------
+//======================================
+//======= joystick configuration =======
+//======================================
 joystick_config_t configJoystick = {
     .adc_x = ADC1_CHANNEL_3, //GPIO39
     .adc_y = ADC1_CHANNEL_0, //GPIO36
@@ -106,9 +105,9 @@ joystick_config_t configJoystick = {
 
 
 
-//----------------------------
-//--- configure fan contol ---
-//----------------------------
+//============================
+//=== configure fan contol ===
+//============================
 fan_config_t configCooling = {
     .gpio_fan = GPIO_NUM_13,
     .dutyThreshold = 40,
@@ -119,10 +118,17 @@ fan_config_t configCooling = {
 
 
 
+
 //=================================
 //===== create global objects =====
 //=================================
-//create global joystic instance
+//TODO outsource global variables to e.g. global.cpp and only config options here?
+
+//create controlled motor instances (motorctl.hpp)
+controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
+controlledMotor motorRight(configDriverRight, configMotorControlRight);
+
+//create global joystic instance (joystick.hpp)
 evaluatedJoystick joystick(configJoystick);
 
 //create global evaluated switch instance for button next to joystick
@@ -131,13 +137,13 @@ gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_25, true, false); //pullup true, no
 //create buzzer object on pin 12 with gap between queued events of 100ms 
 buzzer_t buzzer(GPIO_NUM_12, 100);
 
-//create global httpJoystick object
+//create global httpJoystick object (http.hpp)
 httpJoystick httpJoystickMain(configHttpJoystickMain);
 
-//create global control object
+//create global control object (control.hpp)
 controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
 
-//create global automatedArmchair object (for auto-mode)
+//create global automatedArmchair object (for auto-mode) (auto.hpp)
 automatedArmchair armchair;
 
 
diff --git a/main/config.hpp b/main/config.hpp
index e81734e..2ea0b24 100644
--- a/main/config.hpp
+++ b/main/config.hpp
@@ -17,6 +17,8 @@
 //#define JOYSTICK_LOG_IN_IDLE
 
 
+//TODO outsource global variables to e.g. global.cpp and only config options here?
+
 //create global controlledMotor instances for both motors
 extern controlledMotor motorLeft;
 extern controlledMotor motorRight;
diff --git a/main/control.cpp b/main/control.cpp
index ebd4ea8..fc9e4e3 100644
--- a/main/control.cpp
+++ b/main/control.cpp
@@ -5,7 +5,6 @@ extern "C"
 #include "esp_log.h"
 #include "freertos/queue.h"
 
-
 //custom C libraries
 #include "wifi.h"
 }
@@ -20,9 +19,9 @@ extern "C"
 
 //tag for logging
 static const char * TAG = "control";
-
 const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO"};
 
+
 //-----------------------------
 //-------- constructor --------
 //-----------------------------
@@ -55,9 +54,9 @@ controlledArmchair::controlledArmchair (
 //---------- Handle loop -----------
 //----------------------------------
 //function that repeatedly generates motor commands depending on the current mode
+//also handles fading and current-limit
 void controlledArmchair::startHandleLoop() {
     while (1){
-
         ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]);
 
         switch(mode) {
@@ -65,7 +64,6 @@ void controlledArmchair::startHandleLoop() {
                 mode = controlMode_t::IDLE;
                 break;
 
-
             case controlMode_t::IDLE:
                 //copy preset commands for idling both motors
                 commands = cmds_bothMotorsIdle;
@@ -77,7 +75,6 @@ void controlledArmchair::startHandleLoop() {
 				//since loglevel is DEBUG, calculateion details is output
                 joystick_l->getData(); //get joystick data here
 #endif
-
                 break;
 
 
@@ -109,7 +106,6 @@ void controlledArmchair::startHandleLoop() {
                 //apply motor commands
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
-
                 break;
 
 
@@ -173,11 +169,12 @@ void controlledArmchair::startHandleLoop() {
                break;
 
 
-              //  //TODO: add other modes here
+              //TODO: add other modes here
         }
 
 
         //--- run actions based on received button button event ---
+		//note: buttonCount received by sendButtonEvent method called from button.cpp
         //TODO: what if variable gets set from other task during this code? -> mutex around this code
         switch (buttonCount) {
             case 1: //define joystick center or freeze input
@@ -385,7 +382,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 #ifdef JOYSTICK_LOG_IN_IDLE
 			esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
 #endif
-
 			break;
 
         case controlMode_t::HTTP:
@@ -428,6 +424,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
 }
 
 
+//TODO simplify the following 3 functions? can be replaced by one?
 
 //-----------------------------------
 //----------- toggleIdle ------------
@@ -445,7 +442,6 @@ void controlledArmchair::toggleIdle() {
 //------------------------------------
 //function to toggle between two modes, but prefer first argument if entirely different mode is currently active
 void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) {
-
     //switch to secondary mode when primary is already active
     if (mode == modePrimary){
         ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]);
diff --git a/main/control.hpp b/main/control.hpp
index 9715a33..8ed1e66 100644
--- a/main/control.hpp
+++ b/main/control.hpp
@@ -15,10 +15,11 @@ enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
 //string array representing the mode enum (for printing the state as string)
 extern const char* controlModeStr[7];
 
+//--- control_config_t ---
 //struct with config parameters
 typedef struct control_config_t {
     controlMode_t defaultMode;  //default mode after startup and toggling IDLE
-    //--- timeout ---
+    //timeout options
     uint32_t timeoutMs;         //time of inactivity after which the mode gets switched to IDLE
     float timeoutTolerancePer;  //percentage the duty can vary between timeout checks considered still inactive
 } control_config_t;
@@ -55,6 +56,7 @@ class controlledArmchair {
 
         //function that toggles between two modes, but prefers first argument if entirely different mode is currently active
         void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
+
         //toggle between certain mode and previous mode
         void toggleMode(controlMode_t modePrimary);
 
diff --git a/main/fan.cpp b/main/fan.cpp
index eeafb99..2ff094e 100644
--- a/main/fan.cpp
+++ b/main/fan.cpp
@@ -21,7 +21,6 @@ controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f,
 	//copy pointer to motor objects
 	motor1 = motor1_f;
 	motor2 = motor2_f;
-
 	//initialize gpio pin
 	gpio_pad_select_gpio(config.gpio_fan);
 	gpio_set_direction(config.gpio_fan, GPIO_MODE_OUTPUT);
@@ -33,10 +32,11 @@ controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f,
 //--------- handle ---------
 //--------------------------
 void controlledFan::handle(){
-	//get current state of the motor
+	//get current state of the motor (motorctl.cpp)
 	motor1Status = motor1->getStatus();
 	motor2Status = motor2->getStatus();
 
+	//--- handle duty threshold ---
 	//update timestamp if any threshold exceeded
 	if (motor1Status.duty > config.dutyThreshold
 			|| motor2Status.duty > config.dutyThreshold){ //TODO add temperature threshold
@@ -49,8 +49,7 @@ void controlledFan::handle(){
 		needsCooling = false;
 	}
 
-
-	//turn off condition
+	//--- turn off condition ---
 	if (fanRunning
 			&& !needsCooling //no more cooling required
 			&& (motor1Status.duty == 0) && (motor2Status.duty == 0) //both motors are off 
@@ -62,7 +61,7 @@ void controlledFan::handle(){
 		ESP_LOGI(TAG, "turned fan OFF gpio=%d, minOnMs=%d, WasOnMs=%d", (int)config.gpio_fan, config.minOnMs, esp_log_timestamp()-timestamp_turnedOn);
 	}
 
-	//turn on condition
+	//--- turn on condition ---
 	if (!fanRunning
 			&& needsCooling
 			&& ((esp_log_timestamp() - timestamp_turnedOff) > config.minOffMs) //fans off long enough
diff --git a/main/fan.hpp b/main/fan.hpp
index a17c9b4..ca1de2b 100644
--- a/main/fan.hpp
+++ b/main/fan.hpp
@@ -8,7 +8,7 @@ extern "C"
 #include "motorctl.hpp"
 
 
-
+//--- fan_config_t ---
 //struct with all config parameters for a fan
 typedef struct fan_config_t {
     gpio_num_t gpio_fan;
@@ -29,7 +29,7 @@ class controlledFan {
         controlledFan (fan_config_t config_f, controlledMotor* motor1_f, controlledMotor* motor2_f );
 
         //--- functions ---
-        void handle();
+        void handle(); //has to be run repeatedly in a slow loop
 
 
     private:
diff --git a/main/http.cpp b/main/http.cpp
index 0c76184..29964e4 100644
--- a/main/http.cpp
+++ b/main/http.cpp
@@ -22,12 +22,10 @@ static httpd_handle_t server = NULL;
 
 
 
-//joystickData_t http_readFromJoystickQueue
-
-
 //==============================
 //===== start mdns service =====
 //==============================
+//TODO: test this, not working?
 //function that initializes and starts mdns server for host discovery
 void start_mdns_service()
 {
@@ -39,7 +37,6 @@ void start_mdns_service()
 
 
 
-
 //===========================
 //======= default url =======
 //===========================
@@ -96,7 +93,6 @@ static esp_err_t on_default_url(httpd_req_t *req)
 
 
 
-
 //==============================
 //===== httpJoystick class =====
 //==============================
@@ -106,8 +102,6 @@ static esp_err_t on_default_url(httpd_req_t *req)
 httpJoystick::httpJoystick( httpJoystick_config_t config_f ){
     //copy config struct
     config = config_f;
-    //initialize queue for joystick data
-    QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
 }
 
 
@@ -207,7 +201,6 @@ joystickData_t httpJoystick::getData(){
 }
 
 
-
 //--------------------------------------------
 //--- receiveHttpData for httpJoystickMain ---
 //--------------------------------------------
@@ -223,7 +216,6 @@ esp_err_t on_joystick_url(httpd_req_t *req){
 
 
 
-
 //============================
 //===== init http server =====
 //============================
@@ -231,36 +223,34 @@ esp_err_t on_joystick_url(httpd_req_t *req){
 void http_init_server()
 {
 
-    //configure webserver
+  //---- configure webserver ----
   httpd_config_t config = HTTPD_DEFAULT_CONFIG();
   config.uri_match_fn = httpd_uri_match_wildcard;
 
-  //start webserver
+  //---- start webserver ----
   ESP_ERROR_CHECK(httpd_start(&server, &config));
 
 
-  //---------------------------
-  //------- define URLs -------
-  //---------------------------
-  httpd_uri_t joystick_url = {
-      .uri = "/api/joystick",
-      .method = HTTP_POST,
-      .handler = on_joystick_url,
-      };
+  //----- define URLs -----
+  httpd_uri_t joystick_url;
+  joystick_url.uri = "/api/joystick";
+  joystick_url.method = HTTP_POST;
+  joystick_url.handler = on_joystick_url;
   httpd_register_uri_handler(server, &joystick_url);
 
-  httpd_uri_t default_url = {
-      .uri = "/*",
-      .method = HTTP_GET,
-      .handler = on_default_url};
+  httpd_uri_t default_url;
+  default_url.uri = "/*";
+  default_url.method = HTTP_GET;
+  default_url.handler = on_default_url;
   httpd_register_uri_handler(server, &default_url);
 
-//  httpd_uri_t socket_joystick_url = {
-//      .uri = "/ws-api/joystick",
-//      .method = HTTP_GET,
-//      .handler = on_socket_joystick_url,
-//      .is_websocket = true};
-//  httpd_register_uri_handler(server, &socket_joystick_url);
+  //previous approach with sockets:
+    //  httpd_uri_t socket_joystick_url = {
+    //      .uri = "/ws-api/joystick",
+    //      .method = HTTP_GET,
+    //      .handler = on_socket_joystick_url,
+    //      .is_websocket = true};
+    //  httpd_register_uri_handler(server, &socket_joystick_url);
 
 }
 
diff --git a/main/http.hpp b/main/http.hpp
index eab53ef..71d4656 100644
--- a/main/http.hpp
+++ b/main/http.hpp
@@ -9,7 +9,6 @@ extern "C"
 
 
 
-
 //============================
 //===== init http server =====
 //============================
diff --git a/main/joystick.cpp b/main/joystick.cpp
index 5afa019..c282ea6 100644
--- a/main/joystick.cpp
+++ b/main/joystick.cpp
@@ -1,3 +1,7 @@
+extern "C" {
+#include "hal/timer_types.h"
+}
+
 #include "joystick.hpp"
 
 
@@ -22,7 +26,6 @@ evaluatedJoystick::evaluatedJoystick(joystick_config_t config_f){
 
 
 
-
 //----------------------------
 //---------- init ------------
 //----------------------------
@@ -34,7 +37,7 @@ void evaluatedJoystick::init(){
     //FIXME: the following two commands each throw error 
     //"ADC: adc1_lock_release(419): adc1 lock release called before acquire"
     //note: also happens for each get_raw for first call of readAdc function
-    //when run in main function that does not happen
+    //when run in main function that does not happen -> move init from constructor to be called in main
     adc1_config_channel_atten(config.adc_x, ADC_ATTEN_DB_11); //max voltage
     adc1_config_channel_atten(config.adc_y, ADC_ATTEN_DB_11); //max voltage
 
@@ -44,7 +47,6 @@ void evaluatedJoystick::init(){
 
 
 
-
 //-----------------------------
 //--------- readAdc -----------
 //-----------------------------
@@ -54,7 +56,7 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
     int adc_reading = 0;
     for (int i = 0; i < 16; i++) {
         adc_reading += adc1_get_raw(adc_channel);
-		//TODO add delay for actual average
+		ets_delay_us(50);
     }
     adc_reading = adc_reading / 16;
 
@@ -68,7 +70,6 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
 
 
 
-
 //-------------------------------
 //---------- getData ------------
 //-------------------------------
@@ -85,7 +86,6 @@ joystickData_t evaluatedJoystick::getData() {
 	ESP_LOGD(TAG, "X: adc-raw=%d \tadc-conv=%d \tmin=%d \t max=%d \tcenter=%d \tinverted=%d => x=%.3f",
         adc1_get_raw(config.adc_x), adcRead,  config.x_min, config.x_max, x_center, config.x_inverted, x);
 
-
     ESP_LOGV(TAG, "getting Y coodrinate...");
 	adcRead = readAdc(config.adc_y, config.y_inverted);
     float y = scaleCoordinate(adcRead, config.y_min, config.y_max, y_center,  config.tolerance_zeroY_per, config.tolerance_end_per);
@@ -111,7 +111,6 @@ joystickData_t evaluatedJoystick::getData() {
 
 
 
-
 //----------------------------
 //------ defineCenter --------
 //----------------------------
@@ -127,8 +126,6 @@ void evaluatedJoystick::defineCenter(){
 
 
 
-
-
 //==============================
 //====== scaleCoordinate =======
 //==============================
@@ -168,7 +165,6 @@ float scaleCoordinate(float input, float min, float max, float center, float tol
     ESP_LOGD(TAG, "scaling: in=%.3f coordinate=%.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end);
     //return coordinate (-1 to 1)
     return coordinate;
-
 }
 
 
@@ -225,11 +221,12 @@ float scaleLinPoint(float value, float pointX, float pointY){
         return -result;
     }
 }
+
 //function that updates a joystickData object with linear scaling applied to coordinates
 //e.g. use to use more joystick resolution for lower speeds
 //TODO rename this function to more general name (scales not only coordinates e.g. adjusts radius, in future angle...)
 void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY){
-    // --- scale x and y coordinate ---
+    // --- scale x and y coordinate --- DISABLED
 	/*
     data->x = scaleLinPoint(data->x, pointX, pointY);
     data->y = scaleLinPoint(data->y, pointX, pointY);
@@ -243,6 +240,7 @@ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float
 	//note: issue with scaling X, Y coordinates:
 	//  - messed up radius calculation - radius never gets 1 at diagonal positions
 	//==> only scaling radius as only speed should be more acurate at low radius:
+	//TODO make that clear and rename function, since it does not scale coordinates - just radius
 	
 	//--- scale radius ---
 	data-> radius = scaleLinPoint(data->radius, pointX, pointY);
@@ -301,7 +299,6 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
 //function that generates commands for both motors from the joystick data
 motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
 
-
     //struct with current data of the joystick
     //typedef struct joystickData_t {
     //    joystickPos_t position;
@@ -311,7 +308,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
     //    float angle;
     //} joystickData_t;
 
-
+	//--- variables ---
     motorCommands_t commands;
     float dutyMax = 90; //TODO add this to config, make changeable during runtime
 
@@ -319,7 +316,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
     float dutyRange = dutyMax - dutyOffset;
     float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
 	
-	//snap ratio to max at threshold (-> more joystick area where inner wheel is off when turning)
+	//--- snap ratio to max at angle threshold --- 
+	//(-> more joystick area where inner wheel is off when turning)
 	/*
 	//FIXME works, but armchair unsusable because of current bug with motor driver (inner motor freezes after turn)
 	float ratioClipThreshold = 0.3;
@@ -328,7 +326,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
 	//TODO subtract this clip threshold from available joystick range at ratio usage
 	*/
 
-    //experimental alternative control mode
+    //--- experimental alternative control mode ---
     if (altStickMapping == true){
         //swap BOTTOM_LEFT and BOTTOM_RIGHT
         if (data.position == joystickPos_t::BOTTOM_LEFT){
@@ -339,6 +337,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
         }
     }
 
+	//--- handle all positions ---
+	//define target direction and duty according to position
     switch (data.position){
 
         case joystickPos_t::CENTER:
@@ -466,9 +466,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
         shake_timestamp_turnedOff = esp_log_timestamp();
     }
 
-
-
-
     //struct with current data of the joystick
     //typedef struct joystickData_t {
     //    joystickPos_t position;
@@ -478,7 +475,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
     //    float angle;
     //} joystickData_t;
 
-
     //--- evaluate stick position --- 
     //4 quadrants and center only - with X and Y axis as hysteresis
     switch (data.position){
@@ -521,7 +517,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
     }
 
 
-
     //--- handle different modes (joystick in any of 4 quadrants) ---
     switch (stickQuadrant){
         case joystickPos_t::CENTER:
diff --git a/main/joystick.hpp b/main/joystick.hpp
index 80572b5..dc12b15 100644
--- a/main/joystick.hpp
+++ b/main/joystick.hpp
@@ -11,7 +11,7 @@ extern "C"
 }
 
 #include <cmath>
-#include "motorctl.hpp" //for deklaration of motorCommands_t struct
+#include "motorctl.hpp" //for declaration of motorCommands_t struct
 
 
 //======================================
@@ -23,7 +23,7 @@ extern "C"
 // - defines an enum with position information
 
 //--------------------------------------------
-//---- struct, enum, variable deklarations ---
+//---- struct, enum, variable declarations ---
 //--------------------------------------------
 //struct with all required configuration parameters
 typedef struct joystick_config_t {
@@ -51,13 +51,11 @@ typedef struct joystick_config_t {
 } joystick_config_t;
 
 
-
 //enum for describing the position of the joystick
 enum class joystickPos_t {CENTER, Y_AXIS, X_AXIS, TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT};
 extern const char* joystickPosStr[7];
 
 
-
 //struct with current data of the joystick
 typedef struct joystickData_t {
     joystickPos_t position;
@@ -100,8 +98,6 @@ class evaluatedJoystick {
 
 
 
-
-
 //============================================
 //========= joystick_CommandsDriving =========
 //============================================
diff --git a/main/main.cpp b/main/main.cpp
index 15600ee..05e7653 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -61,6 +61,7 @@ void task_buzzer( void * pvParameters ){
 //=======================================
 //============ control task =============
 //=======================================
+//task that controls the armchair modes and initiates commands generation and applies them to driver
 void task_control( void * pvParameters ){
     ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
     //start handle loop (control object declared in config.hpp)
@@ -72,6 +73,7 @@ void task_control( void * pvParameters ){
 //======================================
 //============ button task =============
 //======================================
+//task that handles the button interface/commands
 void task_button( void * pvParameters ){
     ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
     //create button instance
@@ -85,6 +87,7 @@ void task_button( void * pvParameters ){
 //=======================================
 //============== fan task ===============
 //=======================================
+//task that controlls fans for cooling the drivers
 void task_fans( void * pvParameters ){
     ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
     //create fan instances with config defined in config.cpp
@@ -92,7 +95,7 @@ void task_fans( void * pvParameters ){
     //repeatedly run fan handle function in a slow loop
     while(1){
         fan.handle();
-        vTaskDelay(1000 / portTICK_PERIOD_MS);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
     }
 }
 
@@ -121,20 +124,10 @@ void init_spiffs(){
 
 
 
-//=================================
-//=========== app_main ============
-//=================================
-extern "C" void app_main(void) {
-    //enable 5V volate regulator
-    gpio_pad_select_gpio(GPIO_NUM_17);                                                  
-    gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
-    gpio_set_level(GPIO_NUM_17, 1);                                                      
-
-
-
-    //-------------------------------
-    //---------- log level ----------
-    //-------------------------------
+//==================================
+//======== define loglevels ========
+//==================================
+void setLoglevels(void){
     //set loglevel for all tags:
     esp_log_level_set("*", ESP_LOG_WARN);
 
@@ -152,7 +145,21 @@ extern "C" void app_main(void) {
     esp_log_level_set("http", ESP_LOG_INFO);
     esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
     //esp_log_level_set("current-sensors", ESP_LOG_INFO);
+}
 
+
+
+//=================================
+//=========== app_main ============
+//=================================
+extern "C" void app_main(void) {
+    //enable 5V volate regulator
+    gpio_pad_select_gpio(GPIO_NUM_17);                                                  
+    gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
+    gpio_set_level(GPIO_NUM_17, 1);                                                      
+
+    //---- define log levels ----
+	setLoglevels();
     
     //----------------------------------------------
     //--- create task for controlling the motors ---
@@ -187,7 +194,6 @@ extern "C" void app_main(void) {
     //beep at startup
     buzzer.beep(3, 70, 50);
 
-
     //--- initialize nvs-flash and netif (needed for wifi) ---
     wifi_initNvs_initNetif();
 
@@ -215,79 +221,79 @@ extern "C" void app_main(void) {
         //control.changeMode(controlMode_t::HTTP);
 
 
-    while(1){
+	//--- main loop ---
+	//does nothing except for testing things
+	while(1){
+		vTaskDelay(1000 / portTICK_PERIOD_MS);
 
-       vTaskDelay(500 / portTICK_PERIOD_MS);
-
-       // //--- testing functions at mode change HTTP ---
-       // control.changeMode(controlMode_t::HTTP);
-       // vTaskDelay(10000 / portTICK_PERIOD_MS);
-       // control.changeMode(controlMode_t::IDLE);
-       // vTaskDelay(10000 / portTICK_PERIOD_MS);
+		//---------------------------------
+		//-------- TESTING section --------
+		//---------------------------------
+		// //--- test functions at mode change HTTP ---
+		// control.changeMode(controlMode_t::HTTP);
+		// vTaskDelay(10000 / portTICK_PERIOD_MS);
+		// control.changeMode(controlMode_t::IDLE);
+		// vTaskDelay(10000 / portTICK_PERIOD_MS);
 
 
-        //--- testing wifi functions ---
-       // ESP_LOGI(TAG, "creating AP");
-       // wifi_init_ap(); //start accesspoint
-       // vTaskDelay(15000 / portTICK_PERIOD_MS);
-       // ESP_LOGI(TAG, "stopping wifi");
-       // wifi_deinit_ap();  //stop wifi access point
-       // vTaskDelay(5000 / portTICK_PERIOD_MS);
-       // ESP_LOGI(TAG, "connecting to wifi");
-       // wifi_init_client(); //connect to existing wifi
-       // vTaskDelay(10000 / portTICK_PERIOD_MS);
-       // ESP_LOGI(TAG, "stopping wifi");
-       // wifi_deinit_client(); //stop wifi client
-       // vTaskDelay(5000 / portTICK_PERIOD_MS);
+		//--- test wifi functions ---
+		// ESP_LOGI(TAG, "creating AP");
+		// wifi_init_ap(); //start accesspoint
+		// vTaskDelay(15000 / portTICK_PERIOD_MS);
+		// ESP_LOGI(TAG, "stopping wifi");
+		// wifi_deinit_ap();  //stop wifi access point
+		// vTaskDelay(5000 / portTICK_PERIOD_MS);
+		// ESP_LOGI(TAG, "connecting to wifi");
+		// wifi_init_client(); //connect to existing wifi
+		// vTaskDelay(10000 / portTICK_PERIOD_MS);
+		// ESP_LOGI(TAG, "stopping wifi");
+		// wifi_deinit_client(); //stop wifi client
+		// vTaskDelay(5000 / portTICK_PERIOD_MS);
 
 
+		//--- test button ---
+		//buttonJoystick.handle();
+		// if (buttonJoystick.risingEdge){
+		//     ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
+		//     buzzer.beep(2, 100, 50);
 
-       //--- testing button ---
-       //buttonJoystick.handle();
-       // if (buttonJoystick.risingEdge){
-       //     ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
-       //     buzzer.beep(2, 100, 50);
-
-       // }else if (buttonJoystick.fallingEdge){
-       //     ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
-       //     buzzer.beep(1, 200, 0);
-       // }
+		// }else if (buttonJoystick.fallingEdge){
+		//     ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
+		//     buzzer.beep(1, 200, 0);
+		// }
 
 
-
-        //--- testing joystick commands ---
-       // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
-       // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
-       // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
-       // //motorRight.setTarget(commands.right.state, commands.right.duty);
-
-        
+		//--- test joystick commands ---
+		// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
+		// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
+		// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
+		// //motorRight.setTarget(commands.right.state, commands.right.duty);
 
 
-        //--- testing joystick class ---
-        //joystickData_t data = joystick.getData();
-        //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
-        //        joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
+		//--- test joystick class ---
+		//joystickData_t data = joystick.getData();
+		//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
+		//        joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
 
-        //--- testing the motor driver ---
-        //fade up duty - forward
-        //   for (int duty=0; duty<=100; duty+=5) {
-        //       motorLeft.setTarget(motorstate_t::FWD, duty);
-        //       vTaskDelay(100 / portTICK_PERIOD_MS); 
-        //   }
-        
-        
-       //--- testing controlledMotor --- (ramp)
-       // //brake for 1 s
-       // motorLeft.setTarget(motorstate_t::BRAKE);
-       // vTaskDelay(1000 / portTICK_PERIOD_MS);
-       // //command 90% - reverse
-       // motorLeft.setTarget(motorstate_t::REV, 90);
-       // vTaskDelay(5000 / portTICK_PERIOD_MS);
-       // //command 100% - forward
-       // motorLeft.setTarget(motorstate_t::FWD, 100);
-       // vTaskDelay(1000 / portTICK_PERIOD_MS);
+		//--- test the motor driver ---
+		//fade up duty - forward
+		//   for (int duty=0; duty<=100; duty+=5) {
+		//       motorLeft.setTarget(motorstate_t::FWD, duty);
+		//       vTaskDelay(100 / portTICK_PERIOD_MS); 
+		//   }
 
-    }
+
+		//--- test controlledMotor --- (ramp)
+		// //brake for 1 s
+		// motorLeft.setTarget(motorstate_t::BRAKE);
+		// vTaskDelay(1000 / portTICK_PERIOD_MS);
+		// //command 90% - reverse
+		// motorLeft.setTarget(motorstate_t::REV, 90);
+		// vTaskDelay(5000 / portTICK_PERIOD_MS);
+		// //command 100% - forward
+		// motorLeft.setTarget(motorstate_t::FWD, 100);
+		// vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+	}
 
 }
diff --git a/main/motorctl.cpp b/main/motorctl.cpp
index c811133..e3a240c 100644
--- a/main/motorctl.cpp
+++ b/main/motorctl.cpp
@@ -7,7 +7,7 @@ static const char * TAG = "motor-control";
 //=============================
 //======== constructor ========
 //=============================
-//constructor, simultaniously initialize instance of motor driver 'motor' with provided config (see below line after ':')
+//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
 controlledMotor::controlledMotor(single100a_config_t config_driver,  motorctl_config_t config_control): 
 	motor(config_driver), 
 	cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
@@ -29,7 +29,7 @@ controlledMotor::controlledMotor(single100a_config_t config_driver,  motorctl_co
 //============================
 void controlledMotor::init(){
     commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) );
-	//cSensor.calibrateZeroAmpere(); //TODO do this regularly e.g. in idle?
+	//cSensor.calibrateZeroAmpere(); //currently done in currentsensor constructor TODO do this regularly e.g. in idle?
 }
 
 
@@ -118,14 +118,12 @@ void controlledMotor::handle(){
     }
 
 
-
     //--- calculate difference ---
     dutyDelta = dutyTarget - dutyNow;
     //positive: need to increase by that value
     //negative: need to decrease
 
 
-
 	//----- fading -----
     //fade duty to target (up and down)
     //TODO: this needs optimization (can be more clear and/or simpler)
@@ -147,30 +145,6 @@ void controlledMotor::handle(){
     }
 
 
-    //previous approach: (resulted in bug where accel/decel fade is swaped in reverse)
-//    //--- fade up ---
-//    //dutyDelta is higher than IncrementUp -> fade up
-//    if(dutyDelta > dutyIncrementUp){
-//        ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
-//        dutyNow += dutyIncrementUp; //increase duty by increment
-//    }
-//
-//    //--- fade down ---
-//    //dutyDelta is more negative than -IncrementDown -> fade down
-//    else if (dutyDelta < -dutyIncrementDown){
-//        ESP_LOGV(TAG, "*fading down*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
-//
-//        dutyNow -= dutyIncrementDown; //decrease duty by increment
-//    }
-//
-//    //--- set to target ---
-//    //duty is already very close to target (closer than IncrementUp or IncrementDown)
-//    else{ 
-//        //immediately set to target duty
-//        dutyNow = dutyTarget;
-//    }
-    
-
 	//----- current limit -----
 	if ((config.currentLimitEnabled) && (dutyDelta != 0)){
 		currentNow = cSensor.read();
@@ -190,8 +164,8 @@ void controlledMotor::handle(){
 	}
 
 
-    //define motorstate from converted duty -100 to 100
-    //apply target duty and state to motor driver
+    //--- define motorstate ---
+	//from converted duty -100 to 100
     //forward
     if(dutyNow > 0){
         state = motorstate_t::FWD;
@@ -205,14 +179,12 @@ void controlledMotor::handle(){
         state = motorstate_t::IDLE;
     }
 
-    //--- apply to motor ---
+    //--- apply new target to motor ---
     motor.set(state, fabs(dutyNow));
     //note: BRAKE state is handled earlier
     
-    
     //--- update timestamp ---
     timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds
-
 }
 
 
@@ -270,7 +242,6 @@ void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
     }
 }
 
-
 //enable (set to default value) or disable fading
 void controlledMotor::setFade(fadeType_t fadeType, bool enabled){
     uint32_t msFadeNew = 0; //define new fade time as default disabled
diff --git a/main/motorctl.hpp b/main/motorctl.hpp
index 2e1b606..31d9e1c 100644
--- a/main/motorctl.hpp
+++ b/main/motorctl.hpp
@@ -13,9 +13,9 @@ extern "C"
 #include "currentsensor.hpp"
 
 
-//-------------------------------------
-//-------- struct/type  declarations -------
-//-------------------------------------
+//=======================================
+//====== struct/type  declarations ======
+//=======================================
 
 //struct for sending command for one motor in the queue
 struct motorCommand_t {
@@ -45,6 +45,9 @@ enum class fadeType_t {ACCEL, DECEL};
 
 
 
+//===================================
+//====== controlledMotor class ======
+//===================================
 class controlledMotor {
     public:
         //--- functions ---
@@ -57,8 +60,7 @@ class controlledMotor {
         void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
         bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
 											  
-		//TODO set current limit
-
+		//TODO set current limit method
 
     private:
         //--- functions ---
@@ -75,7 +77,6 @@ class controlledMotor {
         //--- variables ---
         //struct for storing control specific parameters
         motorctl_config_t config;
-        
         motorstate_t state = motorstate_t::IDLE;
 
         float currentMax;
@@ -95,5 +96,4 @@ class controlledMotor {
 
         struct motorCommand_t commandReceive = {};
         struct motorCommand_t commandSend = {};
-
 };
diff --git a/main/motordrivers.hpp b/main/motordrivers.hpp
index 71218ea..2cc3c75 100644
--- a/main/motordrivers.hpp
+++ b/main/motordrivers.hpp
@@ -19,7 +19,7 @@ extern "C"
 //====================================
 
 //--------------------------------------------
-//---- struct, enum, variable deklarations ---
+//---- struct, enum, variable declarations ---
 //--------------------------------------------
 
 //class which controls a motor using a 'single100a' h-bridge module
diff --git a/main/wifi.c b/main/wifi.c
index 3c8a215..27eb3db 100644
--- a/main/wifi.c
+++ b/main/wifi.c
@@ -123,13 +123,6 @@ void wifi_deinit_ap(void)
 
 
 
-
-
-
-
-
-
-
 //===========================================
 //=============== init client ===============
 //===========================================