diff --git a/board_single/main/button.cpp b/board_single/main/button.cpp
index 0efb449..5f4ab5a 100644
--- a/board_single/main/button.cpp
+++ b/board_single/main/button.cpp
@@ -8,6 +8,7 @@ extern "C"
 }
 
 #include "button.hpp"
+#include "encoder.hpp"
 
 
 
@@ -37,46 +38,53 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystic
 //----------------------------
 //function that runs commands depending on a count value
 void buttonCommands::action (uint8_t count, bool lastPressLong){
-    //--- variable declarations ---
+    //--- variables ---
     bool decelEnabled; //for different beeping when toggling
     commandSimple_t cmds[8]; //array for commands for automatedArmchair
 
     //--- get joystick position ---
+    //in case joystick is used for additional cases:
     //joystickData_t stickData = joystick->getData();
 
-    //--- actions based on count ---
-    switch (count){
-        //no such command
-        default:
-            ESP_LOGE(TAG, "no command for count=%d defined", count);
-            buzzer->beep(3, 400, 100);
-            break;
+    //--- run actions based on count ---
+    switch (count)
+    {
+    // ## no command ##
+    default:
+        ESP_LOGE(TAG, "no command for count=%d and long=%d defined", count, lastPressLong);
+        buzzer->beep(3, 400, 100);
+        break;
 
-        case 1:
-            //restart contoller when 1x long pressed
-            if (lastPressLong){
-                ESP_LOGW(TAG, "RESTART");
-                buzzer->beep(1,1000,1);
-                vTaskDelay(500 / portTICK_PERIOD_MS);
-                //esp_restart();
-            //-> define joystick center or toggle freeze input (executed in control task)
-            control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
-                return;
-            } 
-			//note: disabled joystick calibration due to accidential trigger
-//
-//            ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
-//            //-> define joystick center or toggle freeze input (executed in control task)
-//            control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
-            break;
-        case 2:
-            //run automatic commands to lift leg support when pressed 1x short 1x long
-            if (lastPressLong){
+    case 1:
+        // ## switch to MENU state ##
+        if (lastPressLong)
+        {
+            control->changeMode(controlMode_t::MENU);
+            ESP_LOGW(TAG, "1x long press -> change to menu mode");
+            buzzer->beep(1, 1000, 1);
+            vTaskDelay(500 / portTICK_PERIOD_MS);
+        }
+        // ## toggle joystick freeze ##
+        else if (control->getCurrentMode() == controlMode_t::MASSAGE)
+        {
+            control->toggleFreezeInputMassage();
+        }
+        // ## define joystick center ##
+        else
+        {
+            // note: disabled joystick calibration due to accidential trigger
+            //joystick->defineCenter();
+        }
+        break;
+
+    case 2:
+        // ## switch to ADJUST_CHAIR mode ##
+        if (lastPressLong)
+        {
             ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
             control->toggleMode(controlMode_t::ADJUST_CHAIR);
             }
-
-            //toggle idle when 2x pressed
+            // ## toggle IDLE ##
             else {
             ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
             control->toggleIdle(); //toggle between idle and previous/default mode
@@ -84,21 +92,25 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
             break;
 
         case 3:
+        // ## switch to JOYSTICK mode ##
             ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
             control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
             break;
 
         case 4:
+        // ## switch to HTTP mode ##
             ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
             control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
             break;
 
         case 6:
+        // ## switch to MASSAGE mode ##
             ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
             control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
             break;
 
         case 8:
+        // ## toggle "sport-mode" ##
             //toggle deceleration fading between on and off
             //decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
             //motorRight->toggleFade(fadeType_t::DECEL);
@@ -113,12 +125,10 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
             break;
 
         case 12:
-            ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
-            //-> toggle altStickMapping (executed in control task)
-            control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
+        // ## toggle alternative stick mapping ##
+            control->toggleAltStickMapping();
             break;
-
-    }
+        }
 }
 
 
@@ -127,56 +137,65 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
 //-----------------------------
 //------ startHandleLoop ------
 //-----------------------------
-//this function has to be started once in a separate task
-//repeatedly evaluates and processes button events then takes the corresponding action
-void buttonCommands::startHandleLoop() {
+// when not in MENU mode, repeatedly receives events from encoder button
+// and takes the corresponding action
+// this function has to be started once in a separate task
+#define INPUT_TIMEOUT 800 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
+void buttonCommands::startHandleLoop()
+{
+    //-- variables --
+    bool isPressed = false;
+    static rotary_encoder_event_t ev; // store event data
+    // int count = 0; (from class)
 
-    while(1) {
-        vTaskDelay(20 / portTICK_PERIOD_MS);
-        //run handle function of evaluatedSwitch object
-        button->handle();
-
-        //--- count button presses and run action ---
-        switch(state) {
-            case inputState_t::IDLE: //wait for initial button press
-                if (button->risingEdge) {
-                    count = 1;
-                    buzzer->beep(1, 65, 0);
-                    timestamp_lastAction = esp_log_timestamp();
-                    state = inputState_t::WAIT_FOR_INPUT;
-                    ESP_LOGI(TAG, "first button press detected -> waiting for further events");
-                }
-                break;
-
-            case inputState_t::WAIT_FOR_INPUT: //wait for further presses
-                //button pressed again
-                if (button->risingEdge){
-                    count++;
-                    buzzer->beep(1, 65, 0);
-                    timestamp_lastAction = esp_log_timestamp();
-                    ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
-                }
-                //timeout
-                else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
-                    state = inputState_t::IDLE;
-                    buzzer->beep(count, 50, 50);
-                    //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
-                    ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
-                    //--- run action function ---
-                    //check if still pressed
-                    bool lastPressLong = false;
-                    if (button->state == true){
-                        //run special case when last press was longer than timeout
-                        lastPressLong = true;
-                    }
-                        //run action function with current count of button presses
-                        action(count, lastPressLong);
-                    }
-                break;
+    while (1)
+    {
+        //-- disable functionality when in menu mode --
+        //(display task uses encoder in that mode)
+        if (control->getCurrentMode() == controlMode_t::MENU)
+        {
+            //do nothing every loop cycle
+            ESP_LOGD(TAG, "in MENU mode -> button commands disabled");
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+            continue;
         }
-    }
-}
-
-
-
 
+        //-- get events from encoder --
+        if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
+        {
+            switch (ev.type)
+            {
+                break;
+            case RE_ET_BTN_PRESSED:
+                ESP_LOGD(TAG, "Button pressed");
+                buzzer->beep(1, 65, 0);
+                isPressed = true;
+                count++; // count each pressed event
+                break;
+            case RE_ET_BTN_RELEASED:
+                ESP_LOGD(TAG, "Button released");
+                isPressed = false; // rest stored state
+                break;
+            case RE_ET_BTN_LONG_PRESSED:
+            case RE_ET_BTN_CLICKED:
+            case RE_ET_CHANGED:
+            default:
+                break;
+            }
+        }
+        else // timeout (no event received within TIMEOUT)
+        {
+            if (count > 0)
+            {
+                //-- run action with count of presses --
+                ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
+                buzzer->beep(count, 50, 50);
+                action(count, isPressed); // run action - if currently still on the last press is considered long
+                count = 0;                // reset count
+            }
+            else {
+                ESP_LOGD(TAG, "no button event received in this cycle (count=0)");
+            }
+        } //end queue
+    } //end while(1)
+} //end function
\ No newline at end of file
diff --git a/board_single/main/control.cpp b/board_single/main/control.cpp
index 5976c70..44646bd 100644
--- a/board_single/main/control.cpp
+++ b/board_single/main/control.cpp
@@ -20,7 +20,7 @@ extern "C"
 
 //tag for logging
 static const char * TAG = "control";
-const char* controlModeStr[8] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR"};
+const char* controlModeStr[9] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR", "MENU"};
 
 
 //-----------------------------
@@ -183,46 +183,18 @@ void controlledArmchair::startHandleLoop() {
                 break;
 
 
+            case controlMode_t::MENU:
+                vTaskDelay(1000 / portTICK_PERIOD_MS);
+                //nothing to do here, display task handles the menu
+                //--- idle motors ---
+                commands = cmds_bothMotorsIdle;
+                motorRight->setTarget(commands.right.state, commands.right.duty); 
+                motorLeft->setTarget(commands.left.state, commands.left.duty); 
+                break;
+
               //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
-                if (mode == controlMode_t::JOYSTICK){
-                    //joystick mode: calibrate joystick
-                    joystick_l->defineCenter();
-                } else if (mode == controlMode_t::MASSAGE){
-                    //massage mode: toggle freeze of input (lock joystick at current values)
-                    freezeInput = !freezeInput;
-                    if (freezeInput){
-                        buzzer->beep(5, 40, 25);
-                    } else {
-                        buzzer->beep(1, 300, 100);
-                    }
-                }
-                break;
-
-            case 12: //toggle alternative joystick mapping (reverse swapped) 
-                altStickMapping = !altStickMapping;
-                if (altStickMapping){
-                    buzzer->beep(6, 70, 50);
-                } else {
-                    buzzer->beep(1, 500, 100);
-                }
-                break;
-        }
-        //--- reset button event --- (only one action per run)
-        if (buttonCount > 0){
-            ESP_LOGI(TAG, "resetting button event/count");
-            buttonCount = 0;
-        }
-
-
-
         //-----------------------
         //------ slow loop ------
         //-----------------------
@@ -240,6 +212,60 @@ void controlledArmchair::startHandleLoop() {
 
 
 
+
+//---------------------------------------
+//------ toggleFreezeInputMassage -------
+//---------------------------------------
+// releases or locks joystick in place when in massage mode
+bool controlledArmchair::toggleFreezeInputMassage()
+{
+    if (mode == controlMode_t::MASSAGE)
+    {
+        // massage mode: toggle freeze of input (lock joystick at current values)
+        freezeInput = !freezeInput;
+        if (freezeInput)
+        {
+            buzzer->beep(5, 40, 25);
+            ESP_LOGW(TAG, "joystick input is now locked in place");
+        }
+        else
+        {
+            buzzer->beep(1, 300, 100);
+            ESP_LOGW(TAG, "joystick input gets updated again");
+        }
+        return freezeInput;
+    }
+    else
+    {
+        ESP_LOGE(TAG, "can not freeze/unfreeze joystick input - not in MASSAGE mode!");
+        return 0;
+    }
+}
+
+
+
+//-------------------------------------
+//------- toggleAltStickMapping -------
+//-------------------------------------
+// toggle between normal and alternative stick mapping (joystick reverse position inverted)
+bool controlledArmchair::toggleAltStickMapping()
+{
+    altStickMapping = !altStickMapping;
+    if (altStickMapping)
+    {
+        buzzer->beep(6, 70, 50);
+        ESP_LOGW(TAG, "changed to alternative stick mapping");
+    }
+    else
+    {
+        buzzer->beep(1, 500, 100);
+        ESP_LOGW(TAG, "changed to default stick mapping");
+    }
+    return altStickMapping;
+}
+
+
+
 //-----------------------------------
 //---------- resetTimeout -----------
 //-----------------------------------
@@ -250,17 +276,6 @@ void controlledArmchair::resetTimeout(){
 
 
 
-//------------------------------------
-//--------- sendButtonEvent ----------
-//------------------------------------
-void controlledArmchair::sendButtonEvent(uint8_t count){
-    //TODO mutex - if not replaced with queue
-    ESP_LOGI(TAG, "setting button event");
-    buttonCount = count;
-}
-
-
-
 //------------------------------------
 //---------- handleTimeout -----------
 //------------------------------------
diff --git a/board_single/main/control.hpp b/board_single/main/control.hpp
index 27f5c64..003f299 100644
--- a/board_single/main/control.hpp
+++ b/board_single/main/control.hpp
@@ -11,9 +11,9 @@
 //---- struct, enum, variable declarations ---
 //--------------------------------------------
 //enum that decides how the motors get controlled
-enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR};
+enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR, MENU};
 //string array representing the mode enum (for printing the state as string)
-extern const char* controlModeStr[8];
+extern const char* controlModeStr[9];
 
 //--- control_config_t ---
 //struct with config parameters
@@ -63,13 +63,15 @@ class controlledArmchair {
         //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
         void resetTimeout();
 
-        //function for sending a button event (e.g. from button task at event) to control task
-        //TODO: use queue instead?
-        void sendButtonEvent(uint8_t count);
-
         //methods to get the current control mode
         controlMode_t getCurrentMode() const {return mode;};
-        const char * getCurrentModeStr() const {return controlModeStr[(int)mode];};
+        const char *getCurrentModeStr() const { return controlModeStr[(int)mode]; };
+
+        // releases or locks joystick in place when in massage mode, returns true when input is frozen
+        bool toggleFreezeInputMassage();
+
+        // toggle between normal and alternative stick mapping (joystick reverse position inverted), returns true when alt mapping is active
+        bool toggleAltStickMapping();
 
     private:
 
diff --git a/board_single/main/display.cpp b/board_single/main/display.cpp
index ac894cc..d508af7 100644
--- a/board_single/main/display.cpp
+++ b/board_single/main/display.cpp
@@ -200,53 +200,33 @@ void showStartupMsg(){
 //============================
 //======= display task =======
 //============================
-#define VERY_SLOW_LOOP_INTERVAL 60000
-#define SLOW_LOOP_INTERVAL 5000
-#define FAST_LOOP_INTERVAL 200
-//TODO: separate task for each loop?
+#define STATUS_SCREEN_UPDATE_INTERVAL 500
+// TODO: separate task for each loop?
 
-void display_task( void * pvParameters ){
-	//variables
-	int countFastloop = 0;
-	int countSlowLoop = 0;
-
-	//initialize display
+void display_task(void *pvParameters)
+{
+	// initialize display
 	display_init();
-	//TODO check if successfully initialized
+	// TODO check if successfully initialized
 
-	//show startup message
+	// show startup message
 	showStartupMsg();
 	vTaskDelay(STARTUP_MSG_TIMEOUT / portTICK_PERIOD_MS);
 
 	// repeatedly update display with content
 	while (1)
 	{
-
-//currently only showing menu:
-		handleMenu(&dev);
-
-
-//status screen currently disabled:
-	//	//--- fast loop ---
-	//	showScreen1();
-
-	//	if (countFastloop >= SLOW_LOOP_INTERVAL / FAST_LOOP_INTERVAL)
-	//	{
-	//		//--- slow loop ---
-
-	//		if (countSlowLoop >= VERY_SLOW_LOOP_INTERVAL / SLOW_LOOP_INTERVAL)
-	//		{
-	//			//--- very slow loop ---
-	//			// clear display - workaround for bugged line order after a few minutes
-	//			countSlowLoop = 0;
-	//			ssd1306_clear_screen(&dev, false);
-	//		}
-	//		countFastloop = 0;
-	//		countSlowLoop++;
-	//	}
-	//	countFastloop++;
-	//	vTaskDelay(FAST_LOOP_INTERVAL / portTICK_PERIOD_MS);
-	//	// TODO add pages and menus
+		if (control.getCurrentMode() == controlMode_t::MENU)
+		{
+			//uses encoder events to control menu and updates display
+			handleMenu(&dev);
+		}
+		else //show status screen in any other mode
+		{
+			showScreen1();
+			vTaskDelay(STATUS_SCREEN_UPDATE_INTERVAL / portTICK_PERIOD_MS);
+		}
+		// TODO add pages and menus
 	}
 }
 
diff --git a/board_single/main/main.cpp b/board_single/main/main.cpp
index 03f38ce..88cf1f9 100644
--- a/board_single/main/main.cpp
+++ b/board_single/main/main.cpp
@@ -141,7 +141,7 @@ void setLoglevels(void){
 
     //--- set loglevel for individual tags ---
     esp_log_level_set("main", ESP_LOG_INFO);
-    //esp_log_level_set("buzzer", ESP_LOG_INFO);
+    esp_log_level_set("buzzer", ESP_LOG_ERROR);
     //esp_log_level_set("motordriver", ESP_LOG_DEBUG);
     //esp_log_level_set("motor-control", ESP_LOG_INFO);
 	//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
@@ -201,11 +201,7 @@ extern "C" void app_main(void) {
 	//--- create task for button ---
 	//------------------------------
 	//task that evaluates and processes the button input and runs the configured commands
-#define MENU_TEST
-//currently disabled due to using button/encoder for testing the menu
-#ifndef MENU_TEST
 	xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
-#endif
 
 	//-----------------------------------
 	//--- create task for fan control ---
diff --git a/board_single/main/menu.cpp b/board_single/main/menu.cpp
index 5474e46..a54b32d 100644
--- a/board_single/main/menu.cpp
+++ b/board_single/main/menu.cpp
@@ -155,7 +155,8 @@ void showItemList(SSD1306_t *display,  int selectedItem)
 //---------------------------
 //----- showValueSelect -----
 //---------------------------
-//TODO show previous value in one line?
+// TODO show previous value in one line?
+// TODO update changed line only (value)
 void showValueSelect(SSD1306_t *display, int selectedItem)
 {
     //--- variables ---
@@ -248,7 +249,7 @@ void handleMenu(SSD1306_t *display)
                 }
                 break;
 
-            case RE_ET_BTN_PRESSED:
+            case RE_ET_BTN_CLICKED:
                 //--- switch to edit value page ---
                 ESP_LOGI(TAG, "Button pressed - switching to state SET_VALUE");
                 // change state (menu to set value)
@@ -259,10 +260,15 @@ void handleMenu(SSD1306_t *display)
                 ssd1306_clear_screen(display, false);
                 break;
 
-            case RE_ET_BTN_RELEASED:
-            case RE_ET_BTN_CLICKED:
+            //exit menu mode
             case RE_ET_BTN_LONG_PRESSED:
+                control.changeMode(controlMode_t::IDLE);
+                ssd1306_clear_screen(display, false);
                 break;
+
+            case RE_ET_BTN_RELEASED:
+            case RE_ET_BTN_PRESSED:
+            break;
             }
         }
         break;
@@ -272,6 +278,8 @@ void handleMenu(SSD1306_t *display)
         //-------------------------
     case SET_VALUE:
         // wait for encoder event
+        showValueSelect(display, selectedItem);
+
         if (xQueueReceive(encoderQueue, &event, portMAX_DELAY))
         {
             switch (event.type)
@@ -289,19 +297,18 @@ void handleMenu(SSD1306_t *display)
                 if (value < menuItems[selectedItem].valueMin)
                     value = menuItems[selectedItem].valueMin;
                 break;
-            case RE_ET_BTN_PRESSED:
+            case RE_ET_BTN_CLICKED:
                 //-- apply value --
                 ESP_LOGI(TAG, "Button pressed - running action function with value=%d for item '%s'", value, menuItems[selectedItem].title);
                 menuItems[selectedItem].action(value);
                 menuState = MAIN_MENU;
                 break;
+            case RE_ET_BTN_PRESSED:
             case RE_ET_BTN_RELEASED:
-            case RE_ET_BTN_CLICKED:
             case RE_ET_BTN_LONG_PRESSED:
                 break;
             }
         }
-        showValueSelect(display, selectedItem);
         break;
     }
 }
\ No newline at end of file