diff --git a/vsode/coderacer_mkII/platformio.ini b/vsode/coderacer_mkII/platformio.ini
index fa532b9..4d838d8 100644
--- a/vsode/coderacer_mkII/platformio.ini
+++ b/vsode/coderacer_mkII/platformio.ini
@@ -12,4 +12,6 @@
 platform = espressif32
 board = esp32dev
 framework = arduino
+monitor_speed= 115200
+
 
diff --git a/vsode/coderacer_mkII/src/Webcontroller_main.cpp b/vsode/coderacer_mkII/src/Webcontroller_main.cpp
new file mode 100644
index 0000000..f070437
--- /dev/null
+++ b/vsode/coderacer_mkII/src/Webcontroller_main.cpp
@@ -0,0 +1,215 @@
+#include "CodeRacer_MKII.h"
+#include <ESP32Servo.h>
+#include "esp32-hal-ledc.h"
+#include <WiFi.h>
+
+// Replace with your network credentials
+const char* ssid     = "WLAN-318091";
+const char* password = "peter4004";
+
+// Set web server port number to 80
+WiFiServer server(80);
+
+// Variable to store the HTTP request
+String header;
+
+// Auxiliar variables to store the current output state
+String output32State= "off";
+String output33State="off";
+String output25State = "off";
+String output27State = "off";
+String output14State= "off";
+String output12State= "off";
+
+// Assign output variables to GPIO pins
+const int output25 = 25;
+const int output27 = 27;
+const int output32=32;
+const int output33= 33;
+const int output14= 14;
+const int output12= 12;
+CodeRacerMKII Coderacer;
+unsigned long Distance;
+void setup() {
+    Coderacer.begin();
+  Serial.begin(115200);
+  // Initialize the output variables as outputs
+  pinMode(output25, OUTPUT);
+  pinMode(output27, OUTPUT);
+  pinMode(output32, OUTPUT);
+  pinMode(output33, OUTPUT);
+  pinMode(output14, OUTPUT);
+  pinMode(output12, OUTPUT);
+  // Set outputs to LOW
+  digitalWrite(output25, LOW);
+  digitalWrite(output27, LOW);
+  digitalWrite(output32, LOW);
+  digitalWrite(output33, LOW);
+  digitalWrite(output14, LOW);
+  digitalWrite(output12, LOW);
+
+  // Connect to Wi-Fi network with SSID and password
+  Serial.print("Connecting to ");
+  Serial.println(ssid);
+  WiFi.begin(ssid, password);
+ while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  // Print local IP address and start web server
+  Serial.println("");
+  Serial.println("WiFi connected.");
+  Serial.println("IP address: ");
+  Serial.println(WiFi.localIP());
+  server.begin(); 
+}
+
+void loop(){
+  WiFiClient client = server.available();   // Listen for incoming clients
+  if (client) {                             // If a new client connects,
+    Serial.println("New Client detected.");          // print a message out in the serial port
+    String currentLine = "";                // make a String to hold incoming data from the client
+    while (client.connected()) {            // loop while the client's connected
+      if (client.available()) {             // if there's bytes to read from the client,
+        char c = client.read();             // read a byte, then
+        Serial.write(c);                    // print it out the serial monitor
+        header += c;
+        if (c == '\n') {                    // if the byte is a newline character
+          // if the current line is blank, you got two newline characters in a row.
+          // that's the end of the client HTTP request, so send a response:
+          if (currentLine.length() == 0) {
+            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
+            // and a content-type so the client knows what's coming, then a blank line:
+            client.println("HTTP/1.1 200 OK");
+            client.println("Content-type:text/html");
+            client.println("Connection: close");
+            client.println();
+            
+            // turns the GPIOs on and off
+            if (header.indexOf("GET /25/on") >= 0) {
+              Serial.println("GPIO 25 on");
+              output25State = "on";
+              digitalWrite(output25, HIGH);
+            } else if (header.indexOf("GET /25/off") >= 0) {
+              Serial.println("GPIO 25 off");
+              output25State = "off";
+              digitalWrite(output25, LOW);
+            } else if (header.indexOf("GET /27/on") >= 0) {
+              Serial.println("GPIO 27 on");
+              output27State = "on";
+              digitalWrite(output27, HIGH);
+            } else if (header.indexOf("GET /27/off") >= 0) {
+              Serial.println("GPIO 27 off");
+              output27State = "off";
+              digitalWrite(output27, LOW);
+            } else if(header.indexOf("GET /32/off") >=0) {
+                Serial.println("GPIO 32 off");
+                output32State= "off";
+                digitalWrite(output32, LOW);
+            } else if(header.indexOf("GET /32/on") >=0) {
+                Serial.println("GPIO 32 on");
+                output32State= "on";
+                digitalWrite(output32, HIGH);
+            } else if (header.indexOf("GET /33/on") >= 0) {
+              Serial.println("GPIO 33 on");
+              output33State = "on";
+              digitalWrite(output33, HIGH);
+            } else if (header.indexOf("GET /33/off") >= 0) {
+              Serial.println("GPIO 33 off");
+              output33State = "off";
+              digitalWrite(output33, LOW);
+            } else if (header.indexOf("GET /MeasureDistance") >=0) {
+                Distance= Coderacer.usonic_measure_cm();
+          
+            } else if (header.indexOf("GET /DriveForward") >=0) {
+              Serial.printf("header: '%s'\n", header.c_str());
+              if(header.indexOf("=") >=0) {int Position= header.indexOf("=");
+              String Substring= header.substring(Position+1);
+              int iSpeed= Substring.toInt();
+              Coderacer.speed_settings(iSpeed, iSpeed);
+              Coderacer.servo_set_position_wait(iSpeed);
+              }
+              //Coderacer.drive_forward();
+            } else if(header.indexOf("GET /DriveBackward") >=0) {
+              Coderacer.drive_backward();
+            } 
+            // Display the HTML web page
+            client.println("<!DOCTYPE html><html>");
+            client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
+            client.println("<link rel=\"icon\" href=\"data:,\">");
+            // CSS to style the on/off buttons 
+            // Feel free to change the background-color and font-size attributes to fit your preferences
+            client.println("<style>html { font-family: Impact; display: inline-block; margin: 0px auto; text-align: left;}");
+            client.println(".outmsg {background-color: #FFFFFF; border: 2px solid black; color: black; padding: 10px 10px;");
+            client.println("text-decoration: none; font-size: 30px; margin: 15px; cursor: pointer;}");
+            client.println(".button {background-color: #4CAF50; border: none; color: white; padding: 10px 10px;");
+            client.println("text-decoration: none; font-size: 30px; margin: 15px; cursor: pointer;}");
+            client.println(".button2 {background-color: #555555;}</style></head>");
+            
+            // Web Page Heading
+            client.println("<body><h1>ESP32 Web Server</h1>");
+            
+            client.println("<p>GPIO 32 - State " + output32State );
+            // If the output27State is off, it displays the ON button       
+            if (output32State=="off") {
+              client.println("<a href=\"/32/on\"><button class=\"button\">OFF</button></a>");
+            } else {
+              client.println("<a href=\"/32/off\"><button class=\"button button2\">ON</button></a>");
+            }
+
+            client.println("GPIO 33 - State " + output33State );
+            // If the output27State is off, it displays the ON button       
+            if (output33State=="off") {
+              client.println("<a href=\"/33/on\"><button class=\"button\">OFF</button></a></p>");
+            } else {
+              client.println("<a href=\"/33/off\"><button class=\"button button2\">ON</button></a></p>");
+            }
+            // Display current state, and ON/OFF buttons for GPIO 26  
+            client.println("<p>GPIO 25 - State " + output25State );
+            // If the output26State is off, it displays the ON button       
+            if (output25State=="off") {
+              client.println("<a href=\"/25/on\"><button class=\"button\">OFF</button></a>");
+            } else {
+              client.println("<a href=\"/25/off\"><button class=\"button button2\">ON</button></a>");
+            } 
+               
+            // Display current state, and ON/OFF buttons for GPIO 27  
+            client.println("GPIO 27 - State " + output27State );
+            // If the output27State is off, it displays the ON button       
+            if (output27State=="off") {
+              client.println("<a href=\"/27/on\"><button class=\"button\">OFF</button></a></p>");
+            } else {
+              client.println("<a href=\"/27/off\"><button class=\"button button2\">ON</button></a></p>");
+            }
+
+            client.println("<p><a href=\"/MeasureDistance\"><button class=\"button\">Measure Distance</button></a>");
+            client.printf("<button class=\"outmsg\">%li</button></p>", Distance);
+            client.println("<p><a href=\"/DriveForward\"><button class=\"button\">Drive Forward</button></a>");
+            client.println("<a href=\"/DriveBackward\"><button class=\"button\">Drive Backward</button></a>");
+
+            client.println("<form action=\"http://192.168.2.107/DriveForward/\">");
+            client.println("<p><label for=\"q\">Set Speed</label>");
+            client.println("<input id=\"q\" name=\"Speed\" aria-label=\"Set Speed\" placeholder=\"Enter value\">");
+            client.println("<button >Submit</button>");
+            client.println("</body></html>");
+            
+            // The HTTP response ends with another blank line
+            client.println();
+            // Break out of the while loop
+            break;
+          } else { // if you got a newline, then clear currentLine
+            currentLine = "";
+          }
+        } else if (c != '\r') {  // if you got anything else but a carriage return character,
+          currentLine += c;      // add it to the end of the currentLine
+        }
+      }
+    }
+    // Clear the header variable
+    header = "";
+    // Close the connection
+    client.stop();
+    Serial.println("Client disconnected.");
+    Serial.println("");
+  }
+}
\ No newline at end of file
diff --git a/vsode/coderacer_mkII/src/coderacer_main.cpp b/vsode/coderacer_mkII/src/coderacer_main.cpp
index f26b53a..28e718d 100644
--- a/vsode/coderacer_mkII/src/coderacer_main.cpp
+++ b/vsode/coderacer_mkII/src/coderacer_main.cpp
@@ -37,7 +37,7 @@ const bool RIGHT = false;
 const unsigned int IN_MAX = 255;
 
 //---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
-void setup() {
+void setup1() {
     // Monitor
     Serial.begin(9600);               //  Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.
 
@@ -58,7 +58,7 @@ void setup() {
 }
 
 //---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert
-void loop() 
+void loop1() 
 {
  bool started = false;
  while(coderacer.start_stop()== 1)