diff --git a/src/APP/Aufgabe2/ps7/core0/build/sources.mk b/src/APP/Aufgabe2/ps7/core0/build/sources.mk
index 9258886..8ff9371 100644
--- a/src/APP/Aufgabe2/ps7/core0/build/sources.mk
+++ b/src/APP/Aufgabe2/ps7/core0/build/sources.mk
@@ -1,9 +1,9 @@
 #Startup file
 SRC += $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/asm_vectors.S
--include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/subdir.mk
--include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/subdir.mk
+include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/$(ARCH)/subdir.mk
+include $(SRC_DIR)/ucos_v1_42/ucos/bsp/src/subdir.mk
 
--include $(SRC_DIR)/ucos_v1_42/micrium_source/uC-LIB/subdir.mk
+include $(SRC_DIR)/ucos_v1_42/micrium_source/uC-LIB/subdir.mk
 
 SRC += $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_osii/src/bsp/$(ARCH)/ucos_osii_bsp.c
 SRC += $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_common/src/$(ARCH)/cpu_bsp.c
@@ -29,10 +29,10 @@ SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_scuc/src/ucos_scuc.c
 SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_l2cachec/src/ucos_l2cachec.c
 SRC += $(SRC_DIR)/ucos_v1_42/ucos/drivers/ucos_emacps/src/ucos_emacps.c
 
--include $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_standalone/src/cortexa9/subdir.mk
+include $(SRC_DIR)/ucos_v1_42/ucos/components/ucos_standalone/src/cortexa9/subdir.mk
 
 SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/KAL/uCOS-II/kal.c
 SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/Collections/slist.c
 SRC += $(SRC_DIR)/ucos_v1_42/micrium_source/uC-Common/Auth/auth.c
 
--include $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Source/subdir.mk
+include $(SRC_DIR)/ucos_v1_42/micrium_source/uCOS-II/Source/subdir.mk
diff --git a/src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h b/src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h
index 5e4aea9..4d96914 100644
--- a/src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h
+++ b/src/APP/Aufgabe3/ps7/core0/cfg/ttc_timer.h
@@ -22,7 +22,7 @@
 #endif
 
 
-int timer_Task(void *pdata);
+void timer_Task(void *pdata);
 int timer_Init();
 
 #endif /* SRC_APP_AUFGABE3_PS7_CORE0_CFG_TTC_TIMER_H_ */
diff --git a/src/APP/Aufgabe3/ps7/core0/main.c b/src/APP/Aufgabe3/ps7/core0/main.c
index 3a1a746..cc01544 100644
--- a/src/APP/Aufgabe3/ps7/core0/main.c
+++ b/src/APP/Aufgabe3/ps7/core0/main.c
@@ -17,21 +17,58 @@
 #include "xil_printf.h"
 #include "ttc_timer.h"
 
+#define TIMER_PRIO 32
+#define TIMER_STK_SIZE 32000
+static  OS_STK       TimerStk[TIMER_STK_SIZE];
 
 int16_t pidValue = 0;
 
 void InitDoneCallback(void * p_arg) {
 	(void) p_arg;
-	CPU_SR cpu_sr;
-	OS_ENTER_CRITICAL();
-	// This is a critcal section. Usefull for accessing global variables shared between tasks
-	OS_EXIT_CRITICAL();
 	UCOS_Print("OS started!\r\n");
+
+	//OSTaskCreateExt(timer_Task,
+	//		0,
+	//		&TimerStk[TIMER_STK_SIZE-1],
+	//		TIMER_PRIO,
+	//		TIMER_PRIO,
+	//		&TimerStk[0],
+	//		TIMER_STK_SIZE,
+	//		0,
+	//		0
+	//	       );
+
+	timer_Init();
+
+	while(1){
+		for(int16_t i = -1000; i<=1000; i++){
+			CPU_SR cpu_sr;
+			OS_ENTER_CRITICAL();
+			// This is a critcal section. Usefull for accessing global variables shared between tasks
+			pidValue = i;
+			OS_EXIT_CRITICAL();
+			timer_Task(0);
+			//UCOS_Printf("pid: %d\r\n", pidValue);
+			OSTimeDly(1);
+		}
+		for(int16_t i = 1000; i>=-1000; i--){
+			CPU_SR cpu_sr;
+			OS_ENTER_CRITICAL();
+			// This is a critcal section. Usefull for accessing global variables shared between tasks
+			pidValue = i;
+			timer_Task(0);
+			OS_EXIT_CRITICAL();
+			//UCOS_Printf("pid: %d\r\n", pidValue);
+			OSTimeDly(1);
+		}
+	}
+
+
+
 }
 
 int main(void) {
 	MMUInit();
 	UCOSStartup(InitDoneCallback);
-	while (1)
-		;
+	while (1);
 }
diff --git a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
index cdbb25a..5d75746 100644
--- a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
+++ b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
@@ -14,9 +14,6 @@
 #include "xgpiops.h"
 #include "pid.h"
 
-
-
-
 static void timer_Start(uint32_t Id);
 static void timer_Stop(uint32_t Id);
 static void timer_Set_Interval_Length(uint32_t Id, uint16_t intervalLength);
@@ -26,26 +23,62 @@ static void motor_Set_Steering_Direction(uint8_t steeringDirection, int16_t *mot
 static void motor_Set_Moving_Direction (u32 pin, int16_t value);
 static void timer_gpio_Init();
 
-int timer_Task(void *pdata) {
+XTtcPs xttcps;
+XTtcPs_Config* TimerSetup;
 
-	return 0;
+XGpioPs xgpiops;
+XGpioPs_Config* gpioCfg;
+
+extern int16_t pidValue;
+
+void timer_Task(void *pdata) {
+	if(pidValue){
+		uint16_t interval = 64;//(64000/abs(pidValue));
+		uint8_t direction = pidValue<0;
+		//UCOS_Printf("%d %d\r\n", direction, interval);
+		timer_Stop(1);
+		timer_Set_Interval_Length(1,interval);
+		timer_Start(1);
+		motor_Set_Moving_Direction(54, direction);
+	}
+	else
+	{
+		timer_Stop(0);
+	}
 }
 
 /* * * intializes and starts two timers with respective puls generation on gpio pins * * */
-int timer_Init(void *pdata){
+int timer_Init(){
 	UCOS_Print("Setting up Timer!\r\n");
+	TimerSetup = XTtcPs_LookupConfig(XPAR_PS7_TTC_0_DEVICE_ID);	
+	XTtcPs_CfgInitialize(&xttcps, TimerSetup, TimerSetup->BaseAddress);
+	XTtcPs_SetOptions(&xttcps, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_MATCH_MODE);
+	XTtcPs_SetPrescaler(&xttcps, 8);
+	XTtcPs_SetMatchValue(&xttcps, 0, 1);
+	XTtcPs_SetInterval(&xttcps, 2);
+
+	timer_gpio_Init();
+	motor_Set_Moving_Direction(54, 1);
+
 	UCOS_Print("Done!\r\n");
 	return 0;
 }
 
 /* * * checks the desired moving direction and sets the direction pin for the steppers * * */
 static void motor_Set_Moving_Direction (uint32_t pin, int16_t value) {
-
+	XGpioPs_WritePin(&xgpiops, pin, value);;
 }
 
 /* * * init gpio, connects IRQ to gpio * * */
 static void timer_gpio_Init(){
+	gpioCfg = XGpioPs_LookupConfig(XPAR_PS7_GPIO_0_DEVICE_ID);
+	XGpioPs_CfgInitialize(&xgpiops, gpioCfg, gpioCfg->BaseAddr);
 
+	XGpioPs_SetDirectionPin(&xgpiops, 54, 1);
+	XGpioPs_SetOutputEnablePin(&xgpiops, 54, 1);
+
+	XGpioPs_SetDirectionPin(&xgpiops, 55, 1);
+	XGpioPs_SetOutputEnablePin(&xgpiops,  55, 1);
 }
 
 /* * * * * * sets up two timers by calling timer_Setup() for each wheel, connects and activates an interrupt to one of timers * * */
@@ -62,16 +95,17 @@ static int timer_Setup(int DeviceID)
 
 /* * * starts timer number "Id" * * */
 static void timer_Start(uint32_t Id){
-
+	XTtcPs_Start(&xttcps);
 }
 
 /* * * stops timer number "Id" * * */
 static void timer_Stop(uint32_t Id){
-
+	XTtcPs_Stop(&xttcps);
 }
 
 
 /* * * sets new interval length and the correct matchvalue * * */
 static void timer_Set_Interval_Length(uint32_t Id, uint16_t interval_length){
-
+	XTtcPs_SetMatchValue(&xttcps, 0, interval_length/2);
+	XTtcPs_SetInterval(&xttcps, interval_length);
 }