diff --git a/src/APP/Aufgabe3/ps7/core0/main.c b/src/APP/Aufgabe3/ps7/core0/main.c
index cc01544..bb372eb 100644
--- a/src/APP/Aufgabe3/ps7/core0/main.c
+++ b/src/APP/Aufgabe3/ps7/core0/main.c
@@ -40,27 +40,37 @@ void InitDoneCallback(void * p_arg) {
 
 	timer_Init();
 
+	uint16_t melody[][2] = {{440, 500}, {440, 500}, {440, 500}, {349, 350}, {523, 150}, {440, 500}, {349, 350}, {523, 150}, {440, 1000}, {659, 500}, {659, 500}, {659, 500}, {698, 350}, {523, 150}, {415, 500}, {349, 350}, {523, 150}, {440, 1000}};
+
 	while(1){
-		for(int16_t i = -1000; i<=1000; i++){
+		for(uint8_t i=0; i<(sizeof(melody)/sizeof(melody[0])); i++){
 			CPU_SR cpu_sr;
 			OS_ENTER_CRITICAL();
-			// This is a critcal section. Usefull for accessing global variables shared between tasks
-			pidValue = i;
+			pidValue = melody[i][0];
 			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);
+			OSTimeDly(melody[i][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);
+		//}
 	}
 
 
diff --git a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
index 07a4693..12c222c 100644
--- a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
+++ b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
@@ -23,8 +23,7 @@ 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();
 
-XTtcPs xttcps;
-XTtcPs_Config* TimerSetup;
+XTtcPs xttcps[2];
 
 XGpioPs xgpiops;
 XGpioPs_Config* gpioCfg;
@@ -33,14 +32,18 @@ extern int16_t pidValue;
 
 void timer_Task(void *pdata) {
 	if(pidValue){
-		uint16_t interval = (64000/abs(pidValue));
+		uint16_t interval = 1.337*(64000/abs(pidValue));
 		uint8_t direction = pidValue<0;
 		//UCOS_Printf("%d %d\r\n", direction, interval);
 		//UCOS_Printf("counter value: %d\r\n", XTtcPs_GetCounterValue(&xttcps));
+		timer_Stop(0);
 		timer_Stop(1);
+		timer_Set_Interval_Length(0,interval);
 		timer_Set_Interval_Length(1,interval);
+		timer_Start(0);
 		timer_Start(1);
 		motor_Set_Moving_Direction(54, direction);
+		motor_Set_Moving_Direction(55, !direction);
 	}
 	else
 	{
@@ -51,12 +54,8 @@ void timer_Task(void *pdata) {
 /* * * intializes and starts two timers with respective puls generation on gpio pins * * */
 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_Dual_Timer_Setup();
 
 	timer_gpio_Init();
 	motor_Set_Moving_Direction(54, 1);
@@ -85,30 +84,36 @@ static void timer_gpio_Init(){
 /* * * * * * sets up two timers by calling timer_Setup() for each wheel, connects and activates an interrupt to one of timers * * */
 static int timer_Dual_Timer_Setup(void)
 {
-
+	timer_Setup(XPAR_PS7_TTC_0_DEVICE_ID);
+	timer_Setup(XPAR_PS7_TTC_1_DEVICE_ID);
 }
 
 /* * * * * * sets up a timer counter device, initialize device, set options, set interval and prescaler value for given output frequency * * */
 static int timer_Setup(int DeviceID)
 {
-
+	XTtcPs_Config* TimerSetup = XTtcPs_LookupConfig(DeviceID);	
+	XTtcPs_CfgInitialize(&xttcps[DeviceID], TimerSetup, TimerSetup->BaseAddress);
+	XTtcPs_SetOptions(&xttcps[DeviceID], XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_MATCH_MODE);
+	XTtcPs_SetPrescaler(&xttcps[DeviceID], 8);
+	XTtcPs_SetMatchValue(&xttcps[DeviceID], 0, 1);
+	XTtcPs_SetInterval(&xttcps[DeviceID], 2);
 }
 
 /* * * starts timer number "Id" * * */
 static void timer_Start(uint32_t Id){
-	XTtcPs_Start(&xttcps);
+	XTtcPs_Start(&xttcps[Id]);
 }
 
 /* * * stops timer number "Id" * * */
 static void timer_Stop(uint32_t Id){
-	XTtcPs_Stop(&xttcps);
+	XTtcPs_Stop(&xttcps[Id]);
 }
 
 
 /* * * sets new interval length and the correct matchvalue * * */
 static void timer_Set_Interval_Length(uint32_t Id, uint16_t interval_length){
-	if(XTtcPs_GetCounterValue(&xttcps) >= interval_length)
-		 XTtcPs_ResetCounterValue(&xttcps);
-	XTtcPs_SetMatchValue(&xttcps, 0, interval_length/2);
-	XTtcPs_SetInterval(&xttcps, interval_length);
+	if(XTtcPs_GetCounterValue(&xttcps[Id]) >= interval_length)
+		 XTtcPs_ResetCounterValue(&xttcps[Id]);
+	XTtcPs_SetMatchValue(&xttcps[Id], 0, interval_length/2);
+	XTtcPs_SetInterval(&xttcps[Id], interval_length);
 }