diff --git a/src/APP/Aufgabe3/ps7/core0/main.c b/src/APP/Aufgabe3/ps7/core0/main.c
index bb372eb..659deb7 100644
--- a/src/APP/Aufgabe3/ps7/core0/main.c
+++ b/src/APP/Aufgabe3/ps7/core0/main.c
@@ -27,28 +27,22 @@ void InitDoneCallback(void * p_arg) {
 	(void) p_arg;
 	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();
+	OSTaskCreateExt(timer_Task,
+			0,
+			&TimerStk[TIMER_STK_SIZE-1],
+			TIMER_PRIO,
+			TIMER_PRIO,
+			&TimerStk[0],
+			TIMER_STK_SIZE,
+			0,
+			0
+		       );
 
 	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(uint8_t i=0; i<(sizeof(melody)/sizeof(melody[0])); i++){
-			CPU_SR cpu_sr;
-			OS_ENTER_CRITICAL();
 			pidValue = melody[i][0];
-			OS_EXIT_CRITICAL();
-			timer_Task(0);
 			OSTimeDly(melody[i][1]);
 		}
 		//for(int16_t i = -1000; i<=1000; i++){
diff --git a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
index 12c222c..1984e45 100644
--- a/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
+++ b/src/APP/Aufgabe3/ps7/core0/src/ttc_timer.c
@@ -31,23 +31,27 @@ XGpioPs_Config* gpioCfg;
 extern int16_t pidValue;
 
 void timer_Task(void *pdata) {
-	if(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
-	{
-		timer_Stop(0);
+	timer_Init();
+
+	while(1){
+		if(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
+		{
+			timer_Stop(0);
+		}
 	}
 }
 
@@ -56,9 +60,7 @@ int timer_Init(){
 	UCOS_Print("Setting up Timer!\r\n");
 
 	timer_Dual_Timer_Setup();
-
 	timer_gpio_Init();
-	motor_Set_Moving_Direction(54, 1);
 
 	UCOS_Print("Done!\r\n");
 	return 0;