diff --git a/src/debugMqtt.cpp b/src/debugMqtt.cpp
index c960098..1a0a398 100644
--- a/src/debugMqtt.cpp
+++ b/src/debugMqtt.cpp
@@ -33,6 +33,13 @@ void DebugMqtt::sendData(Loglevel loglevel, String data){
     this->sendData(loglevel, "", data);
 }
 
+void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement) {
+    // Example String: "weather temperature=82 1465839830100400200";
+    unsigned long int nanos = millis() * 1000000;
+    snprintf(DebugMqtt::msg, MQTT_BUFFER_SITE, "%s %s=%f %lu", measurement_name.c_str(), field_set.c_str(), measurement, nanos);
+    this->sendData(Loglevel::debug, DebugMqtt::msg);
+}
+
 void DebugMqtt::init(PubSubClient *client, Loglevel loglevel) {
     DebugMqtt::client = client;
     DebugMqtt::loglevel = loglevel;
@@ -46,13 +53,13 @@ void DebugMqtt::changeLoglevel(Loglevel loglevel) {
 String DebugMqtt::enum_to_string(Loglevel loglevel) {
       switch(loglevel){
         case Loglevel::error :
-            return "/Rover/Error";
+            return "Rover/Error";
         case Loglevel::warn :
-            return "/Rover/Warn";
+            return "Rover/Warn";
         case Loglevel::info :
-            return "/Rover/Info";
+            return "Rover/Info";
         case Loglevel::debug :
-            return "/Rover/Debug";
+            return "Rover/Debug";
          default:
             return "INVALID ENUM";
       }
diff --git a/src/debugMqtt.h b/src/debugMqtt.h
index fe26cde..decdcb9 100644
--- a/src/debugMqtt.h
+++ b/src/debugMqtt.h
@@ -18,6 +18,7 @@ class DebugMqtt {
         void sendMsg(Loglevel loglevel, String msg);
         void sendData(Loglevel loglevel, String topic, String data);
         void sendData(Loglevel loglevel, String data);
+        void writeToInflux(String measurement_name, String field_set, float measurement);
 
         static void init(PubSubClient *client, Loglevel loglevel);
         static void changeLoglevel(Loglevel loglevel);
diff --git a/src/main.cpp b/src/main.cpp
index 7839cfb..bda8dd7 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -31,7 +31,6 @@ IPAddress mqtt_server(MQTT_SERVER);
 WiFiClient wifi_client;
 PubSubClient mqtt_client(wifi_client);
 
-
 uint64_t last_millis = 0;
 int controller_battery = -1;
 
diff --git a/src/motorControl.cpp b/src/motorControl.cpp
index 8d72137..cde41e9 100644
--- a/src/motorControl.cpp
+++ b/src/motorControl.cpp
@@ -5,10 +5,12 @@
 #include "config.h"
 
 MotorControl::MotorControl() {
-
+    this->debug = new DebugMqtt("MotorControl");
 }
 
 void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_pin_1, uint8_t direction_pin_2) {
+    debug->sendMsg(Loglevel::info, "Init...");
+
     this->pwm_pin = pwm_pin;
     this->pwm_channel = pwm_channel;
     this->direction_pin_1 = direction_pin_1;
@@ -23,6 +25,8 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_
     ledcSetup(this->pwm_channel, PWM_FREQ, PWM_RES);
     ledcAttachPin(this->pwm_pin, this->pwm_channel);
     ledcWrite(this->pwm_channel, 0);
+
+    debug->sendMsg(Loglevel::info, "Init finished!");
 }
 
 void MotorControl::runMotorControl() {
@@ -77,16 +81,17 @@ void MotorControl::runMotorControl() {
 }
 
 void MotorControl::setTargetPower(int8_t power) {
-    //TODO: Exceptionhandling
     if (power <= 100 && power >= -100) {
         this->target_power = power;
+        debug->writeToInflux("motorControl", "target_power_ASIDE", power);
     } else {
-        Serial.println("Invalid Argument in MotorControl::setTargetPower");
+        debug->sendMsg(Loglevel::error, "Invalid Argument in setTargetPower!");
     }
 }
 
 void MotorControl::stop() {
     this->target_power = 0;
+    debug->writeToInflux("motorControl", "target_power_ASIDE", this->target_power);
 }
 
 void MotorControl::emergencyStop() {
@@ -128,7 +133,7 @@ void MotorControl::setRealPower(int8_t power) {
     if (power <= 100 || power <= -100) {
         this->power = power;
     } else {
-        Serial.println("Invalid Argument in MotorControl::setRealPower");
+        debug->sendMsg(Loglevel::error, "Invalid Argument in setRealPower!");
         return;
     }
 
@@ -153,6 +158,7 @@ void MotorControl::setRealPower(int8_t power) {
     }
 
     ledcWrite(this->pwm_channel, pwm_val);
+    debug->writeToInflux("motorControl", "real_power_ASIDE", power);
     // Serial.printf("pwm_val: %d, ", pwm_val);
 }
 
diff --git a/src/motorControl.h b/src/motorControl.h
index f44ea75..a7c8fe7 100644
--- a/src/motorControl.h
+++ b/src/motorControl.h
@@ -4,6 +4,8 @@
 #include <cstdint>
 #include <string>
 
+#include "debugMqtt.h"
+
 class MotorControl {
     public:
         MotorControl();
@@ -24,6 +26,8 @@ class MotorControl {
         void setRealPower(int8_t power);
         void increasePower(int8_t power);
 
+        DebugMqtt *debug;
+
         int8_t target_power = 0;
         int8_t power = 0;
         uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index a45ba9d..e5a5ed3 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -3,15 +3,17 @@
 #include <Arduino.h>
 
 MoveControl::MoveControl() {
-
+    this->debug = new DebugMqtt("MoveControl");
 }
 
 void MoveControl::init(MotorControl *left_motor, MotorControl *right_motor,
                         Speedometer *left_speedometer, Speedometer *right_speedometer) {
+    debug->sendMsg(Loglevel::info, "Init...");
     this->left_motor = left_motor;
     this->right_motor = right_motor;
     this->left_speedometer = left_speedometer;
     this->right_speedometer = right_speedometer;
+    debug->sendMsg(Loglevel::info, "Init finished!");
 }
 
 void MoveControl::runMoveControl() {
@@ -50,6 +52,8 @@ void MoveControl::calcWheelSpeed() {
 
     this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (WHEEL_DIAMETER / 2);
     this->wheelspeed_left_target  = (A * this->x_speed + (-B) * this->rotation_speed) * (WHEEL_DIAMETER / 2);
+    debug->writeToInflux("moveControl", "wheelspeed_right_target", this->wheelspeed_right_target);
+    debug->writeToInflux("moveControl", "wheelspeed_left_target", this->wheelspeed_left_target);
 }
 
 void MoveControl::regulateMotors() {
diff --git a/src/moveControl.h b/src/moveControl.h
index a817e80..3bcab16 100644
--- a/src/moveControl.h
+++ b/src/moveControl.h
@@ -6,6 +6,7 @@
 #include "motorControl.h"
 #include "speedometer.h"
 #include "config.h"
+#include "debugMqtt.h"
 
 enum DrivingStatus {stop,
                     straightForward,
@@ -36,6 +37,8 @@ class MoveControl {
         void calcWheelSpeed();
         void regulateMotors();
 
+        DebugMqtt *debug;
+
         MotorControl *left_motor;
         MotorControl *right_motor;
         Speedometer *left_speedometer;
diff --git a/src/speedometer.cpp b/src/speedometer.cpp
index 3a0243e..836a6fe 100644
--- a/src/speedometer.cpp
+++ b/src/speedometer.cpp
@@ -4,12 +4,15 @@ Speedometer::Speedometer() {
     for (int i = 0; i < BUF_SIZE; i++) {
         this->buf[i] = 0;
     }
+    this->debug = new DebugMqtt("Speedometer");
 }
 
 void Speedometer::init(uint8_t pinA, uint8_t pinB) {
+    debug->sendMsg(Loglevel::info, "Init...");
     ESP32Encoder::useInternalWeakPullResistors=DOWN;
     this->encoder.attachFullQuad(pinA, pinB);
     this->encoder.setFilter(ENC_FILTER);
+    debug->sendMsg(Loglevel::info, "Init finished!");
 }
 
 void Speedometer::runSpeedometer() {
@@ -46,6 +49,7 @@ void Speedometer::runSpeedometer() {
     } else {
         this->speed = 0;
     }
+    debug->writeToInflux("speedometer", "speed_ASIDE", this->speed);
 
     // Serial.printf("time: %d, ", time);
     // Serial.printf("count: %d, ",count);
diff --git a/src/speedometer.h b/src/speedometer.h
index c0edc47..37408f9 100644
--- a/src/speedometer.h
+++ b/src/speedometer.h
@@ -6,6 +6,7 @@
 #include <math.h>
 
 #include "config.h"
+#include "debugMqtt.h"
 
 class Speedometer {
     public:
@@ -21,6 +22,7 @@ class Speedometer {
         int16_t getAverage();
 
         ESP32Encoder encoder;
+        DebugMqtt *debug;
 
         double speed = 0;
         uint32_t last_millis = 0;