diff --git a/doc/Notes and TODOs/TODO allgemein.txt b/doc/Notes and TODOs/TODO allgemein.txt
index 5c8fa8a..03df2c4 100644
--- a/doc/Notes and TODOs/TODO allgemein.txt	
+++ b/doc/Notes and TODOs/TODO allgemein.txt	
@@ -1,5 +1,3 @@
-    -> Document the battery pack lib
     -> Program underfloorLighting
-    -> Program battery pack tracking
     -> Add an beeper
     -> Program the beeper
diff --git a/include/moveControl.h b/include/moveControl.h
index cd89eca..c342ce9 100644
--- a/include/moveControl.h
+++ b/include/moveControl.h
@@ -170,7 +170,7 @@ class MoveControl {
 
         uint8_t delay = 20;
         uint8_t overTimeCounter = 0;
-        uint8_t overTimeMax = 10;
+        uint8_t overTimeMax = 100;
         int8_t rawPowerLeft = 0;
         int8_t rawPowerRight = 0;
         uint32_t lastMillis = 0;
diff --git a/include/moveControlConfig.h b/include/moveControlConfig.h
index 4b7f01a..f4ace03 100644
--- a/include/moveControlConfig.h
+++ b/include/moveControlConfig.h
@@ -13,14 +13,14 @@
     #define M_DIR_11 12
     #define M_DIR_12 27
     #define M_PWM_1 13
-    #define M_ENCODE_1A 33
-    #define M_ENCODE_1B 32
+    #define M_ENCODE_1A 32
+    #define M_ENCODE_1B 33
     //Right Motor
     #define M_DIR_21 23
     #define M_DIR_22 14
     #define M_PWM_2 22
-    #define M_ENCODE_2A 26
-    #define M_ENCODE_2B 25
+    #define M_ENCODE_2A 25
+    #define M_ENCODE_2B 26
 
 // PID config
     #define PID_OUT_MIN -100
diff --git a/lib/Battery/battery.cpp b/lib/Battery/battery.cpp
index 1ab0021..3ea195e 100644
--- a/lib/Battery/battery.cpp
+++ b/lib/Battery/battery.cpp
@@ -55,6 +55,7 @@ void Battery::calculateBatteryPercent() {
         if (this->batteryVoltage <= this->capacityVoltages[i])
             break;
     }
+    
     if (i == 0) {
         if (this->batteryVoltage > 6)
             std::cout << "Critical low battery!" << std::endl;
diff --git a/lib/Navigation/navigation.cpp b/lib/Navigation/navigation.cpp
index de94a88..f83fe87 100644
--- a/lib/Navigation/navigation.cpp
+++ b/lib/Navigation/navigation.cpp
@@ -65,7 +65,7 @@ void Navigation::init(Route* route) {
     Wire.write(0x0b);
     Wire.write(0x01);
     Wire.endTransmission();
-    this->compass->setMode(0x01,0x04,0x10,0X00);
+    this->compass->setMode(0x01,0x0C,0x10,0X00);
 }
 
 Navigation::~Navigation() {
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index 130f840..b75cd2f 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -29,7 +29,7 @@
  * 
  */
 #define MIN_DISTANCE_BETWEEN_POINTS 0.1
-#define AZIMUTH_UPDATE_DELAY 200
+#define AZIMUTH_UPDATE_DELAY 20
 
 /**
  * @brief This struct inherits the result of the navigation
diff --git a/lib/Speedometer/speedometer.h b/lib/Speedometer/speedometer.h
index 194c16c..0cbbd01 100644
--- a/lib/Speedometer/speedometer.h
+++ b/lib/Speedometer/speedometer.h
@@ -12,6 +12,7 @@
 #ifndef SPEEDOMETER_H
 #define SPEEDOMETER_H
 
+#include <Arduino.h>
 #include <cstdint>
 #include <ESP32Encoder.h>
 
diff --git a/platformio.ini b/platformio.ini
index fae01a6..5a42444 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -18,7 +18,7 @@ upload_speed = 921600
 monitor_port = COM3
 monitor_filters = esp32_exception_decoder
 lib_deps = 
-	madhephaestus/ESP32Encoder@^0.4.0
+	madhephaestus/ESP32Encoder@^0.10.1
 	jvpernis/PS3 Controller Host@^1.1.0
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.2.7
 	knolleary/PubSubClient@^2.8
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index 43d1507..ab64b20 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -107,7 +107,7 @@ void MoveControl::setDrivingStatus(DrivingStatus status) {
 }
 
 void MoveControl::setSpeed(double speed) {
-    if (speed < 0.2 && speed > -0.2)
+    if (speed < 0.1 && speed > -0.1)
         this->x_speed = 0;
     else
         this->x_speed = speed;