diff --git a/doc/TODO allgemein.txt b/doc/TODO allgemein.txt
index 7dcd6bb..f8a1baa 100644
--- a/doc/TODO allgemein.txt	
+++ b/doc/TODO allgemein.txt	
@@ -1,12 +1,24 @@
-Für irgendwann:
+Maybe:
+    -> Time Measurement in component interface
+    -> Time warnings
+
+Do later:
     -> Program underfloorLighting
     -> Add an beeper
     -> Program the beeper
     -> Update GNSS Lib to v3
+    -> Engine slow down without curve
+    -> SiteMenus action yes and no for increment and decrement on one site
+    -> Network clean up (Mqtt remove?)
+    -> Extra class for maneuver, autopilot should inherit from int16_t
+    -> Better remote Control with Leds for gnss rtk etc
+    -> Test Menu for big curve driving
+    -> Api with Names and show on Maps in Browser
+    -> Menu structure mit add functions for each menu mit pointer return to config (additional not replace)
+    -> Menu Display from parent as run() to make Menu as Component
+    -> Racing Mode
 
-Besser zügig:
+Do now:
     Doxygen Kommentare aktualisieren
-    Motortreiber vielleicht bei stoppen ohne Kurve
     
-    Autopilot Funktionen zum einstellen der Geschwindigkeiten
     
diff --git a/include/config.h b/include/config.h
index 4b52d94..0a205f9 100644
--- a/include/config.h
+++ b/include/config.h
@@ -9,30 +9,50 @@
  * 
  */
 
-/**
- * @brief The MAC-Address saved in PS3-Controller
- * 
- * The PS3-Controller only connects to the address which is saved in it.
- */
-#define CONTROLLER_MAC "24:62:AB:F2:4B:3A"
+#pragma once
 
-/**
- * @brief Prevents creation of the global object
- * 
- * The PS3-Controller class creates a global object to use.
- */
-#define NO_GLOBAL_INSTANCES
+namespace PinNumbers {
+    constexpr uint8_t spiCopi = 16;
+    constexpr uint8_t spiCipo = 4;
+    constexpr uint8_t spiSck = 5;
+    constexpr uint8_t gnssSpiCs = 17;
 
-/**
- * @name SPI-Pins
- * @brief Pins for SPI communication with the gnss module
- */
-///@{
-#define UBLOX_GNSS_SPI_CS 17
-#define UBLOX_GNSS_SPI_COPI 16
-#define UBLOX_GNSS_SPI_CIPO 4
-#define UBLOX_GNSS_SPI_SCK 5
-///@}
+    namespace LeftMotor {
+        constexpr uint8_t dir1 = 27;
+        constexpr uint8_t dir2 = 12;
+        constexpr uint8_t pwm  = 13;
+        constexpr uint8_t encoder = 26;
+        constexpr uint8_t pmwChannel = 0;
+    }
 
-#define RF24_CSN_PIN 18
-#define RF24_CE_PIN 2
+    namespace RightMotor {
+        constexpr uint8_t dir1 = 14;
+        constexpr uint8_t dir2 = 23;
+        constexpr uint8_t pwm  = 22;
+        constexpr uint8_t encoder = 33;
+        constexpr uint8_t pmwChannel = 0;
+    }
+}
+
+namespace Settings {
+    constexpr float wheelDiameter = 0.1263;
+    constexpr uint16_t encoderSteps = 360;
+
+    namespace Pid {
+        namespace Left {
+            constexpr uint8_t P = 75;
+            constexpr uint8_t I = 0;
+            constexpr uint8_t D = 0;
+        }
+
+        namespace Right {
+            constexpr uint8_t P = 75;
+            constexpr uint8_t I = 0;
+            constexpr uint8_t D = 0;
+        }
+
+        constexpr int8_t outMin = -100;
+        constexpr int8_t outMax = 100;
+        constexpr uint8_t sampleTime = 30;
+    }
+}
diff --git a/include/moveControl.h b/include/moveControl.h
index da82fee..8c6d7b8 100644
--- a/include/moveControl.h
+++ b/include/moveControl.h
@@ -18,7 +18,7 @@
 
 #include "motorControl.h"
 #include "speedometer.h"
-#include "moveControlConfig.h"
+#include "config.h"
 #include "debugTimes.h"
 #include "component.h"
 
diff --git a/include/moveControlConfig.h b/include/moveControlConfig.h
deleted file mode 100644
index 62ca13f..0000000
--- a/include/moveControlConfig.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- * @file moveControlConfig.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief This file inherits some configurations for moveControl.h 
- * @version 0.1
- * @date 2021-12-14
- * 
- * @copyright Copyright (c) 2021
- * 
- */
-//Pin config
-    //Left Motor
-    #define M_DIR_11 27
-    #define M_DIR_12 12
-    #define M_PWM_1 13
-    #define M_ENCODE_LEFT 26
-    //Right Motor
-    #define M_DIR_21 14
-    #define M_DIR_22 23
-    #define M_PWM_2 22
-    #define M_ENCODE_RIGHT 33
-
-// PID config
-    #define PID_OUT_MIN -100
-    #define PID_OUT_MAX 100
-    #define PID_SAMPLETIME 30
-    // Left PID
-    #define PID_LEFT_P 75
-    #define PID_LEFT_I 0
-    #define PID_LEFT_D 0
-    // Right PID
-    #define PID_RIGHT_P 75
-    #define PID_RIGHT_I 0
-    #define PID_RIGHT_D 0
-
-// PWM
-    #define PWM_CHANNEL_M1 0
-    #define PWM_CHANNEL_M2 1
-    
-// SPEEDOMETER
-    #define WHEEL_DIAMETER 0.1263
-    #define ENC_STEPS 360
diff --git a/include/networkConfig.h b/include/networkConfig.h
index 8e06181..d62b70b 100644
--- a/include/networkConfig.h
+++ b/include/networkConfig.h
@@ -56,24 +56,13 @@
 #ifdef NTRIP_RTK2GO
 #define NTRIP_HOST          "rtk2go.com"
 #define NTRIP_PORT          2101
-#define NTRIP_MOUNT_POINT   "GER-Papenburg"
+#define NTRIP_MOUNT_POINT   "GER-Dortmund"
 #define NTRIP_USER          "alklein1@gmx.de"
 #define NTRIP_PASSWORD      "none"
 #endif // NTRIP_RTK2GO
 
 
-#define RHEDE
-
-//Network config ESP32
-#ifdef ESP32BROKER
-#define WLAN_SSID "ESP32-Broker"
-#define WLAN_PASSWORD "doit2022"
-#define WLAN_IP "192.168.4.77"
-#define WLAN_SUBNETMASK "255.255.255.0"
-#define WLAN_GATEWAY "192.168.4.1"
-#define MQTT_SERVER "192.168.4.1"
-#define MQTT_PORT 1883
-#endif //ESP32BROKER
+#define HOTSPOT
 
 //Network config Hotspot
 #ifdef HOTSPOT
@@ -114,38 +103,3 @@
     #define MQTT_PORT 1883
 #endif //DORO
 
-//Network config HW1
-#ifdef HW1
-#define WLAN_SSID "hw1_gast"
-#define WLAN_PASSWORD "KeineAhnung"
-#define WLAN_IP "192.168.0.67"
-#define WLAN_SUBNETMASK "255.255.255.0"
-#define WLAN_GATEWAY "192.168.0.1"
-#define MQTT
-#define MQTT_SERVER "172.22.64.216"
-#define MQTT_PORT 1883
-#endif //HW1 
-
-//Network config FRENZY
-#ifdef FRENZY
-#define WLAN_SSID "GNX7EDD84-2"
-#define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
-#define WLAN_IP 0x0F01a8c0          //192.168.1.15
-#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
-#define MQTT
-#define WLAN_GATEWAY 0xfe01a8c0     //192.168.1.254
-#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
-#define MQTT_PORT 1883
-#endif //FRENZY 
-
-//Network config TPMOBIL
-#ifdef TPMOBIL
-#define WLAN_SSID "TP-Mobil"
-#define WLAN_PASSWORD "Punica-699"
-#define WLAN_IP 0x0F01a8c0          //192.168.1.15
-#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
-#define WLAN_GATEWAY 0x0101a8c0     //192.168.1.1
-#define MQTT
-#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
-#define MQTT_PORT 1883
-#endif //TPMOBIL 
diff --git a/lib/Counter/counter.cpp b/lib/Counter/counter.cpp
index a4918e0..ea69173 100644
--- a/lib/Counter/counter.cpp
+++ b/lib/Counter/counter.cpp
@@ -13,8 +13,8 @@ Counter::Counter(uint8_t pin) {
     pcnt_config_t config;
     config.unit = this->unit;
     config.channel = PCNT_CHANNEL_0;
-    config.counter_h_lim = COUNTER_HIGH_LIMIT;
-    config.counter_l_lim = COUNTER_LOW_LIMIT;
+    config.counter_h_lim = Counter::highLimit;
+    config.counter_l_lim = Counter::lowLimit;
     config.ctrl_gpio_num = PCNT_PIN_NOT_USED;
     config.hctrl_mode = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
     config.lctrl_mode = PCNT_CHANNEL_LEVEL_ACTION_KEEP;
diff --git a/lib/Counter/counter.h b/lib/Counter/counter.h
index 240895a..59c5a56 100644
--- a/lib/Counter/counter.h
+++ b/lib/Counter/counter.h
@@ -3,9 +3,6 @@
 #include <Arduino.h>
 #include <driver/pcnt.h>
 
-#define COUNTER_HIGH_LIMIT INT16_MAX
-#define COUNTER_LOW_LIMIT 0
-
 class Counter {
     public:
         Counter(uint8_t pin);
@@ -21,6 +18,9 @@ class Counter {
         void filterDisable();
 
     private:
+        static constexpr int16_t highLimit = INT16_MAX;
+        static constexpr uint8_t lowLimit = 0;
+
         static uint8_t amountOfCounter;
 
         bool initalised = false;
diff --git a/lib/LcdWrapper/LcdWrapper.cpp b/lib/LcdWrapper/LcdWrapper.cpp
index 4880f64..527202f 100644
--- a/lib/LcdWrapper/LcdWrapper.cpp
+++ b/lib/LcdWrapper/LcdWrapper.cpp
@@ -22,20 +22,20 @@ void LcdWrapper::run() {
         return;
 
     this->lcd->clear();
-    for (uint8_t i = 0; i < DISPLAY_WRAPPER_LINES; i++) {
+    for (uint8_t i = 0; i < LcdWrapper::totalLines; i++) {
         this->lcd->setCursor(0, i);
         this->lcd->print(this->data[i]);
     }
     
     if (this->callback)
-        this->callback(this->data, DISPLAY_WRAPPER_LINES, DISPLAY_WRAPPER_ROWS);
+        this->callback(this->data, LcdWrapper::totalLines, LcdWrapper::totalRows);
 
     this->changed = false;
 }
 
 void LcdWrapper::clear() {
-    for (uint8_t i = 0; i < DISPLAY_WRAPPER_LINES; i++) {
-        for (uint8_t j = 0; j < DISPLAY_WRAPPER_ROWS; j++) {
+    for (uint8_t i = 0; i < LcdWrapper::totalLines; i++) {
+        for (uint8_t j = 0; j < LcdWrapper::totalRows; j++) {
             data[i][j] = ' ';
         }
     }
@@ -43,11 +43,11 @@ void LcdWrapper::clear() {
 }
 
 void LcdWrapper::setCursor(uint8_t row, uint8_t line) {
-    if (row > DISPLAY_WRAPPER_ROWS - 1)
-        row = DISPLAY_WRAPPER_ROWS - 1;
+    if (row > LcdWrapper::totalRows - 1)
+        row = LcdWrapper::totalRows - 1;
 
-    if (line > DISPLAY_WRAPPER_LINES - 1)
-        line = DISPLAY_WRAPPER_LINES - 1;
+    if (line > LcdWrapper::totalLines - 1)
+        line = LcdWrapper::totalLines - 1;
 
     this->cursorRow = row;
     this->cursorLine = line;
@@ -55,7 +55,7 @@ void LcdWrapper::setCursor(uint8_t row, uint8_t line) {
 
 void LcdWrapper::print(const char *str) {
     uint8_t inputStringPosition = 0;
-    for (uint8_t i = this->cursorRow; i < DISPLAY_WRAPPER_ROWS; i++) {
+    for (uint8_t i = this->cursorRow; i < LcdWrapper::totalRows; i++) {
         if (str[inputStringPosition] == '\0')
             break;
         else
diff --git a/lib/LcdWrapper/LcdWrapper.h b/lib/LcdWrapper/LcdWrapper.h
index f26b550..e78e269 100644
--- a/lib/LcdWrapper/LcdWrapper.h
+++ b/lib/LcdWrapper/LcdWrapper.h
@@ -17,11 +17,7 @@
 #include <displayWrapper.h>
 #include <component.h>
 
-#define DISPLAY_WRAPPER_ROWS 16
-#define DISPLAY_WRAPPER_LINES 2
-
-typedef void (*LcdWrapperCallback) (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows);
-
+typedef void (*LcdWrapperCallback) (const char data[][16], uint8_t lines, uint8_t rows);
 /**
  * @brief A class for the Menu class to print information 
  * 
@@ -60,13 +56,15 @@ class LcdWrapper : public DisplayWrapper, public Component {
          */
         void print(const char *str) override;
 
-
+        static constexpr uint8_t totalRows = 16;
+        static constexpr uint8_t totalLines = 2;
     private:
         void run() override;
 
+    
         LiquidCrystal_I2C* lcd;
         LcdWrapperCallback callback = nullptr;
-        char data[DISPLAY_WRAPPER_LINES][DISPLAY_WRAPPER_ROWS];
+        char data[LcdWrapper::totalLines][LcdWrapper::totalRows];
 
         uint8_t cursorRow = 0;
         uint8_t cursorLine = 0;
diff --git a/lib/MotorControl/motorControl.cpp b/lib/MotorControl/motorControl.cpp
index ab815e7..de366e9 100644
--- a/lib/MotorControl/motorControl.cpp
+++ b/lib/MotorControl/motorControl.cpp
@@ -13,9 +13,9 @@
 #include "motorControl.h"
 
 MotorControl::MotorControl() {
-    this->setMinPwm(PWMMIN);
-    this->setMaxPwm(PWMMAX);
-    this->loopDelay = DELAY;
+    this->setMinPwm(MotorControl::pwmMin);
+    this->setMaxPwm(MotorControl::pwmMax);
+    Component::loopDelay = MotorControl::loopDelay;
 }
 
 void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2) {
@@ -30,7 +30,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
     digitalWrite(this->dir_1, LOW);
     digitalWrite(this->dir_2, LOW);
 
-    ledcSetup(this->pwmChannel, PWMFREQ, this->pwmRes);
+    ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
     ledcAttachPin(this->pwmPin, this->pwmChannel);
     ledcWrite(this->pwmChannel, 0);
 }
@@ -42,14 +42,14 @@ void MotorControl::run() {
     // Difference between targetPower and power
     int16_t difference = this->targetPower - this->power;
 
-    // Check that the target speed is close to 0 and that the abs_difference is lower than powersteps
-    if (abs(this->targetPower) <  powersteps && abs_difference < powersteps) {
+    // Check that the target speed is close to 0 and that the abs_difference is lower than MotorControl::powerSteps
+    if (abs(this->targetPower) <  MotorControl::powerSteps && abs_difference < MotorControl::powerSteps) {
         this->setRealPower(0);
         return;
     }
 
     // Correct speed
-    if (abs_difference < powersteps) {
+    if (abs_difference < MotorControl::powerSteps) {
         return;
     }
 
@@ -58,23 +58,23 @@ void MotorControl::run() {
         // Positive or negative speed
         if (this->power >= 0) {
             if (difference > 0) {
-                this->increasePower(powersteps);
+                this->increasePower(MotorControl::powerSteps);
             } else {
-                this->increasePower(-powersteps);
+                this->increasePower(-MotorControl::powerSteps);
             }
         } else {
-            this->increasePower(powersteps);
+            this->increasePower(MotorControl::powerSteps);
         }
 
     } else {
         // Positive or negative speed
         if (this->power >= 0) {
-            this->increasePower(-powersteps);
+            this->increasePower(-MotorControl::powerSteps);
         } else {
             if (difference > 0) {
-                this->increasePower(powersteps);
+                this->increasePower(MotorControl::powerSteps);
             } else {
-                this->increasePower(-powersteps);
+                this->increasePower(-MotorControl::powerSteps);
             }
         }
     }
@@ -94,11 +94,6 @@ void MotorControl::setMaxPwm(uint8_t max) {
     this->dutycycleMax = max;
 }
 
-uint16_t MotorControl::setPowerSteps(uint8_t increment) {
-    this->powersteps = increment;
-    return (uint16_t) (this->loopDelay * ( 100 / powersteps ));
-}
-
 void MotorControl::setTargetPower(int8_t power) {
     if (power <= 100 && power >= -100)
         this->targetPower = power;
@@ -168,7 +163,7 @@ void MotorControl::setRealPower(int8_t power) {
 void MotorControl::increasePower(int8_t power) {
     //TODO: Exceptionhandling
     //TODO: make a stop befor a direction change
-    if (abs(power) > 2 * powersteps) {
+    if (abs(power) > 2 * MotorControl::powerSteps) {
         Serial.println("Invalid Argument in MotorControl::increasePower");
         return;
     }
diff --git a/lib/MotorControl/motorControl.h b/lib/MotorControl/motorControl.h
index 46ef407..3294960 100644
--- a/lib/MotorControl/motorControl.h
+++ b/lib/MotorControl/motorControl.h
@@ -16,14 +16,7 @@
 #include <iostream>
 #include <Arduino.h>
 
-#include <component.h>
-
-#define DELAY 10
-#define PWMFREQ 16000
-#define PWMRES 8
-#define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
-#define PWMMIN 55
-#define PWMMAX 94         // Max 98% of 2^PWM_RES
+#include "component.h"
 
 /**
  * @brief A class which use PWM to control the power of DC Motor
@@ -58,24 +51,6 @@ class MotorControl : public Component {
          */
         void setMaxPwm(uint8_t max);
 
-        /**
-         * @brief Set the Power Steps
-         * 
-         * Set the increment of the steps with which the dutycycle is
-         * increased or decreased. Note the dependency between the increment
-         * and delayLoop().
-         * 
-         * The formula for the time between 0% and 100% power is:
-         *      time[ms] = delayLoop * ( 100 / increment )
-         *      500 ms are recommended
-         * 
-         * @see setDelay()
-         * 
-         * @param increment 
-         * @return time from 0% power to 100% power in Milliseconds
-         */
-        uint16_t setPowerSteps(uint8_t increment);
-
         /**
          * @brief Set the Target Power
          * 
@@ -122,20 +97,24 @@ class MotorControl : public Component {
         void setRealPower(int8_t power);
         void increasePower(int8_t power);
 
+        static constexpr uint8_t loopDelay = 10;
+        static constexpr uint16_t pwmFreq = 16000;
+        static constexpr uint8_t pwmRes = 8;
+        static constexpr uint8_t powerSteps = 2;        //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+        static constexpr uint8_t pwmMin = 55;
+        static constexpr uint8_t pwmMax = 98;           // Max 98% of 2^PWM_RES     
+
         int8_t targetPower = 0;
         int8_t power = 0;
         uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
 
         uint8_t pwmPin;
         uint8_t pwmChannel;
-        uint8_t pwmRes = PWMRES;
         uint16_t dutycycle = 0;
         uint8_t dutycycleMin;
         uint8_t dutycycleMax;
         uint8_t dir_1;
-        uint8_t dir_2;
-        uint8_t powersteps = POWERSTEPS;
-        
+        uint8_t dir_2;        
 };
 
 #endif // MOTOR_CONTROL_H
diff --git a/lib/Navigation/navigation.cpp b/lib/Navigation/navigation.cpp
index 42494a3..4f16f11 100644
--- a/lib/Navigation/navigation.cpp
+++ b/lib/Navigation/navigation.cpp
@@ -63,7 +63,7 @@ void Navigation::init(Route* route) {
     caliCompass.loadData();
     caliCompass.useData();
 
-    this->loopDelay =AZIMUTH_UPDATE_DELAY;
+    Component::loopDelay = Navigation::loopDelay;
 }
 
 Navigation::~Navigation() {
@@ -168,8 +168,8 @@ Navigation::Status Navigation::addCurrentPosToRoute() {
 
     // Every Point after the first
     double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
-    if (MIN_DISTANCE_BETWEEN_POINTS <= distance
-        && MAX_DISTANCE_BETWEEN_POINTS >= distance){
+    if (Navigation::minDisBetweenPoints <= distance
+        && Navigation::maxDisBetweenPoints >= distance){
         this->route->addPointToRoute(this->currentPosition);
         this->lastPointRouteInsert = this->currentPosition;
         return Status::Updated;
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index 7061061..adb4a6d 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -23,18 +23,6 @@
 #include "calibrateCompass.h"
 #include "component.h"
 
-/**
- * @brief The minimal distance between Points
- * 
- * This is a very critical option. It have to be
- * around the half accuracy of the positioning system
- * 
- */
-#define MIN_DISTANCE_BETWEEN_POINTS 0.3
-#define MAX_DISTANCE_BETWEEN_POINTS 10
-#define MIN_DISTANCE_TO_REACH_POINT 0.5
-#define AZIMUTH_UPDATE_DELAY 20
-
 /**
  * @brief This struct inherits the result of the navigation
  * 
@@ -221,6 +209,10 @@ class Navigation : public Component {
         bool setTargetPoint(Point target);
         int16_t calculateCourseCorrection(Point& point);
 
+        static constexpr uint8_t loopDelay = 20;
+        static constexpr uint8_t maxDisBetweenPoints = 10;
+        static constexpr float minDisBetweenPoints = 0.3;
+
         SFE_UBLOX_GNSS* gps;
         UBX_NAV_PVT_data_t* ubxData = nullptr;
         Route* route = nullptr;
@@ -235,8 +227,6 @@ class Navigation : public Component {
         Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
         CalcAzimuthState calcAzimuthState = CalcAzimuthState::Invalid;
 
-
-
         bool navigationStarted = false;
         bool navigationFinished = false;
         bool isNtripInit = false;
diff --git a/lib/Route/route.cpp b/lib/Route/route.cpp
index 5f5b395..a9039fe 100644
--- a/lib/Route/route.cpp
+++ b/lib/Route/route.cpp
@@ -71,7 +71,7 @@ int16_t Point::courseTo(const Coordinates& point) const {
     Coordinates begin = this->coordinates;
     Coordinates end = point;
 
-    double phi = log( tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + ROUTE_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + ROUTE_PI / 4) );
+    double phi = log( tan(end.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) / tan(begin.lat * ROUTE_DEGREE_TO_RADIANT / 2 + M_PI / 4) );
     double lon = (begin.lon * ROUTE_DEGREE_TO_RADIANT - end.lon * ROUTE_DEGREE_TO_RADIANT);
 
     int16_t res = static_cast<int16_t>(atan2(lon, phi) / ROUTE_DEGREE_TO_RADIANT) * -1;
diff --git a/lib/Route/route.h b/lib/Route/route.h
index a2e2418..3aceff3 100644
--- a/lib/Route/route.h
+++ b/lib/Route/route.h
@@ -18,7 +18,6 @@
 
 #define ROUTE_DEGREE_TO_RADIANT 0.01745
 #define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300
-#define ROUTE_PI 3.14159265358979323846
 
 /**
  * @brief A to handle points on the earth
diff --git a/lib/Speedometer/speedometer.cpp b/lib/Speedometer/speedometer.cpp
index bd8ea65..8313efa 100644
--- a/lib/Speedometer/speedometer.cpp
+++ b/lib/Speedometer/speedometer.cpp
@@ -11,18 +11,22 @@
  */
 #include "speedometer.h"
 
-Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
-    this->init(pin, diameter, steps);
-    this->bufSize = numOfValForAvg;
-    this->loopDelay = DELAY_SPEEDOMETER;
-}
-
 Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
-    this->init(pin, diameter, steps);
+    this->diameter = diameter;
+    this->steps = steps;
+
+    this->pulseCounter = new Counter(pin);
+    this->pulseCounter->setFilterValue(1000); // ignore pulses less than 1000 x 2.5ns
+
+    this->pulseCounter->clear();
+    this->pulseCounter->resume();
+
+    Component::loopDelay = Speedometer::loopDelay;
+
+    clearAvgBuf();
 }
 
 Speedometer::~Speedometer() {
-    delete[] this->buf;
     delete this->pulseCounter;
 }
 
@@ -58,7 +62,7 @@ void Speedometer::run() {
             break;
     }
 
-    this->addValToBuf(static_cast<int16_t>(this->speed * CONVERSION_FACTOR));
+    this->addValToBuf(static_cast<int16_t>(this->speed * Speedometer::conversionFactor));
 }
 
 void Speedometer::setDirection(Direction dir) {
@@ -68,11 +72,6 @@ void Speedometer::setDirection(Direction dir) {
     this->clearAvgBuf();
 }
 
-void Speedometer::setNumOfValForAvg(uint8_t val) {
-    this->bufSize = val;
-    updateAvgBufSize();
-}
-
 void Speedometer::setEncFilter(uint16_t val) {
     if (val > 1023) 
         val = 1023;
@@ -81,7 +80,7 @@ void Speedometer::setEncFilter(uint16_t val) {
 
 double Speedometer::getAvgSpeed() const {
     int16_t avg = this->calcAverage();
-    return (float)avg / CONVERSION_FACTOR;
+    return (float)avg / Speedometer::conversionFactor;
 }
 
 void Speedometer::calibrationMeasurementStart() {
@@ -101,25 +100,6 @@ uint16_t Speedometer::calibrationMeasurementStop() {
     return res;
 }
 
-void Speedometer::init(uint8_t pin, double diameter, uint16_t steps) {
-    this->diameter = diameter;
-    this->steps = steps;
-
-    this->pulseCounter = new Counter(pin);
-    this->pulseCounter->setFilterValue(1000); // ignore pulses less than 1000 x 2.5ns
-
-    this->pulseCounter->clear();
-    this->pulseCounter->resume();
-
-    initAvgBuf();
-}
-
-void Speedometer::initAvgBuf() {
-    this->buf = new int16_t[bufSize];
-    for (uint8_t i = 0; i < bufSize; i++) 
-        this->buf[i] = 0;
-}
-
 void Speedometer::clearAvgBuf() {
     for (uint8_t i = 0; i < bufSize; i++) 
         this->buf[i] = 0;
@@ -133,11 +113,6 @@ void Speedometer::addValToBuf(int16_t val) {
        bufPos = 0;
 }
 
-void Speedometer::updateAvgBufSize() {
-    delete[] this->buf;
-    initAvgBuf();
-}
-
 int16_t Speedometer::calcAverage() const {
     int16_t sum = 0;
     for (int i = 0; i < this->bufSize; i++)
diff --git a/lib/Speedometer/speedometer.h b/lib/Speedometer/speedometer.h
index 1277f1a..ae78366 100644
--- a/lib/Speedometer/speedometer.h
+++ b/lib/Speedometer/speedometer.h
@@ -19,19 +19,6 @@
 #include "counter.h"
 #include "component.h"
 
-/**
- * @brief The default size of numbers to be taken in account for the average.
- * 
- */
-#define BUFSIZE 5
-#define CONVERSION_FACTOR 100
-
-/**
- * @brief Default value for min Millisseconds between each loop
- * @see setDelay(uint8_t val)
- */
-#define DELAY_SPEEDOMETER 30
-
 /**
  * @brief A class which use a encoder to calc the speed
  * 
@@ -60,9 +47,7 @@ class Speedometer : public Component {
          * @param pin Pin on the Esp from the encoder.
          * @param diameter Diameter of the wheel in meters.
          * @param steps Encodersteps for a complete wheel rotation.
-         * @param numOfValForAvg Number of last values ​​to be taken into account for the average.
          */
-        Speedometer(uint8_t pin, double diameter, uint16_t steps, uint8_t numOfValForAvg);
         Speedometer(uint8_t pin, double diameter, uint16_t steps);
 
         ~Speedometer();
@@ -127,12 +112,14 @@ class Speedometer : public Component {
     private:
         void run() override;
         void init(uint8_t pin, double diameter, uint16_t steps);
-        void initAvgBuf();
         void clearAvgBuf();
         void addValToBuf(int16_t val);
-        void updateAvgBufSize();
         int16_t calcAverage() const;
 
+        static constexpr uint8_t loopDelay = 30;
+        static constexpr uint8_t bufSize = 5;
+        static constexpr uint8_t conversionFactor = 100;        
+
         Counter* pulseCounter;
         Direction currentDirection = Direction::None;
 
@@ -142,11 +129,10 @@ class Speedometer : public Component {
         double diameter;
 
         uint8_t printCounter = 0;
-        uint8_t bufSize = BUFSIZE;
         uint8_t bufPos = 0;
         uint16_t steps;
 
-        int16_t *buf = nullptr;
+        int16_t buf[Speedometer::bufSize];
 
         uint32_t lastMillisCalc = 0;
 };
diff --git a/src/SpecialMenus/driveModi/TestMode/menuTestMode.h b/src/SpecialMenus/driveModi/TestMode/menuTestMode.h
index 474f6c4..cb3c3b5 100644
--- a/src/SpecialMenus/driveModi/TestMode/menuTestMode.h
+++ b/src/SpecialMenus/driveModi/TestMode/menuTestMode.h
@@ -8,8 +8,8 @@
  * @copyright Copyright (c) 2022
  * 
  */
-#ifndef MENU_TEST_MODE
-#define MENU_TEST_MODE
+#ifndef MENU_TEST_MODE_H
+#define MENU_TEST_MODE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
 #include "driveModi/Modi/TestMode/testMode.h"
@@ -96,4 +96,4 @@ class MenuTestModeWrapper : public MenuIntInputWrapper {
         TestModeFunctionDouble testModeFunctionDouble = nullptr;
 };
 
-#endif // MENU_TEST_MODE
+#endif // MENU_TEST_MODE_H
diff --git a/src/driveModi/driveManager.cpp b/src/driveModi/driveManager.cpp
index 59c4b5b..fe84f7a 100644
--- a/src/driveModi/driveManager.cpp
+++ b/src/driveModi/driveManager.cpp
@@ -20,7 +20,7 @@ DriveManager::DriveManager(MoveControl *moveControl, SPIClass *spiPort, const Co
     this->input = input;
 
     this->spiPort = spiPort;
-    this->navigation = new Navigation(spiPort, UBLOX_GNSS_SPI_CS);
+    this->navigation = new Navigation(spiPort, PinNumbers::gnssSpiCs);
     if (wifi)
         this->navigation->initNtrip(NTRIP_HOST, NTRIP_PORT, NTRIP_MOUNT_POINT, NTRIP_USER, NTRIP_PASSWORD);
     
diff --git a/src/main.cpp b/src/main.cpp
index 54a05b7..461ae3c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -64,7 +64,7 @@ void makeMenu(void);
 void restart(void);
 void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len); 
 void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status);
-void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows);
+void lcdWrapperCallback (const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows);
 
 
 void setup() {
@@ -78,7 +78,7 @@ void setup() {
     Serial.println(WiFi.macAddress());
 
     spiPort = new SPIClass(HSPI);
-    spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
+    spiPort->begin(PinNumbers::spiSck, PinNumbers::spiCipo, PinNumbers::spiCopi, PinNumbers::gnssSpiCs);
 
     mainBattery = new Battery(35);
     controlPad = new ControlPad();
@@ -289,7 +289,7 @@ void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status) {
         std::cout << "sendCallback - Delivery Fail" << std::endl;
 }
 
-void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows) {
+void lcdWrapperCallback (const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows) {
     if (!controlPad->isControlPadConnected())
         return;
 
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index c4f21ec..eb87aa2 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -14,30 +14,34 @@ MoveControl::MoveControl() {
     this->loopDelay = 20;
     this->left_motor = new MotorControl();
     this->right_motor = new MotorControl();
-    this->left_speedometer = new Speedometer(M_ENCODE_LEFT, WHEEL_DIAMETER, ENC_STEPS);
-    this->right_speedometer = new Speedometer(M_ENCODE_RIGHT, WHEEL_DIAMETER, ENC_STEPS);
+    this->left_speedometer = new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps);
+    this->right_speedometer = new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps);
 
     this->left_pid = new PID(   &this->wheelspeed_left,
                                 &this->left_pid_out,
                                 &this->wheelspeed_left_target,
-                                PID_LEFT_P, PID_LEFT_I, PID_LEFT_D,
+                                Settings::Pid::Left::P,
+                                Settings::Pid::Left::I,
+                                Settings::Pid::Left::D,
                                 DIRECT);
     this->right_pid = new PID(  &this->wheelspeed_right,
                                 &this->right_pid_out,
                                 &this->wheelspeed_right_target,
-                                PID_RIGHT_P, PID_RIGHT_I, PID_RIGHT_D,
+                                Settings::Pid::Right::P,
+                                Settings::Pid::Right::I,
+                                Settings::Pid::Right::D,
                                 DIRECT);
 
-    this->left_pid->SetOutputLimits(PID_OUT_MIN, PID_OUT_MAX);
-    this->left_pid->SetSampleTime(PID_SAMPLETIME);
+    this->left_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
+    this->left_pid->SetSampleTime(Settings::Pid::sampleTime);
     this->left_pid->SetMode(AUTOMATIC);
 
-    this->right_pid->SetOutputLimits(PID_OUT_MIN, PID_OUT_MAX);
-    this->right_pid->SetSampleTime(PID_SAMPLETIME);
+    this->right_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
+    this->right_pid->SetSampleTime(Settings::Pid::sampleTime);
     this->right_pid->SetMode(AUTOMATIC); 
 
-    this->left_motor->init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
-    this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
+    this->left_motor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2);
+    this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
 
     this->addChildComponent(this->left_motor);
     this->addChildComponent(this->right_motor); 
@@ -165,8 +169,8 @@ void MoveControl::calcTargetWheelSpeed() {
     // (1 / r) * b
     constexpr double B = 2.096518987;
 
-    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);
+    this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (Settings::wheelDiameter / 2);
+    this->wheelspeed_left_target  = (A * this->x_speed + (-B) * this->rotation_speed) * (Settings::wheelDiameter / 2);
 }
 
 void MoveControl::regulateMotors() {