diff --git a/src/SpecialMenus/PID/menuPidSettings.cpp b/src/SpecialMenus/PID/menuPidSettings.cpp
index 72011d5..f5f5c00 100644
--- a/src/SpecialMenus/PID/menuPidSettings.cpp
+++ b/src/SpecialMenus/PID/menuPidSettings.cpp
@@ -13,81 +13,10 @@
 
 MenuPidSettings::MenuPidSettings(PID* pid) {
     this->pid = pid;
-    this->values[0] = (uint8_t) pid->GetKp();
-    this->values[1] = (uint8_t) pid->GetKi();
-    this->values[2] = (uint8_t) pid->GetKd();
 }
 
-void MenuPidSettings::down() {
-    if (values[curPos] > 0)
-        values[curPos]--;
-
-    this->printMenu();
+void MenuPidSettings::action(int16_t* values, uint8_t length) {
+    if (length != 3) 
+        return;
+    this->pid->SetTunings(values[0], values[1], values[2]);
 }
-
-void MenuPidSettings::up() {
-    if (values[curPos] < UINT8_MAX)
-        values[curPos]++;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::right() {
-    if (curPos < NUM_VAL - 1)
-        curPos++;
-    else
-        curPos = 0;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::left() {
-    if (curPos > 0)
-        curPos--;
-    else
-        curPos = NUM_VAL - 1;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::no() {
-    if (parentMenu)
-        this->parentMenu->printMenu();
-}
-
-void MenuPidSettings::yes() {
-    this->pid->SetTunings(this->values[0], this->values[1], this->values[2]);
-    if (parentMenu)
-        this->parentMenu->printMenu();
-}
-
-void MenuPidSettings::printMenu() {
-    char buf[17];
-    switch (this->curPos) {
-        case 0:
-            sprintf(buf, "_%3.d_ %3.d  %3.d ", this->values[0], this->values[1], this->values[2]);
-            break;
-
-        case 1:
-            sprintf(buf, " %3.d _%3.d_ %3.d ", this->values[0], this->values[1], this->values[2]);
-            break;
-
-        case 2:
-            sprintf(buf, " %3.d  %3.d _%3.d_", this->values[0], this->values[1], this->values[2]);
-            break;
-        
-        default:
-            break;
-    }
-    if (this->lcd) {
-        lcd->clear();
-        lcd->setCursor(0, 0);
-        lcd->print("  P    I    D  ");
-        lcd->setCursor(0, 1);
-        lcd->print(buf);
-    }
-    std::cout << "  P    I    D  " << std::endl;
-    std::cout << buf << std::endl;
-}
-
-
diff --git a/src/SpecialMenus/PID/menuPidSettings.h b/src/SpecialMenus/PID/menuPidSettings.h
index 00e5793..61d5c08 100644
--- a/src/SpecialMenus/PID/menuPidSettings.h
+++ b/src/SpecialMenus/PID/menuPidSettings.h
@@ -12,17 +12,15 @@
 #ifndef PID_SETTINGS_H
 #define PID_SETTINGS_H
 
-#include "menuControl.h"
+#include "menuIntInput.h"
 #include <PID_v1.h>
 #include <stdint.h>
 
-#define NUM_VAL 3
-
 /**
  * @brief A class to tune the PID settings
  * 
  */
-class MenuPidSettings : public MenuControl {
+class MenuPidSettings : public MenuIntInputWrapper {
     public:
         /**
          * @brief Construct a new Menu Pid Settings object
@@ -31,50 +29,10 @@ class MenuPidSettings : public MenuControl {
          */
         MenuPidSettings(PID* pid);
 
-        /**
-         * @brief Decrement selected value 
-         */
-        void down() override;
-
-        /**
-         * @brief Increment selected value 
-         */
-        void up() override;
-
-        /**
-         * @brief Select next value 
-         */
-        void right() override;
-
-        /**
-         * @brief Select previous value 
-         */
-        void left() override;
-
-        /**
-         * @brief Leave menu without saving 
-         */
-        void no() override;
-
-        /**
-         * @brief Leave menu with saving 
-         */
-        void yes() override;
-
-        /**
-    	 * @brief Prints the Information to display and console
-    	 * 
-         * The informations are only printed to the display if it
-         * set.
-         */
-        void printMenu() override;
-        
-        void update() override {};
+        void action(int16_t* values, uint8_t length);
 
     private:
         PID* pid;
-        uint8_t values[NUM_VAL];
-        uint8_t curPos = 0;
 
 };
 
diff --git a/src/main.cpp b/src/main.cpp
index 0b4a83e..4e5e41a 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -274,8 +274,10 @@ void makeMenu() {
     main_m = new Menu();
     Menu* mode_m = new Menu();
     Menu* pid_m = new Menu();
-    MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
-    MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
+    MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
+    MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
+    // MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
+    // MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
     MenuManualControl* man_m = new MenuManualControl(driveManager);
     MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
@@ -332,4 +334,15 @@ void makeMenu() {
     MenuAction* pidr_e = new MenuAction("Right", pidr_m);
     pid_m->addEntry(pidl_e);
     pid_m->addEntry(pidr_e);
+
+    // Other config
+    pidl_m->setMinMax(0, UINT8_MAX);
+    pidl_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(0)->GetKp());
+    pidl_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(0)->GetKi());
+    pidl_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(0)->GetKd());
+
+    pidr_m->setMinMax(0, UINT8_MAX);
+    pidr_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(1)->GetKp());
+    pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi());
+    pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd());
 }