diff --git a/controller_teensy/include/definitions.h b/controller_teensy/include/definitions.h
index b76adb5..7f97f44 100644
--- a/controller_teensy/include/definitions.h
+++ b/controller_teensy/include/definitions.h
@@ -75,8 +75,8 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
 //Driving parameters
 int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
 int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
-float startbrakecurrent=3; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
-float startbrakecurrent_offset=0.07; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
+float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
+float startbrakecurrent_offset=0.15; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
 
 bool reverse_enabled=false;
 unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
@@ -96,6 +96,13 @@ unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
 
 float filtered_currentAll=0;
 
+//Statistics values
+float max_filtered_currentAll;
+float min_filtered_currentAll;
+float max_meanSpeed;
+
+
+
 int16_t cmd_send=0;
 int16_t last_cmd_send=0;
 
diff --git a/controller_teensy/include/display.h b/controller_teensy/include/display.h
index 3cc8ded..53b0e67 100644
--- a/controller_teensy/include/display.h
+++ b/controller_teensy/include/display.h
@@ -19,7 +19,7 @@ bool display_init();
 void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
 void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
 void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
-void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
+void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
 
 void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
 
@@ -51,17 +51,42 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
   display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
   */
 
-  
-  if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
-    if (loopmillis-last_notidle>5000) {
-      display_standingDisplay(escFront,escRear);
-    }else{
-      display_drivingDisplay(escFront,escRear);
-      //display_debugDisplay(escFront,escRear);
-    }
+  if ( (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval ) && ((loopmillis/2000)%2==0)) {
+    //Error Messages
     
+    display.setFont();
+    display.setTextSize(1);             // Normal 1:1 pixel scale
+    display.setTextColor(SSD1306_WHITE);        // Draw white text
+    display.setCursor(0,0);             // Start at top-left corner
+    display.print(F("Error!"));
+    display.println();
+
+    String errorstring="";
+    if (error_brake_outofrange) {
+      errorstring+="brake_outofrange\n";
+    }
+    if (error_throttle_outofrange) {
+      errorstring+="throttle_outofrange\n";
+    }
+    if (error_ads_max_read_interval) {
+      errorstring+="ads_max_read_interval\n";
+    }
+    display.print(errorstring);
+
   }else{
-    display_standingOffDisplay(escFront,escRear);
+    //Normal Display Routinges here
+    
+    if (armed) {
+      if (loopmillis-last_notidle>5000) {
+        display_standingDisplay(escFront,escRear);
+      }else{
+        display_drivingDisplay(escFront,escRear);
+        //display_debugDisplay(escFront,escRear);
+      }
+      
+    }else{
+      display_standingDisarmedDisplay(escFront,escRear);
+    }
   }
   
 
@@ -100,22 +125,19 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   
   if (((millis()/2500)%2)==0) {
     //## Trip
-    dtostrf(escFront.getTrip(),1,0,buf);
-    display.print((String)buf);
-    display.print("m + ");
 
-    dtostrf(escRear.getTrip(),1,0,buf);
+    dtostrf(max_meanSpeed*3.6,1,0,buf);
     display.print((String)buf);
-    display.print("m");
+    display.print("km/h");
   }else{
     //## Current Consumed    
-    dtostrf(escFront.getCurrentConsumed(),1,1,buf);
+    dtostrf(min_filtered_currentAll,1,1,buf);
     display.print((String)buf);
-    display.print("Ah + ");
+    display.print("A / ");
 
-    dtostrf(escRear.getCurrentConsumed(),1,1,buf);
+    dtostrf(max_filtered_currentAll,1,1,buf);
     display.print((String)buf);
-    display.print("Ah");
+    display.print("A");
   }
   
 
@@ -145,6 +167,11 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.print(" V");
   display.println();
 
+  display.print(F("Temp: ")); display.print(escFront.getFeedback_boardTemp());
+  display.print(F("/")); display.print(escRear.getFeedback_boardTemp());
+  display.print(" C");
+  display.println();
+
   display.print(F("Trip: "));
   dtostrf(escFront.getTrip(),1,0,buf);
   display.print((String)buf);
@@ -155,18 +182,14 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.println();
 
   display.print(F("Cons. "));
-  dtostrf(escFront.getCurrentConsumed(),1,2,buf);
+  dtostrf(escFront.getCurrentConsumed()+escRear.getCurrentConsumed(),1,2,buf);
   display.print((String)buf);
-  display.print("/");
-
-  dtostrf(escRear.getCurrentConsumed(),1,2,buf);
-  display.print((String)buf);
-  display.print(" Ah");
   display.println();
+
 }
 
 
-void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   //Displayed stuff here when escs are powered off / disconnected
   char buf[8];
   display.setFont();
diff --git a/controller_teensy/include/led.h b/controller_teensy/include/led.h
index 233e688..000c67b 100644
--- a/controller_teensy/include/led.h
+++ b/controller_teensy/include/led.h
@@ -2,6 +2,18 @@
 #define _LED_H_
 
 
+//LED Ring Positions
+/*
+      3 2 1 
+    4       0
+   5         15
+   6         14
+   7         13
+    8       12
+     9 10 11
+*/
+
+
 #include <Adafruit_NeoPixel.h>
 
 
@@ -20,7 +32,7 @@ unsigned long last_ledupdate=0;
 uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
 
 void led_dotcircle(unsigned long loopmillis);
-void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max);
+void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
 
 void init_led() {
   strip.begin();           // INITIALIZE NeoPixel strip object (REQUIRED)
@@ -89,39 +101,73 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
     if (loopmillis>last_ledupdate+LEDUPDATEINTERVAL) {
         last_ledupdate=loopmillis;
 
-        float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
+        
+
+        if (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) {
+            //Error
+            
+        }else{
+                    
+            if (armed) {
+                if (loopmillis-last_notidle>5000) {
+                    //Standing           
+                    float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());     
+                    led_gauge(loopmillis,vbat,3*12,4.2*12,strip.Color(0,  255,   0, 0),strip.Color(100,  0,   0, 0));
+                }else{
+                    //Driving
+                    float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
+                    led_gauge(loopmillis,currentMean,0,16.0,strip.Color(0,  0,   0, 255),strip.Color(0,  0,   20, 0));
+                }
+            }else{
+                //Disarmed
+                led_dotcircle(loopmillis); //fill background with animation
+
+                uint32_t colorConnected=strip.Color(0,   255,   0, 0);
+                if (escFront.getControllerConnected()) {
+                    for(int i=1; i<=3; i++) {
+                        strip.setPixelColor(i, colorConnected); 
+                    }
+                }
+
+                if (escRear.getControllerConnected()) {
+                    for(int i=1+8; i<=3+8; i++) {
+                        strip.setPixelColor(i, colorConnected); 
+                    }
+                }
+                
+            }
+        }
+        
 
-        //led_dotcircle(loopmillis);
-        led_voltage(loopmillis,vbat,3*12,4.2*12);
         strip.show();                          //  Update strip to match
     }
 }
 
-void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max) {
-    uint32_t colorBG=strip.Color(0,   255,   0, 0);
-    uint32_t colorEmpty=strip.Color(255,  0,   0, 0);
-    uint8_t position=map( max(min(vbat,vbat_max),vbat_min)  ,vbat_min,vbat_max, 0,strip.numPixels()+1);
+void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG) {
+    uint8_t position=map( max(min(value,value_max),value_min)  ,value_min,value_max, 0,strip.numPixels()+1);
     for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
         uint8_t pp=(strip.numPixels()-i-1 + 10 )%strip.numPixels(); //Offset and invert
         
         if (i<position) {
-            strip.setPixelColor(pp, colorBG);         //  Set pixel's color (in RAM)
+            strip.setPixelColor(pp, colorGauge);         //  Set pixel's color (in RAM)
         }else{
-            strip.setPixelColor(pp, colorEmpty);         //  Set pixel's color (in RAM)
+            strip.setPixelColor(pp, colorBG);         //  Set pixel's color (in RAM)
         }
     }
 }
 
 void led_dotcircle(unsigned long loopmillis) {
-    uint32_t color=strip.Color(0,   0,   0, 255);
-    uint32_t colorOff=strip.Color(30,  0,   0, 0);
-    uint8_t position=(loopmillis/100)%strip.numPixels();
+    float position=(loopmillis/1000.0*strip.numPixels()/10.0);
+    while (position>strip.numPixels()){ //modulo for float
+        position-=strip.numPixels();
+    }
+
     for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
-        if (i==position) {
-            strip.setPixelColor(i, color);         //  Set pixel's color (in RAM)
-        }else{
-            strip.setPixelColor(i, colorOff);         //  Set pixel's color (in RAM)
-        }
+        float _bright=min(abs(i-position),strip.numPixels()-abs(i-position));
+        _bright/=strip.numPixels()/2.0; //1 if position is at i, 0 if position is oposite of i in circle
+        _bright=pow(_bright,2);
+        uint32_t color=strip.Color(0,   0,   0, _bright*255);
+        strip.setPixelColor(i, color);         //  Set pixel's color (in RAM)
     }
 }
 
diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index fc54504..10cb875 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -225,6 +225,17 @@ void loop() {
     unsigned long _timediff=loopmillis-last_calculateSetSpeed;
     last_calculateSetSpeed=loopmillis;
     calculateSetSpeed(_timediff);    
+
+    //Update Statistics
+
+    max_filtered_currentAll=max(max_filtered_currentAll,filtered_currentAll);
+    min_filtered_currentAll=min(min_filtered_currentAll,filtered_currentAll);
+    max_meanSpeed=max(max_meanSpeed,(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2);
+    if (!armed) { //reset statistics if disarmed
+      max_filtered_currentAll=0;
+      min_filtered_currentAll=0;
+      max_meanSpeed=0;
+    }
   }
 
   escFront.update(loopmillis);
@@ -399,8 +410,7 @@ void failChecks() {
   if (loopmillis>throttle_ok_time+ADC_OUTOFRANGE_TIME) { //not ok for too long
     if (!error_throttle_outofrange) {
       error_throttle_outofrange=true;
-      writeLogComment(loopmillis, "Error Throttle ADC Out of Range");
-      
+      writeLogComment(loopmillis, "Error Throttle ADC Out of Range");      
     }
     //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
   }
@@ -445,7 +455,8 @@ void calculateSetSpeed(unsigned long timediff){
   float filtered_currentFront=max(escFront.getFiltered_curL(),escFront.getFiltered_curR());
   float filtered_currentRear=max(escRear.getFiltered_curL(),escRear.getFiltered_curR());
 
-  filtered_currentAll=max(filtered_currentFront,filtered_currentRear); //positive value is current Drawn from battery. negative value is braking current
+  filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current
+  
 
   if (throttle_pos>=last_cmd_send) { //accelerating
     cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
@@ -633,8 +644,13 @@ void readButtons() {
     writeLogComment(loopmillis, "Disarmed by button");
   }
   if (button_start_longpress_flag) {
-    armed=true; //arm if button pressed long enough
-    writeLogComment(loopmillis, "Armed by button");
+    if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
+      armed=true; //arm if button pressed long enough
+      writeLogComment(loopmillis, "Armed by button");
+    }else{
+      writeLogComment(loopmillis, "Unable to arm");
+    }
+    
   }
 
   /* TODO: if works, remove this