diff --git a/Bobbycar_wiring/Bobbycar_wiring.kicad_sch b/Bobbycar_wiring/Bobbycar_wiring.kicad_sch
index 8e1f0f0..300d6d2 100644
--- a/Bobbycar_wiring/Bobbycar_wiring.kicad_sch
+++ b/Bobbycar_wiring/Bobbycar_wiring.kicad_sch
@@ -1632,27 +1632,27 @@
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@@ -2047,7 +2047,7 @@
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@@ -2366,6 +2354,10 @@
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@@ -2693,44 +2685,44 @@
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     (property "Reference" "U1" (id 0) (at 69.215 120.015 0))
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     (property "Reference" "SW1" (id 0) (at 44.45 102.87 0))
-    (property "Value" "" (id 1) (at 44.45 94.1324 0))
+    (property "Value" "POWERBUTTON" (id 1) (at 44.45 94.1324 0))
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       (effects (font (size 1.27 1.27)) hide)
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@@ -2748,10 +2740,10 @@
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       (effects (font (size 1.27 1.27)) (justify left))
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-    (property "Footprint" "" (id 2) (at 118.745 88.9 0)
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@@ -2766,7 +2758,7 @@
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-    (property "Value" "" (id 1) (at 123.19 71.9836 90))
+    (property "Value" "220" (id 1) (at 123.19 71.9836 90))
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@@ -2783,7 +2775,7 @@
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       (effects (font (size 1.27 1.27)) (justify left))
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-    (property "Value" "" (id 1) (at 236.9312 39.751 0)
+    (property "Value" "Serial" (id 1) (at 236.9312 39.751 0)
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@@ -2806,7 +2798,7 @@
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       (effects (font (size 1.27 1.27)) (justify right))
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-    (property "Value" "" (id 1) (at 195.2752 160.3756 90)
+    (property "Value" "Serial3" (id 1) (at 195.2752 160.3756 90)
       (effects (font (size 1.27 1.27)) (justify right))
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@@ -2827,7 +2819,7 @@
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       (effects (font (size 1.27 1.27)) (justify right))
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-    (property "Value" "" (id 1) (at 215.5952 160.3756 90)
+    (property "Value" "Serial2" (id 1) (at 215.5952 160.3756 90)
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@@ -2846,7 +2838,7 @@
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     (property "Reference" "F1" (id 0) (at 83.82 48.1838 90))
-    (property "Value" "" (id 1) (at 83.82 45.8724 90))
+    (property "Value" "AGU Fuseholder" (id 1) (at 83.82 45.8724 90))
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@@ -2863,7 +2855,7 @@
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       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 55.88 38.1 90)
+    (property "Value" "xt60_male" (id 1) (at 55.88 38.1 90)
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     (property "Footprint" "" (id 2) (at 58.42 33.02 0)
@@ -2872,8 +2864,8 @@
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-    (pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82e))
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+    (pin "~" (uuid 5e737bb7-9ff1-43d7-bb29-d92d56c2e82f))
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@@ -2882,7 +2874,7 @@
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       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 55.88 57.15 90)
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     (property "Footprint" "" (id 2) (at 58.42 52.07 0)
@@ -2891,38 +2883,38 @@
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-    (pin "~" (uuid 283e418a-9a69-45b9-b0eb-506e5b012a18))
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     (property "Reference" "J7" (id 0) (at 97.79 31.75 90))
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@@ -2931,7 +2923,7 @@
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-    (property "Value" "" (id 1) (at 116.84 50.8 90)
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@@ -2940,23 +2932,23 @@
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   (symbol (lib_id "Bobbycar_components:xt90_male") (at 148.59 40.64 90) (mirror x) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df0861f)
     (property "Reference" "J11" (id 0) (at 141.1224 28.829 90))
-    (property "Value" "" (id 1) (at 141.1224 31.1404 90))
+    (property "Value" "xt90_male" (id 1) (at 141.1224 31.1404 90))
     (property "Footprint" "" (id 2) (at 148.59 40.64 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "" (id 3) (at 148.59 40.64 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
-    (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053d))
+    (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
+    (pin "~" (uuid aa0df799-0b67-406d-90cf-6dbd8229053e))
   )
 
   (symbol (lib_id "Connector_Generic:Conn_01x04") (at 133.35 186.69 90) (mirror x) (unit 1)
@@ -2965,7 +2957,7 @@
     (property "Reference" "J10" (id 0) (at 140.6652 183.4642 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "" (id 1) (at 140.6652 185.7756 90)
+    (property "Value" "Steering Wheel I2C" (id 1) (at 140.6652 185.7756 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
     (property "Footprint" "" (id 2) (at 133.35 186.69 0)
@@ -2986,7 +2978,7 @@
     (property "Reference" "J2" (id 0) (at 17.78 96.52 90)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 27.94 105.41 90)
+    (property "Value" "xt30_male" (id 1) (at 27.94 105.41 90)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Footprint" "" (id 2) (at 22.86 105.41 0)
@@ -2995,8 +2987,8 @@
     (property "Datasheet" "" (id 3) (at 22.86 105.41 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
-    (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ad))
+    (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
+    (pin "~" (uuid a5adf9fc-330f-4cad-bdb2-e0f8fb1b77ae))
   )
 
   (symbol (lib_id "Bobbycar_components:xt30_female") (at 22.86 81.28 0) (mirror x) (unit 1)
@@ -3005,7 +2997,7 @@
     (property "Reference" "J1" (id 0) (at 17.78 83.82 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "" (id 1) (at 27.94 92.71 90)
+    (property "Value" "xt30_female" (id 1) (at 27.94 92.71 90)
       (effects (font (size 1.27 1.27)) (justify right))
     )
     (property "Footprint" "" (id 2) (at 22.86 81.28 0)
@@ -3014,15 +3006,15 @@
     (property "Datasheet" "" (id 3) (at 22.86 81.28 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
-    (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05e))
+    (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
+    (pin "~" (uuid 92c8a67d-ecef-4663-99f5-c2b6e82bc05f))
   )
 
   (symbol (lib_id "Bobbycar_wiring-rescue:SW_DPST_x2-Switch") (at 173.99 43.18 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df361c7)
     (property "Reference" "SW2" (id 0) (at 173.99 37.211 0))
-    (property "Value" "" (id 1) (at 173.99 45.72 0))
+    (property "Value" "MODESWITCH" (id 1) (at 173.99 45.72 0))
     (property "Footprint" "" (id 2) (at 173.99 43.18 0)
       (effects (font (size 1.27 1.27)) hide)
     )
@@ -3039,7 +3031,7 @@
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df36553)
     (property "Reference" "D1" (id 0) (at 50.8 85.09 0))
-    (property "Value" "" (id 1) (at 53.34 90.17 0))
+    (property "Value" "POWERLED" (id 1) (at 53.34 90.17 0))
     (property "Footprint" "" (id 2) (at 44.45 86.36 0)
       (effects (font (size 1.27 1.27)) hide)
     )
@@ -3054,7 +3046,7 @@
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df45e41)
     (property "Reference" "D2" (id 0) (at 173.99 24.765 0))
-    (property "Value" "" (id 1) (at 173.99 27.0764 0))
+    (property "Value" "MODELED_RED/GREEN" (id 1) (at 173.99 27.0764 0))
     (property "Footprint" "" (id 2) (at 175.26 35.56 0)
       (effects (font (size 1.27 1.27)) hide)
     )
@@ -3070,7 +3062,7 @@
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df4cd3f)
     (property "Reference" "R5" (id 0) (at 186.69 59.69 90))
-    (property "Value" "" (id 1) (at 185.42 55.88 90))
+    (property "Value" "66" (id 1) (at 185.42 55.88 90))
     (property "Footprint" "" (id 2) (at 187.198 55.88 90)
       (effects (font (size 1.27 1.27)) hide)
     )
@@ -3085,7 +3077,7 @@
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df4cdeb)
     (property "Reference" "R4" (id 0) (at 181.61 59.69 90))
-    (property "Value" "" (id 1) (at 182.88 55.88 90))
+    (property "Value" "20" (id 1) (at 182.88 55.88 90))
     (property "Footprint" "" (id 2) (at 184.658 55.88 90)
       (effects (font (size 1.27 1.27)) hide)
     )
@@ -3099,10 +3091,10 @@
   (symbol (lib_id "Device:R") (at 133.35 163.83 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df4d8f9)
-    (property "Reference" "R2" (id 0) (at 129.54 162.56 0)
+    (property "Reference" "R2" (id 0) (at 127.635 162.56 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 127 165.1 0)
+    (property "Value" "4k7" (id 1) (at 127 165.1 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Footprint" "" (id 2) (at 131.572 163.83 90)
@@ -3118,10 +3110,10 @@
   (symbol (lib_id "Device:R") (at 135.89 163.83 0) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005df4d9c1)
-    (property "Reference" "R3" (id 0) (at 137.668 162.6616 0)
+    (property "Reference" "R3" (id 0) (at 139.065 162.56 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 137.668 164.973 0)
+    (property "Value" "4k7" (id 1) (at 139.065 165.1 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Footprint" "" (id 2) (at 134.112 163.83 90)
@@ -3138,38 +3130,38 @@
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005dfdc06d)
     (property "Reference" "J3" (id 0) (at 30.48 31.75 90))
-    (property "Value" "" (id 1) (at 33.02 38.1 90))
+    (property "Value" "xt60_female" (id 1) (at 33.02 38.1 90))
     (property "Footprint" "" (id 2) (at 26.67 31.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "" (id 3) (at 26.67 31.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b8))
-    (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b8))
+    (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b9))
+    (pin "~" (uuid c8baad8e-84f6-4984-837a-38ef6d0b77b9))
   )
 
   (symbol (lib_id "Bobbycar_components:xt60_female") (at 26.67 50.8 270) (mirror x) (unit 1)
     (in_bom yes) (on_board yes)
     (uuid 00000000-0000-0000-0000-00005dfdc2fb)
     (property "Reference" "J4" (id 0) (at 30.48 50.8 90))
-    (property "Value" "" (id 1) (at 33.02 57.15 90))
+    (property "Value" "xt60_female" (id 1) (at 33.02 57.15 90))
     (property "Footprint" "" (id 2) (at 26.67 50.8 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (property "Datasheet" "" (id 3) (at 26.67 50.8 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec89))
-    (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec89))
+    (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec8a))
+    (pin "~" (uuid a4649d4d-6aa3-4f07-b7a6-0d73d155ec8a))
   )
 
   (symbol (lib_id "Regulator_Linear:L78L33_TO92") (at 209.55 24.13 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 5fed31b2-9dc0-4157-9739-9e2eeac4aede)
     (property "Reference" "U3" (id 0) (at 209.55 16.51 0))
-    (property "Value" "" (id 1) (at 209.55 19.05 0))
-    (property "Footprint" "" (id 2) (at 209.55 18.415 0)
+    (property "Value" "L78L33_TO92" (id 1) (at 209.55 19.05 0))
+    (property "Footprint" "Package_TO_SOT_THT:TO-92_Inline" (id 2) (at 209.55 18.415 0)
       (effects (font (size 1.27 1.27) italic) hide)
     )
     (property "Datasheet" "http://www.st.com/content/ccc/resource/technical/document/datasheet/15/55/e5/aa/23/5b/43/fd/CD00000446.pdf/files/CD00000446.pdf/jcr:content/translations/en.CD00000446.pdf" (id 3) (at 209.55 25.4 0)
@@ -3186,7 +3178,7 @@
     (property "Reference" "C1" (id 0) (at 181.61 84.2009 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 181.61 86.7409 0)
+    (property "Value" "100uF" (id 1) (at 181.61 86.7409 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Footprint" "" (id 2) (at 178.7652 90.17 0)
@@ -3205,7 +3197,7 @@
     (property "Reference" "BT?" (id 0) (at 182.88 104.6479 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "" (id 1) (at 182.88 107.1879 0)
+    (property "Value" "3V" (id 1) (at 182.88 107.1879 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Footprint" "" (id 2) (at 179.07 106.426 90)
@@ -3224,7 +3216,7 @@
     (property "Reference" "U4" (id 0) (at 240.03 59.69 0)
       (effects (font (size 1.524 1.524)))
     )
-    (property "Value" "" (id 1) (at 240.03 63.5 0)
+    (property "Value" "Teensy3.2" (id 1) (at 240.03 63.5 0)
       (effects (font (size 1.524 1.524)))
     )
     (property "Footprint" "" (id 2) (at 240.03 120.65 0)
@@ -3337,7 +3329,7 @@
       (reference "J9") (unit 1) (value "xt90antispark_female") (footprint "")
     )
     (path "/00000000-0000-0000-0000-00005df0cf60"
-      (reference "J10") (unit 1) (value "Throttle") (footprint "")
+      (reference "J10") (unit 1) (value "Steering Wheel I2C") (footprint "")
     )
     (path "/00000000-0000-0000-0000-00005df0861f"
       (reference "J11") (unit 1) (value "xt90_male") (footprint "")
@@ -3358,10 +3350,10 @@
       (reference "R1") (unit 1) (value "220") (footprint "")
     )
     (path "/00000000-0000-0000-0000-00005df4d8f9"
-      (reference "R2") (unit 1) (value "100k") (footprint "")
+      (reference "R2") (unit 1) (value "4k7") (footprint "")
     )
     (path "/00000000-0000-0000-0000-00005df4d9c1"
-      (reference "R3") (unit 1) (value "100k") (footprint "")
+      (reference "R3") (unit 1) (value "4k7") (footprint "")
     )
     (path "/00000000-0000-0000-0000-00005df4cdeb"
       (reference "R4") (unit 1) (value "20") (footprint "")
diff --git a/controller_teensy/platformio.ini b/controller_teensy/platformio.ini
index 5b25997..fc71c50 100644
--- a/controller_teensy/platformio.ini
+++ b/controller_teensy/platformio.ini
@@ -18,4 +18,7 @@ framework = arduino
 monitor_speed = 115200
 
 build_flags = 
-    -D USB_SERIAL_HID
\ No newline at end of file
+    -D USB_SERIAL_HID
+
+lib_deps =
+    robtillaart/ADS1X15@^0.3.9
\ No newline at end of file
diff --git a/controller_teensy/src/main.cpp b/controller_teensy/src/main.cpp
index a225f64..c76f577 100644
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@@ -1,6 +1,9 @@
 #include <Arduino.h>
 
 
+#include "ADS1X15.h"
+
+ADS1115 ADS(0x48);
 
 /*
 Connections:
@@ -37,28 +40,38 @@ bool controllers_connected=false;
 #define PIN_THROTTLE A7
 //const uint16_t calib_throttle_min = 420; //better a bit too high than too low
 //const uint16_t calib_throttle_max = 790;
-const uint16_t failsafe_throttle_min = 20; //if adc value falls below this failsafe is triggered
-const uint16_t failsafe_throttle_max = 1000; //if adc value goes above this failsafe is triggered
-const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
+const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
+const uint16_t failsafe_throttle_max = 14000; //if adc value goes above this failsafe is triggered. old 1000
+//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
+const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
 #define PIN_BRAKE A8
-const uint16_t calib_brake_min = 100;//better a bit too high than too low
-const uint16_t calib_brake_max = 600;
-const uint16_t failsafe_brake_min = 20; //if adc value falls below this failsafe is triggered
-const uint16_t failsafe_brake_max = 1000; //if adc value goes above this failsafe is triggered
+const uint16_t calib_brake_min = 2000;//better a bit too high than too low
+const uint16_t calib_brake_max = 11000;
+const uint16_t failsafe_brake_min = 700; //if adc value falls below this failsafe is triggered
+const uint16_t failsafe_brake_max = 13000; //if adc value goes above this failsafe is triggered
+
+uint16_t ads_throttle_A_raw=0;
+uint16_t ads_throttle_B_raw=0;
+uint16_t ads_brake_raw=failsafe_brake_min;
+uint16_t ads_control_raw=0;
 
 int16_t throttle_pos=0;
 int16_t brake_pos=0;
 
-unsigned long last_adcread=0;
+
+#define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
 #define ADCREADPERIOD 10
-uint16_t throttle_raw=0; 
+#define BUTTONREADPERIOD 20
+unsigned long last_adsread=0; //needed for failcheck
+uint16_t throttle_raw=failsafe_throttle_min;  //start at min so that failsafe is not triggered
 #define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
-uint16_t brake_raw=0;
+uint16_t brake_raw=failsafe_brake_min;  //start at min so that failsafe is not triggered
 #define ADC_OUTOFRANGE_TIME 100
 unsigned long throttle_ok_time=0;
 unsigned long brake_ok_time=0;
 bool error_throttle_outofrange=false;
 bool error_brake_outofrange=false;
+bool error_ads_max_read_interval=false;
 
 #define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
 #define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1
@@ -181,8 +194,9 @@ float filterMedian(int16_t* values);
 
 void writeLogHeader(HardwareSerial &SerialRef);
 void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
-void writeLogComment(HardwareSerial &SerialRef, String msg);
+void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg);
 
+void readADS();
 void readADC();
 void failChecks();
 void sendCMD();
@@ -211,14 +225,14 @@ void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, Ha
 
 bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &NewFeedback, HardwareSerial &SerialRef)
 {
-  bool _result=1;
+  bool _result=false; //return true if new full data frame received
   // Check for new data availability in the Serial buffer
   if ( SerialRef.available() ) {
     sread.incomingByte    = SerialRef.read();                                 // Read the incoming byte
     sread.bufStartFrame = ((uint16_t)(sread.incomingByte) << 8) | sread.incomingBytePrev;  // Construct the start frame    
   }
   else {
-    return 0;
+    return false; //nothing new
   }
 
   // If DEBUG_RX is defined print all incoming bytes
@@ -249,8 +263,9 @@ bool ReceiveSerial(SerialRead &sread, SerialFeedback &Feedback,SerialFeedback &N
       // Copy the new data
       memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
       sread.lastValidDataSerial_time = millis();
+      _result=true;
     } else {
-      _result=0;
+      _result=false;
     }
     sread.idx = 0;  // Reset the index (it prevents to enter in this if condition in the next cycle)
   }
@@ -300,6 +315,20 @@ void setup()
   digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on
   pinMode(PIN_MODE_SWITCH, INPUT_PULLUP);
 
+  delay(2000);
+  Serial.println("Wait finished. Booting..");
+
+  //init ADS1115
+  if (!ADS.begin()) {
+    Serial.println("Error:"); delay(2000); Serial.println("ADS1115 Init Error!");
+    writeLogComment(Serial1,(unsigned long)millis(), "Error ADS1115 Init");
+  }
+  ADS.setGain(0);
+  ADS.setDataRate(7);// Read Interval: 7-> 2ms, 6-> 3-4ms , 5-> 5-6ms,  4-> 9ms, 0-> 124ms
+    // also set ADSREADPERIOD to at least the read interval
+  ADS.requestADC(0); //Start requesting a channel
+  delay(10);
+
   setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
   if (timeStatus()!= timeSet) {
     Serial.println("Unable to sync with the RTC");
@@ -313,10 +342,38 @@ void setup()
 unsigned long loopmillis;
 // ########################## LOOP ##########################
 void loop() {
+  //Serial.print("Loopduration="); Serial.println(); //loopduration is at max 11ms
+
   loopmillis=millis(); //read millis for this cycle
 
-  bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
+
+  // ____ Debugging pending serial byted for feedback
+  static int s2availmax=0;
+  int _a2=Serial2.available();
+  if (_a2>s2availmax) {
+    s2availmax=_a2;
+    //Serial.print("new s2availmax"); Serial.println(s2availmax);
+    String _text="Serial2 Bytes Available Max=";
+    _text+=s2availmax;
+    writeLogComment(Serial1,loopmillis, _text);
+  }
+
+  static int s3availmax=0;
+  int _a3=Serial3.available();
+  if (_a3>s3availmax) {
+    s3availmax=_a3;
+    //Serial.print("new s3availmax"); Serial.println(s3availmax);
+    String _text="Serial3 Bytes Available Max=";
+    _text+=s3availmax;
+    writeLogComment(Serial1,loopmillis, _text);
+  }
+  // ----- End of debug
+
+
+
+  bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2); 
   bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
+  //Max (40) or 22 available/pending bytes
 
   if (newData2) {
     updateMotorparams(motorparamsFront,FeedbackFront);
@@ -324,14 +381,31 @@ void loop() {
   if (newData3) {
     updateMotorparams(motorparamsRear,FeedbackRear);
   }
+
+
+
   
+  if (loopmillis - last_adsread > ADSREADPERIOD) { //read teensy adc and filter
+    last_adsread=loopmillis;
+    if (ADS.isBusy() == false) //reads a register on ads
+    {
+      readADS();
+    }else{
+      Serial.println("Unnecessary ADS poll. Increase ADSREADPERIOD");
+    }
+  }
+  
+  static unsigned long last_adcread=0;
   if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
     last_adcread=loopmillis;
+
     readADC();
+  }
 
+  static unsigned long last_buttonread=0;
+  if (loopmillis - last_buttonread > BUTTONREADPERIOD) { //read digital input states
+    last_buttonread=loopmillis;
     readButtons();
-
-    
   }
 
 
@@ -355,6 +429,7 @@ void loop() {
 
   leds();
 
+
 }
 
 
@@ -442,21 +517,55 @@ void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
 }
 
 
+void readADS() { //sequentially read ads and write to variable
+  /*static unsigned long _lastReadADS=0;
+  Serial.print("readADS Interval="); Serial.println(millis()-_lastReadADS);
+  _lastReadADS=millis();*/
+  static uint8_t ads_input_switch=0;
+
+  int16_t ads_val = ADS.getValue(); //get value from last selected channel
+
+
+  switch (ads_input_switch) {
+    case 0: //Throttle Sensor A
+      ads_throttle_A_raw=ads_val;
+      break;
+    case 1: //Throttle Sensor B
+      ads_throttle_B_raw=ads_val;
+      break;
+    case 2: //Brake
+      ads_brake_raw=ads_val;
+      break;
+    case 3: //Buttons TODO
+      ads_control_raw=ads_val;
+      break;
+  }
+
+  ads_input_switch++;
+  ads_input_switch%=4; //max 4 channels
+  ADS.requestADC(ads_input_switch);  // request a new one
+}
+
 
 // #### LOOPFUNCTIONS
 
 
 void readADC() {
-  
-  uint16_t new_throttle_raw = analogRead(PIN_THROTTLE);
-  throttle_raw = new_throttle_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
+  /*Serial.print(ads_throttle_A_raw); Serial.print('\t'); 
+  Serial.print(ads_throttle_B_raw); Serial.print('\t'); 
+  Serial.print(ads_brake_raw); Serial.print('\t'); 
+  Serial.print(ads_control_raw); Serial.println();*/
+  throttle_raw = ads_throttle_A_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
 
-   //maps throttle curve to be linear
+  //maps throttle curve to be linear
   throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain
-  brake_raw = analogRead(PIN_BRAKE);
+    
+  brake_raw=ads_brake_raw;
   brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
   //brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000);
 
+
+
   if (throttle_pos>0 || meanSpeedms>0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
     last_notidle=loopmillis;
     reverse_enabled=false;
@@ -505,6 +614,7 @@ void failChecks() {
     if (controllerFront_connected) { //just got disconnected
       controllerFront_connected=false;
       writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
+      //Serial.println("Controller Front feedback timeout");
     }
   }else if(!controllerFront_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
     controllerFront_connected=true;
@@ -515,6 +625,7 @@ void failChecks() {
     if (controllerRear_connected) { //just got disconnected
       controllerRear_connected=false;
       writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
+      //Serial.println("Controller Rear feedback timeout");
     }
   }else if(!controllerRear_connected  && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
     controllerRear_connected=true;
@@ -531,7 +642,9 @@ void failChecks() {
     if (!error_throttle_outofrange) {
       error_throttle_outofrange=true;
       writeLogComment(Serial1,loopmillis, "Error Throttle ADC Out of Range");
+      
     }
+    //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
   }
   if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
     brake_ok_time=loopmillis;
@@ -540,12 +653,20 @@ void failChecks() {
     if(!error_brake_outofrange) {
       error_brake_outofrange=true;
       writeLogComment(Serial1,loopmillis, "Error Brake ADC Out of Range");
+      
     }
+    //Serial.print("Error Brake ADC Out of Range="); Serial.println(brake_raw);
+  }
+  #define ADS_MAX_READ_INTERVAL 100
+  if (loopmillis-last_adsread > ADS_MAX_READ_INTERVAL) {
+    if (!error_ads_max_read_interval) {
+      error_ads_max_read_interval=true;
+      writeLogComment(Serial1,loopmillis, "Error ADS Max read interval");
+    }
+    //Serial.print("Error ADS Max read interval=");Serial.println(loopmillis-last_adsread);
   }
 
-
-
-  if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange) { //any errors?
+  if (!controllers_connected || error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) { //any errors?
     throttle_pos=0;
     brake_pos=0;
   }