diff --git a/Src/main.c b/Src/main.c
index d759d7e..4164466 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -41,8 +41,10 @@ int cmd2;
 int cmd3;
 
 typedef struct{
-   int16_t steer;
-   int16_t speed;
+   //int16_t steer;
+   //int16_t speed;
+   int16_t speedl;
+   int16_t speedr;
    //uint32_t crc;
    uint8_t checksum; //simple checksum for error handling and connection break check. 0 disables motors
 } Serialcommand;
@@ -51,8 +53,11 @@ volatile Serialcommand command;
 
 uint8_t button1, button2;
 
-int steer; // global variable for steering. -1000 to 1000
-int speed; // global variable for speed. -1000 to 1000
+//int steer; // global variable for steering. -1000 to 1000
+//int speed; // global variable for speed. -1000 to 1000
+int speedLfiltering; //speed left -1000 to 1000, used for filtering
+int speedRfiltering; //speed right -1000 to 1000, used for filtering
+int speed; //not used for actual control
 
 extern volatile int pwml;  // global variable for pwm left. -1000 to 1000
 extern volatile int pwmr;  // global variable for pwm right. -1000 to 1000
@@ -220,7 +225,7 @@ int main(void) {
     #endif
 
     #ifdef CONTROL_SERIAL_USART2
-      uint8_t calcchecksum = ((uint8_t) ((uint8_t)command.steer)*((uint8_t)command.speed)); //simple checksum
+      uint8_t calcchecksum = ((uint8_t) ((uint8_t)command.speedl)*((uint8_t)command.speedr)); //simple checksum
       if (calcchecksum==0 || calcchecksum==255){ calcchecksum=1; } //cannot be 0 or 255 (special purpose)
 
       if (command.checksum==0 || command.checksum==calcchecksum){ //motor off or correct checksum
@@ -228,8 +233,8 @@ int main(void) {
       		timeout = 0; //values ok, reset timeout
       	}
 
-        cmd1 = CLAMP((int16_t)command.steer, -1000, 1000);
-        cmd2 = CLAMP((int16_t)command.speed, -1000, 1000);
+        cmd1 = CLAMP((int16_t)command.speedl, -1000, 1000);
+        cmd2 = CLAMP((int16_t)command.speedr, -1000, 1000);
         if (command.checksum==0){ //received checksum 0 disables motors
           enable=0;
         }else{ //checksum ok and not intended to disable motors
@@ -248,13 +253,20 @@ int main(void) {
     #endif
 
     // ####### LOW-PASS FILTER #######
-    steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
-    speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
+    //steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
+    //speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
+    speedLfiltering = speedLfiltering * (1.0 - FILTER) + cmd1 * FILTER;
+    speedRfiltering = speedRfiltering * (1.0 - FILTER) + cmd2 * FILTER;
 
 
     // ####### MIXER #######
-    speedR = CLAMP(speed * SPEED_COEFFICIENT -  steer * STEER_COEFFICIENT, -1000, 1000);
-    speedL = CLAMP(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT, -1000, 1000);
+    //speedR = CLAMP(speed * SPEED_COEFFICIENT -  steer * STEER_COEFFICIENT, -1000, 1000);
+    //speedL = CLAMP(speed * SPEED_COEFFICIENT +  steer * STEER_COEFFICIENT, -1000, 1000);
+
+    speedL=CLAMP(speedLfiltering, -1000, 1000); //apply motorspeed
+    speedR=CLAMP(speedRfiltering, -1000, 1000); //apply motorspeed
+
+    speed = (speedL+speedR)/2; //calculate speed. needed for some checks
 
 
     #ifdef ADDITIONAL_CODE