diff --git a/achterbahnconfig/achterbahnconfig/achterbahnconfig.pde b/achterbahnconfig/achterbahnconfig/achterbahnconfig.pde
index c0504b3..edc1820 100644
--- a/achterbahnconfig/achterbahnconfig/achterbahnconfig.pde
+++ b/achterbahnconfig/achterbahnconfig/achterbahnconfig.pde
@@ -164,9 +164,9 @@ void setup() {
       .setSize(100, 20);
       
       
-    
-  myPort = new Serial(this, "/dev/ttyUSB0", 115200);
+  
   //myPort = new Serial(this, "COM3", 115200);
+  myPort = new Serial(this, "/dev/ttyUSB0", 115200);
 }
 
 void Set() {
diff --git a/otaflash.sh b/otaflash.sh
index 54f51fd..767a181 100644
--- a/otaflash.sh
+++ b/otaflash.sh
@@ -14,5 +14,5 @@ do
     printf "%c" "."
 done
 printf "\n%s\n"  "Device is online"
-pio run -t upload --upload-port $1
+pio run -t upload --upload-port $1 -e d1_mini-ota
 
diff --git a/platformio.ini b/platformio.ini
index 962e722..8721fe5 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -16,6 +16,22 @@ framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
 
+
+lib_deps =
+    adafruit/Adafruit NeoPixel @ ^1.7.0
+
+[env:d1_mini-ota]
+platform = espressif8266
+board = d1_mini
+framework = arduino
+
+monitor_speed = 115200
+upload_speed = 921600
+
+upload_protocol = espota
+
+
+
 lib_deps =
     adafruit/Adafruit NeoPixel @ ^1.7.0
 
diff --git a/src/main.cpp b/src/main.cpp
index 5153269..aa06b65 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,7 +1,7 @@
 //flash as Wemos D1 R2 & mini
 
 #include <Arduino.h>
-#include "simpleota.h"
+//#include "simpleota.h"
 
 #include <Adafruit_NeoPixel.h>
 #ifdef __AVR__
@@ -97,6 +97,13 @@ long last_changePersistancemode=0;
 #define MAXWAGONS 5 //maximum number of wagons
 
 
+//Wifi
+
+//int port = 8888;  //Port number
+//WiFiServer server(port);
+//WiFiClient client;
+//uint8_t state_server=0;
+
 void setup() {
   Serial.begin(115200);
 
@@ -114,17 +121,24 @@ void setup() {
   strip.show(); // Initialize all pixels to 'off'
 
 
-  checkOTA();
+  /*checkOTA();
+
   if(initOTA()) { //initialize ota if ota enabled
-    return; //if ota do nothing else for setup
+    Serial.println("OTA Initialized");
+    return;
   }
 
+  //server.begin();
+  */
+
   Serial.println("Started");
 
   resetHeightmap();
   
-  //fixed heightmap
+  
   loadHeightmapRaw();
+ 
+
 
   interpolateHeightValues();
 
@@ -135,8 +149,6 @@ void setup() {
     Serial.print(": ");
     Serial.println(height[i]);
   }*/
-  
-  
 
   
 
@@ -288,7 +300,7 @@ void spawnWagon(){
 
   //Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, side_startpos, _randomlength, side_multi*random(map(_randomlength,3,30,0,40)/10.0, map(_randomlength,3,30, 5,60))/10.0  , 0           , random(3.0,7.0) , Wheel((uint8_t)random(0,255))); //spawn new wagon   
   //Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, side_startpos, _randomlength, side_multi*random(map(_randomlength,3,30,30,100)/10.0, map(_randomlength,3,30, 5,60))/10.0  , 0           , 1.8 , Wheel((uint8_t)random(0,255))); //spawn new wagon   
-  Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, side_startpos, _randomlength, side_multi*random(map(_randomlength,3,30,3,10)/10.0, map(_randomlength,3,30, 1,10))/10.0  , 0           , 1.8 , Wheel((uint8_t)random(0,255))); //spawn new wagon   . start from near standstill
+  Wagon tmpr = Wagon(maxid++,NUMPIXELS,&strip, height, side_startpos, _randomlength, side_multi*random(0,random(10,60))/10.0  , 0           , random(2,5)/10.0 , Wheel((uint8_t)random(0,255))); //spawn new wagon   . start from near standstill
   //Mass: the lighter the faster is changes speed
 
   
@@ -315,9 +327,47 @@ void spawnWagon(float pos, float wagonlength,float startvel, float startacc, flo
 
 void loop() {
 
+  //ota deactivated because of problems with exceptions/reboots. also maybe problems with eeprom and ota.
+  /*
   if (loopOTA()) {
+#ifndef OTA_CONTINUOUS
     return; //just wait for ota
+#endif
   }
+  */
+
+  /*
+  if (state_server==0)
+  {
+    client = server.available();
+   
+    if (client) {
+      if(client.connected())
+      {
+        Serial.println("Client Connected");
+        state_server=1;
+      }     
+      
+    }
+  }
+  if (state_server==1) {
+    if(client.connected()){      
+      while(client.available()>0){
+        // read data from the connected client
+        Serial.write(client.read()); 
+      }
+      //Send Data to connected client
+      while(Serial.available()>0)
+      {
+        client.write(Serial.read());
+      }
+    }else{
+      client.stop();
+      Serial.println("Client disconnected");    
+      state_server=0;
+    }
+  }
+  */
 
   loopmillis=millis();
 
@@ -684,8 +734,9 @@ void loadHeightmapRaw(){
     heightraw[i]=lastvalue;
     c_eepromaddress++;
   }
-  interpolateHeightValues();
 }
+
+
 void saveHeightmapRaw(){
   int c_eepromaddress=EEPROMSTARTADDRESS_HEIGHTMAP;
   for (int i=0;i<NUMPIXELS;i++){
diff --git a/src/simpleota.cpp b/src/simpleota.cpp
index 5393942..375d103 100644
--- a/src/simpleota.cpp
+++ b/src/simpleota.cpp
@@ -76,10 +76,12 @@ bool loopOTA() {
   if (otaMode != NONE) {
       ArduinoOTA.handle();
 
+      
       if(otaMode == WAITING) {
           static long mil = millis();
           static boolean huehott = false;
 
+          
           if(millis() - mil > 100) {
               huehott = !huehott;
               mil = millis();
diff --git a/src/simpleota.h b/src/simpleota.h
index af4c52e..a750897 100644
--- a/src/simpleota.h
+++ b/src/simpleota.h
@@ -13,6 +13,7 @@
 #define OTA_WAIT_TIMEOUT    50     // in 0.1s increments -> 10s
 #define OTA_PASSWORD        "ROLLERCOASTER"  //password needed for ota flashing
 
+//#define OTA_CONTINUOUS
 
 
 void checkOTA();
diff --git a/src/wagon.cpp b/src/wagon.cpp
index e290df4..2fb074f 100644
--- a/src/wagon.cpp
+++ b/src/wagon.cpp
@@ -2,8 +2,8 @@
 
 #define WAGONLENGTH 3
 
-#define EDGE_KILL
-//#define EDGE_WALL
+//#define EDGE_KILL
+#define EDGE_WALL
 //#define EDGE_BOUNCE
 //#define EDGE_WRAP
 #define WRAPLEDENDPOS _numpixels //default