diff --git a/kamera_server.py b/kamera_server.py
index d6d3859..8356236 100644
--- a/kamera_server.py
+++ b/kamera_server.py
@@ -30,12 +30,6 @@ m2.start()
 #m1.stop()
 #m2.stop()
 
-print(dir(m2.pwm4))
-print(dir(m3_pwm4))
-
-#m1.schritte_max = 180
-#m2.schritte_max = 90
-
 @kamera_server.route("/")
 def main():
     # For each pin, read the pin state and store it in the pins dictionary:
@@ -90,7 +84,8 @@ def motor_test():
     m1.stop()
     m1.start()
     m1.vorwaerts(10)
-    
+    time.sleep(2)
+    m1.rueckwaerts(10)
     #print('Motortest')
     # Pass the template data into the template main.html and return it to the user
     return 'fertig'
diff --git a/src/schrittmotor.py b/src/schrittmotor.py
index 356e4c4..723074f 100644
--- a/src/schrittmotor.py
+++ b/src/schrittmotor.py
@@ -60,8 +60,7 @@ class motor():
 
     def vorwaerts(self, schritte):
         ges_schritte = schritte * 8
-        #print(str(ges_schritte))
-        
+       
         if self.halten == 1:
             self.pwm4.ChangeFrequency(self.freq)
 
@@ -87,17 +86,44 @@ class motor():
         else:
             self.pwm4.ChangeDutyCycle(0)
 
+    def rueckwaerts(self, schritte):
+        ges_schritte = schritte * 8
+
+        if self.halten == 1:
+            self.pwm4.ChangeFrequency(self.freq)
+
+        for i in range(int(schritte)):
+            if GPIO.input(self.endschalter) == GPIO.LOW:
+                self.pos = 0
+                break
+            else:
+                self.pos -= 1
+
+            temp_pos = i * 8
+            einzelschritt(self.pwm3, 1, ges_schritte, temp_pos, self.t1, self.t2)
+            einzelschritt(self.pwm4, 0, ges_schritte, temp_pos + 1, self.t1, self.t2)
+            einzelschritt(self.pwm2, 1, ges_schritte, temp_pos + 2, self.t1, self.t2)
+            einzelschritt(self.pwm3, 0, ges_schritte, temp_pos + 3, self.t1, self.t2)
+            einzelschritt(self.pwm1, 1, ges_schritte, temp_pos + 4, self.t1, self.t2)
+            einzelschritt(self.pwm2, 0, ges_schritte, temp_pos + 5, self.t1, self.t2)
+            einzelschritt(self.pwm4, 1, ges_schritte, temp_pos + 6, self.t1, self.t2)
+            einzelschritt(self.pwm1, 0, ges_schritte, temp_pos + 7, self.t1, self.t2)
+
+        if self.halten == 1:
+            self.pwm4.ChangeFrequency(self.freq_halten)
+            self.pwm4.ChangeDutyCycle(self.cyc_halten)
+        else:
+            self.pwm4.ChangeDutyCycle(0)
+
 def einzelschritt(spule, status, ges_schritte, schritt, t1, t2):
     w = (schritt * 100 / (ges_schritte - 1)) * 1.8
     s = round(math.sin(math.radians(w)), 2)
     t = t2 - (s * (t2 - t1))
-    #print(str(t))
 
     if status == 1:
         for i in range(0, 91, 5):
             dc = round(math.sin(math.radians(i)) * 100, 0)
             spule.ChangeDutyCycle(dc)
-            #print(str(dc))
             time.sleep(t)
     else:
         for i in range(0, 91, 5):