diff --git a/src/schrittmotor.py b/src/schrittmotor.py
index 872c242..b27c9f2 100644
--- a/src/schrittmotor.py
+++ b/src/schrittmotor.py
@@ -1,5 +1,4 @@
 from src.einstellungen import *
-#import RPi.GPIO as GPIO
 import time
 import pigpio
 import threading
@@ -7,9 +6,6 @@ import math
 
 pi = pigpio.pi()
 
-#GPIO.setmode(GPIO.BCM)
-#GPIO.setwarnings(False)
- 
 class motor():
 
     def __init__(self, name, sp1, sp2, sp3, sp4, t1, t2, te, es, halten, schritte):
@@ -28,20 +24,12 @@ class motor():
         self.freq = freq
         self.freq_halten = freq_halten
         self.cyc_halten = cyc_halten
-        self.pwm1 = 0
-        self.pwm2 = 0
-        self.pwm3 = 0
-        self.pwm4 = 0
-
-    def start(self):
+        self.aktiv = 0
+    
         pi.set_mode(self.sp1, pigpio.OUTPUT)
         pi.set_mode(self.sp2, pigpio.OUTPUT)
         pi.set_mode(self.sp3, pigpio.OUTPUT)
         pi.set_mode(self.sp4, pigpio.OUTPUT)
-        #GPIO.setup(self.sp1, GPIO.OUT)
-        #GPIO.setup(self.sp2, GPIO.OUT)
-        #GPIO.setup(self.sp3, GPIO.OUT)
-        #GPIO.setup(self.sp4, GPIO.OUT)
 
         pi.set_PWM_range(self.sp1, 100)
         pi.set_PWM_range(self.sp2, 100)
@@ -51,33 +39,21 @@ class motor():
         pi.set_PWM_frequency(self.sp1, self.freq)
         pi.set_PWM_dutycycle(self.sp1, 0)
 
-        #self.pwm1 = GPIO.PWM(self.sp1, self.freq)
-        #self.pwm1.start(0)
-
         pi.set_PWM_frequency(self.sp2, self.freq)
         pi.set_PWM_dutycycle(self.sp2, 0)
         
-        #self.pwm2 = GPIO.PWM(self.sp2, self.freq)
-        #self.pwm2.start(0)
-        
         pi.set_PWM_frequency(self.sp3, self.freq)
         pi.set_PWM_dutycycle(self.sp3, 0)
 
-        #self.pwm3 = GPIO.PWM(self.sp3, self.freq)
-        #self.pwm3.start(0)
-        
         if self.halten == 1:
             pi.set_PWM_frequency(self.sp4, self.freq_halten)
             pi.set_PWM_dutycycle(self.sp4, cyc_halten)
-            #self.pwm4 = GPIO.PWM(self.sp4, self.freq_halten)
-            #self.pwm4.start(cyc_halten)
         else:
             pi.set_PWM_frequency(self.sp4, self.freq)
             pi.set_PWM_dutycycle(self.sp4, 0)
-            #self.pwm4 = GPIO.PWM(self.sp4, self.freq)
-            #self.pwm4.start(0)
 
-    def vorwaerts(self, schritte, eichen=0):
+    def __vorwaerts(self, schritte, eichen=0):
+        self.aktiv = 1
         ges_schritte = schritte * 8
 
         if eichen == 1:
@@ -89,10 +65,10 @@ class motor():
        
         if self.halten == 1:
             pi.set_PWM_frequency(self.sp4, self.freq)
-            #self.pwm4.ChangeFrequency(self.freq)
-
+            
         for i in range(int(schritte)):
             if self.pos >= self.schritte_max:
+                self.aktiv = 0
                 break
             else:
                 self.pos += 1
@@ -107,18 +83,16 @@ class motor():
             einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
             einzelschritt(self.sp3, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
 
-            #print(str(self.pos))
-
         if self.halten == 1:
             pi.set_PWM_frequency(self.sp4, self.freq_halten)
             pi.set_PWM_dutycycle(self.sp4, cyc_halten)
-            #self.pwm4.ChangeFrequency(self.freq_halten)
-            #self.pwm4.ChangeDutyCycle(self.cyc_halten)
         else:
             pi.set_PWM_dutycycle(self.sp4, 0)
-            #self.pwm4.ChangeDutyCycle(0)
 
-    def rueckwaerts(self, schritte, eichen=0):
+        self.aktiv = 0
+
+    def __rueckwaerts(self, schritte, eichen=0):
+        self.aktiv = 1
         ges_schritte = schritte * 8
 
         if eichen == 1:
@@ -130,13 +104,12 @@ class motor():
 
         if self.halten == 1:
             pi.set_PWM_frequency(self.sp4, self.freq)
-            #self.pwm4.ChangeFrequency(self.freq)
-
+            
         for i in range(int(schritte)):
-            #if GPIO.input(self.endschalter) == GPIO.LOW:
             if pi.read(self.endschalter) == 0:
                 print('Endschalter ' + self.name)
                 self.pos = 0
+                self.aktiv = 0
                 break
             else:
                 self.pos -= 1
@@ -151,33 +124,30 @@ class motor():
             einzelschritt(self.sp4, 1, ges_schritte, temp_pos + 6, temp_t1, temp_t2)
             einzelschritt(self.sp1, 0, ges_schritte, temp_pos + 7, temp_t1, temp_t2)
 
-            #print(str(self.pos))
-
         if self.halten == 1:
             pi.set_PWM_frequency(self.sp4, self.freq_halten)
             pi.set_PWM_dutycycle(self.sp4, cyc_halten)
-            #self.pwm4.ChangeFrequency(self.freq_halten)
-            #self.pwm4.ChangeDutyCycle(self.cyc_halten)
         else:
             pi.set_PWM_dutycycle(self.sp4, 0)
-            #self.pwm4.ChangeDutyCycle(0)
+            
+        self.aktiv = 0
 
     def eichen(self):
-        #if GPIO.input(self.endschalter) == GPIO.LOW:
-        if pi.read(self.endschalter) == 0:
-            self.vorwaerts(10, 1)
+        if self.aktiv == 0:
+            if pi.read(self.endschalter) == 0:
+                self.vorwaerts(10, 1)
 
-        self.rueckwaerts(self.schritte_max, 1)
-        self.pos = 0
+            self.rueckwaerts(self.schritte_max, 1)
+            self.pos = 0
 
     def gehe_zu(self, position):
-        temp_schritte = int(position) - self.pos
-        print(str(temp_schritte))
-
-        if temp_schritte > 0:
-            self.vorwaerts(temp_schritte)
-        else:
-            self.rueckwaerts(abs(temp_schritte))
+        if self.aktiv == 0:
+            temp_schritte = int(position) - self.pos
+            
+            if temp_schritte > 0:
+                self.vorwaerts(temp_schritte)
+            else:
+                self.rueckwaerts(abs(temp_schritte))
 
 class motor_bewegen(threading.Thread):
   def __init__(self, motor, position):
@@ -198,11 +168,9 @@ def einzelschritt(spule, status, ges_schritte, schritt, t1, t2):
         for i in range(0, 91, 5):
             dc = round(math.sin(math.radians(i)) * 100, 0)
             pi.set_PWM_dutycycle(spule, dc)
-            #spule.ChangeDutyCycle(dc)
             time.sleep(t)
     else:
         for i in range(0, 91, 5):
             dc = round(math.cos(math.radians(i)) * 100, 0)
             pi.set_PWM_dutycycle(spule, dc)
-            #spule.ChangeDutyCycle(dc)
             time.sleep(t)