diff --git a/src/main.llsp3 b/src/main.llsp3
index 5f0c27d..168abae 100644
--- a/src/main.llsp3
+++ b/src/main.llsp3
@@ -2,7 +2,6 @@ from hub import port, motion_sensor as ms
 import motor_pair as mp
 import distance_sensor as ds
 import color_sensor as cs
-import color
 import sys
 import runloop
 import time
@@ -21,12 +20,12 @@ import time
 
 # Productive Code ###########################################################################
 
-async def turn_right(angle=90):
+async def turn_right(angle=85):
     mp.move_tank(mp.PAIR_1, 200, -200)
     await runloop.sleep_ms(int(angle * 7))# 6 ms per degree → tune this!
     mp.stop(mp.PAIR_1)
 
-async def turn_left(angle=90):
+async def turn_left(angle=85):
     mp.move_tank(mp.PAIR_1, -200, 200)
     await runloop.sleep_ms(int(angle * 7))
     mp.stop(mp.PAIR_1)
@@ -38,106 +37,116 @@ async def drive_cm(cm, speed=200):
     await runloop.sleep_ms(cm * 70)
     mp.stop(mp.PAIR_1)
 
-async def avoid_obstacle():
+async def avoid_obstacle(speed=100):
     mp.stop(mp.PAIR_1)
     await runloop.sleep_ms(500)
-    mp.move_tank(mp.PAIR_1, -100, -100)
-
-    await turn_right(90)
-    await drive_cm(20)
-    await turn_left(90)
-    await drive_cm(40)
-    await turn_left(90)
-    await drive_cm(20)
-    await turn_right(90)
+    mp.move_tank(mp.PAIR_1, -speed, -speed)
 
+    await turn_right(85)
+    await drive_cm(15)
+    await turn_left(85)
+    await drive_cm(30)
+    await turn_left(85)
+    await drive_cm(15)
+    await turn_right(85)
+old = 0
 async def move_on_color():
     won = False
-    old = time.ticks_ms
+    old = time.ticks_ms()
+    speed = 100
 
     while not won:
 
         # Farbcodes lesen
-        left_color = cs.color(port.C)
-        right_color = cs.color(port.E)
-        gradient = ms.tilt_angles()[2]        
+        left_color = cs.color(port.B)
+        right_color = cs.color(port.F)
+        
+        gradient = ms.tilt_angles()[2]
         # Farbcodes
         BLACK = 0
         GREEN = 6
         WHITE = 10
         RED = 9
-        strait = False
+        straight = False
+        turn_way_if_lost_right = True
         # Distanzsensor
-        ds_front = ds.distance(port.F)
+        ds_front = ds.distance(port.D)
+
+        if gradient < -150:
+            speed = 400
+        
+        elif gradient > 50:
+            speed = 50
+        else: 
+            speed = 100
 
         # --- LOGIK NUR MIT FARBEN ---
                 # Finish line logik
         if left_color == RED or right_color == RED:
             won = True
             break
-        
-        elif ds_front < 75:
+
+        elif ds_front < 75 and ds_front > -1:
             await avoid_obstacle()
 
         # Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
         elif left_color == GREEN and right_color == GREEN:
-            mp.move_tank(mp.PAIR_1, -100, 100)
+            mp.move_tank(mp.PAIR_1, -speed, speed)
             time.sleep_ms(2300)
 
         # Linker Sensor sieht Grün → Linksabbiegen
         elif left_color == GREEN and right_color != GREEN:
-            mp.move_tank(mp.PAIR_1, 100, 100)
+            mp.move_tank(mp.PAIR_1, speed, speed)
             time.sleep_ms(700)
-            mp.move_tank(mp.PAIR_1, -100, 100)
+            mp.move_tank(mp.PAIR_1, -speed, speed)
             time.sleep_ms(1050)
-            mp.move_tank(mp.PAIR_1, 100, 100)
+            mp.move_tank(mp.PAIR_1, speed, speed)
             time.sleep_ms(300)
 
         # Rechter Sensor sieht Grün → Rechtsabbiegen
         elif right_color == GREEN and left_color != GREEN:
-            mp.move_tank(mp.PAIR_1, 100, 100)
+            mp.move_tank(mp.PAIR_1, speed, speed)
             time.sleep_ms(700)
-            mp.move_tank(mp.PAIR_1, 100, -100)
+            mp.move_tank(mp.PAIR_1, speed, -speed)
             time.sleep_ms(1050)
-            mp.move_tank(mp.PAIR_1, 100, 100)
+            mp.move_tank(mp.PAIR_1, speed, speed)
             time.sleep_ms(300)
 
-        elif right_color == BLACK and left_color == BLACK:
-            mp.move_tank(mp.PAIR_1, 100, 100)
+        elif right_color == BLACK or left_color == BLACK:
+            if right_color == BLACK and left_color == BLACK:
+                mp.move_tank(mp.PAIR_1, speed, speed)
         # Linker Sensor ist Schwarz, rechter Weiß → sanft nach links
-        elif left_color == BLACK and right_color == WHITE:
-            mp.move_tank(mp.PAIR_1, -50, 50)
+            elif left_color == BLACK and right_color == WHITE:
+                mp.move_tank(mp.PAIR_1, speed-100, speed)
 
         # Rechter Schwarz, linker Weiß → sanft nach rechts
-        elif right_color == BLACK and left_color == WHITE:
-            mp.move_tank(mp.PAIR_1, 50, -50)
+            elif right_color == BLACK and left_color == WHITE:
+                mp.move_tank(mp.PAIR_1, speed, speed-100)  
 
         # Beide Weiß → geradeaus (vermutlich neben der Linie)
         elif left_color == WHITE and right_color == WHITE:
-            strait = True
-            mp.move(mp.PAIR_1, 0, velocity=150)
+            straight = True
+            mp.move_tank(mp.PAIR_1, speed, speed)
+            runloop.sleep_ms(50)
 
-        # TODO: ---- Weiß auf beiden Seiten = Linie verloren ----
-        # wenn links == weiß UND rechts == weiß:
-        #     langsam drehen bis schwarz gefunden
+        if straight:
+            if time.ticks_diff(time.ticks_ms(), old) > 2750:
+                old = time.ticks_ms()
+                if turn_way_if_lost_right:
+                    mp.move_tank(mp.PAIR_1, speed, 0)
+                    await runloop.sleep_ms(200)
+                    turn_way_if_lost_right = not turn_way_if_lost_right
+                else:
+                    mp.move_tank(mp.PAIR_1, 0, speed)
+                    await runloop.sleep_ms(200)
+                    turn_way_if_lost_right = not turn_way_if_lost_right
 
-        elif gradient < -150:
-            mp.move(mp.PAIR_1, 0, velocity=350)
-
-        elif gradient > 50:
-            mp.move(mp.PAIR_1, 0, velocity=100)
-
-        if strait:
-            if time.ticks_diff(time.ticks_ms(), old) > 2000:
-                old = time.ticks_ms
-                mp.move_tank(mp.PAIR_1, 100, 50)
         else:
-            old = time.ticks_ms
+            old = time.ticks_ms()
 
 async def main():
-    mp.pair(mp.PAIR_1, port.A, port.D)
+    mp.pair(mp.PAIR_1, port.A, port.E)
     await move_on_color()
-
     sys.exit()
 
 runloop.run(main())
\ No newline at end of file