diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index ff76b20..f3e653d 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -133,6 +133,7 @@ set(headers
     displays/menus/mosfetsmenu.h
     displays/menus/motorfeedbackdebugmenu.h
     displays/menus/motorstatedebugmenu.h
+    displays/menus/motortestmodesettingsmenu.h
     displays/menus/otamenu.h
     displays/menus/selectotabuildmenu.h
     displays/menus/presetsmenu.h
@@ -188,6 +189,7 @@ set(headers
     modes/larsmmode.h
     modes/remotecontrolmode.h
     modes/tempomatmode.h
+    modes/motortestmode.h
 )
 
 set(sources
@@ -325,6 +327,7 @@ set(sources
     displays/menus/mosfetsmenu.cpp
     displays/menus/motorfeedbackdebugmenu.cpp
     displays/menus/motorstatedebugmenu.cpp
+    displays/menus/motortestmodesettingsmenu.cpp
     displays/menus/otamenu.cpp
     displays/menus/selectotabuildmenu.cpp
     displays/menus/statisticsmenu.cpp
@@ -380,6 +383,7 @@ set(sources
     modes/larsmmode.cpp
     modes/remotecontrolmode.cpp
     modes/tempomatmode.cpp
+    modes/motortestmode.cpp
 )
 
 set(dependencies
diff --git a/main/accessors/settingsaccessors.h b/main/accessors/settingsaccessors.h
index f790b17..9a08b17 100644
--- a/main/accessors/settingsaccessors.h
+++ b/main/accessors/settingsaccessors.h
@@ -159,6 +159,9 @@ struct LarsmModeModelModeAccessor : public RefAccessorSaveSettings<UnifiedModelM
 struct LarsmModeModeAccessor : public RefAccessorSaveSettings<LarsmModeMode> { LarsmModeMode &getRef() const override { return settings.larsmMode.mode; } };
 struct LarsmModeIterationsAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.larsmMode.iterations; } };
 
+struct MotortestModeMultiplikatorAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return settings.motortestMode.multiplikator; } };
+struct MotortestMaxPwmAccessor : public RefAccessorSaveSettings<uint16_t> { uint16_t &getRef() const override { return settings.motortestMode.maxPwm; } };
+
 #ifdef FEATURE_LEDSTRIP
 struct EnableLedAnimationAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.ledstrip.enableLedAnimation; } };
 struct EnableBrakeLightsAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.ledstrip.enableBrakeLights; } };
diff --git a/main/actions/modesettingsaction.h b/main/actions/modesettingsaction.h
index 2b61f31..c7e51f2 100644
--- a/main/actions/modesettingsaction.h
+++ b/main/actions/modesettingsaction.h
@@ -6,10 +6,12 @@
 #include "modes/tempomatmode.h"
 #include "modes/larsmmode.h"
 #include "modes/gametrakmode.h"
+#include "modes/motortestmode.h"
 #include "displays/menus/defaultmodesettingsmenu.h"
 #include "displays/menus/tempomatmodesettingsmenu.h"
 #include "displays/menus/larsmmodesettingsmenu.h"
 #include "displays/menus/gametrakmodesettingsmenu.h"
+#include "displays/menus/motortestmodesettingsmenu.h"
 #include "screenmanager.h"
 
 using namespace espgui;
@@ -29,6 +31,8 @@ void ModeSettingsAction::triggered()
         switchScreen<TempomatModeSettingsMenu>();
     else if (currentMode == &modes::larsmMode)
         switchScreen<LarsmModeSettingsMenu>();
+    else if (currentMode == &modes::motortestMode)
+        switchScreen<MotortestModeSettingsMenu>();
 #ifdef FEATURE_GAMETRAK
     else if (currentMode == &modes::gametrakMode)
         switchScreen<GametrakModeSettingsMenu>();
diff --git a/main/displays/menus/motortestmodesettingsmenu.cpp b/main/displays/menus/motortestmodesettingsmenu.cpp
new file mode 100644
index 0000000..5eaaa22
--- /dev/null
+++ b/main/displays/menus/motortestmodesettingsmenu.cpp
@@ -0,0 +1,44 @@
+#include "motortestmodesettingsmenu.h"
+
+// 3rdparty lib includes
+#include "changevaluedisplay.h"
+#include "menuitem.h"
+#include "actions/switchscreenaction.h"
+#include "icons/back.h"
+
+// local includes
+#include "utils.h"
+#include "accessors/settingsaccessors.h"
+#include "displays/menus/modessettingsmenu.h"
+
+namespace {
+using MotortestMultiplikatorChangeDisplay = espgui::makeComponent<
+    espgui::ChangeValueDisplay<uint8_t>,
+    espgui::StaticText<TEXT_MOTORTESTMULTIPLIKATOR>,
+    MotortestModeMultiplikatorAccessor,
+    espgui::BackActionInterface<espgui::SwitchScreenAction<MotortestModeSettingsMenu>>,
+    espgui::SwitchScreenAction<MotortestModeSettingsMenu>
+>;
+
+using MotortestMaxPwmChangeDisplay = espgui::makeComponent<
+    espgui::ChangeValueDisplay<uint16_t>,
+    espgui::StaticText<TEXT_MOTORTESTMAXPWM>,
+    MotortestMaxPwmAccessor,
+    espgui::BackActionInterface<espgui::SwitchScreenAction<MotortestModeSettingsMenu>>,
+    espgui::SwitchScreenAction<MotortestModeSettingsMenu>
+>;
+} // namespace
+
+using namespace espgui;
+
+MotortestModeSettingsMenu::MotortestModeSettingsMenu()
+{
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTESTMULTIPLIKATOR>,  SwitchScreenAction<MotortestMultiplikatorChangeDisplay>>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTESTMAXPWM>,         SwitchScreenAction<MotortestMaxPwmChangeDisplay>>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,                    SwitchScreenAction<ModesSettingsMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
+}
+
+void MotortestModeSettingsMenu::back()
+{
+    switchScreen<ModesSettingsMenu>();
+}
diff --git a/main/displays/menus/motortestmodesettingsmenu.h b/main/displays/menus/motortestmodesettingsmenu.h
new file mode 100644
index 0000000..91fa62f
--- /dev/null
+++ b/main/displays/menus/motortestmodesettingsmenu.h
@@ -0,0 +1,17 @@
+#pragma once
+
+// 3rdparty lib includes
+
+// local includes
+#include "menudisplay.h"
+#include "texts.h"
+
+class MotortestModeSettingsMenu :
+    public espgui::MenuDisplay,
+    public espgui::StaticText<TEXT_MOTORTESTMODESETTINGS>
+{
+public:
+    MotortestModeSettingsMenu();
+
+    void back() override;
+};
diff --git a/main/displays/menus/selectmodemenu.cpp b/main/displays/menus/selectmodemenu.cpp
index db96c9f..6da3ad0 100644
--- a/main/displays/menus/selectmodemenu.cpp
+++ b/main/displays/menus/selectmodemenu.cpp
@@ -11,6 +11,7 @@
 #include "modes/larsmmode.h"
 #include "modes/remotecontrolmode.h"
 #include "modes/gametrakmode.h"
+#include "modes/motortestmode.h"
 #include "accessors/globalaccessors.h"
 #include "displays/menus/mainmenu.h"
 
@@ -25,6 +26,7 @@ using SetDefaultModeAction = SetterAction<ModeInterface*, currentMode, DefaultMo
 using SetTempomatModeAction = SetterAction<ModeInterface*, currentMode, TempomatMode*, &modes::tempomatMode>;
 using SetLarsmModeAction = SetterAction<ModeInterface*, currentMode, LarsmMode*, &modes::larsmMode>;
 using SetRemoteControlModeAction = SetterAction<ModeInterface*, currentMode, RemoteControlMode*, &modes::remoteControlMode>;
+using SetMotorTestModeAction = SetterAction<ModeInterface*, currentMode, MotortestMode*, &modes::motortestMode>;
 #ifdef FEATURE_GAMETRAK
 using SetGametrakModeAction = SetterAction<ModeInterface*, currentMode, GametrakMode*, &modes::gametrakMode>;
 #endif
@@ -41,6 +43,7 @@ SelectModeMenu::SelectModeMenu()
 #ifdef FEATURE_GAMETRAK
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_GAMETRAK>,  MultiAction<SetGametrakModeAction, SwitchScreenAction<MainMenu>>>>();
 #endif
+    if (!simplified) { constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MOTORTEST>, MultiAction<SetMotorTestModeAction, SwitchScreenAction<MainMenu>>>>(); }
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,      SwitchScreenAction<MainMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
 }
 
@@ -54,10 +57,12 @@ void SelectModeMenu::start()
         setSelectedIndex(1);
     else if (currentMode == &modes::larsmMode)
         setSelectedIndex(2);
+    else if (currentMode == &modes::motortestMode)
+        setSelectedIndex(3);
     else
     {
         //Serial.printf("Unknown mode: %s", currentMode?currentMode->displayName():"");
-        setSelectedIndex(3);
+        setSelectedIndex(4);
     }
 }
 
diff --git a/main/modes/motortestmode.cpp b/main/modes/motortestmode.cpp
new file mode 100644
index 0000000..57f3628
--- /dev/null
+++ b/main/modes/motortestmode.cpp
@@ -0,0 +1,40 @@
+#include "motortestmode.h"
+
+// local includes
+#include "globals.h"
+#include "utils.h"
+
+namespace modes {
+MotortestMode motortestMode;
+} // namespace modes
+
+void MotortestMode::start()
+{
+    m_pwm = 0;
+    m_dir = 1;
+}
+
+void MotortestMode::update()
+{
+    const auto m_pwmMax = settings.motortestMode.maxPwm;
+    m_pwm += m_dir * settings.motortestMode.multiplikator;
+    if (m_pwm > m_pwmMax) {
+        m_pwm = m_pwmMax;
+        m_dir = -m_dir;
+    } else if (m_pwm < -m_pwmMax) {
+        m_pwm = -m_pwmMax;
+        m_dir = -m_dir;
+    }
+
+    for (bobbycar::protocol::serial::MotorState &motor : motors())
+    {
+        motor.ctrlTyp = bobbycar::protocol::ControlType::Sinusoidal;
+        motor.ctrlMod = bobbycar::protocol::ControlMode::Voltage;
+        motor.pwm = m_pwm;
+        motor.cruiseCtrlEna = false;
+        motor.nCruiseMotTgt = 0;
+    }
+
+    fixCommonParams();
+    sendCommands();
+}
diff --git a/main/modes/motortestmode.h b/main/modes/motortestmode.h
new file mode 100644
index 0000000..be5e475
--- /dev/null
+++ b/main/modes/motortestmode.h
@@ -0,0 +1,20 @@
+#pragma once
+
+// local includes
+#include "bobbycar-common.h"
+#include "modeinterface.h"
+
+class MotortestMode : public ModeInterface
+{
+public:
+    void update() override;
+    void start() override;
+    const char *displayName() const override { return "Motortest"; }
+private:
+    int16_t m_pwm{};
+    int8_t m_dir{};
+};
+
+namespace modes {
+extern MotortestMode motortestMode;
+} // namespace modes
diff --git a/main/presets.h b/main/presets.h
index 765264f..57117dd 100644
--- a/main/presets.h
+++ b/main/presets.h
@@ -230,6 +230,11 @@ constexpr Settings::LarsmMode defaultLarsmMode {
     .iterations = 100
 };
 
+constexpr Settings::MotortestMode defaultMotortestMode {
+    .multiplikator = 2,
+    .maxPwm = 400
+};
+
 #ifdef FEATURE_LEDSTRIP
 constexpr Settings::Ledstrip defaultLedstrip {
     .enableLedAnimation = true,
@@ -307,6 +312,7 @@ constexpr Settings defaultSettings {
     .defaultMode = defaultDefaultMode,
     .tempomatMode = defaultTempomatMode,
     .larsmMode = defaultLarsmMode,
+    .motortestMode = defaultMotortestMode,
 #ifdef FEATURE_LEDSTRIP
     .ledstrip = defaultLedstrip,
 #endif
diff --git a/main/settings.h b/main/settings.h
index 9ed70f9..5abda53 100644
--- a/main/settings.h
+++ b/main/settings.h
@@ -158,6 +158,11 @@ struct Settings
         uint8_t iterations;
     } larsmMode;
 
+    struct MotortestMode {
+        uint8_t multiplikator;
+        uint16_t maxPwm;
+    } motortestMode;
+
 #ifdef FEATURE_LEDSTRIP
     struct Ledstrip {
         bool enableLedAnimation;
diff --git a/main/texts.h b/main/texts.h
index a1bb6ee..b52a2b9 100644
--- a/main/texts.h
+++ b/main/texts.h
@@ -277,6 +277,11 @@ constexpr char TEXT_SETMODE[] = "Set mode";
 constexpr char TEXT_SETITERATIONS[] = "Set iterations";
 //constexpr char TEXT_BACK[] = "Back";
 
+//MotortestModeSettingsMenu
+constexpr char TEXT_MOTORTESTMODESETTINGS[] = "Motortest mode seetings";
+constexpr char TEXT_MOTORTESTMAXPWM[] = "Max Pwm";
+constexpr char TEXT_MOTORTESTMULTIPLIKATOR[] = "Acceleration";
+
 //LedstripMenu
 constexpr char TEXT_LEDSTRIP[] = "Ledstrip";
 constexpr char TEXT_LEDANIMATION[] = "LED Animation";
@@ -407,6 +412,7 @@ constexpr char TEXT_TEMPOMAT[] = "Tempomat";
 constexpr char TEXT_LARSM[] = "Larsm";
 constexpr char TEXT_REMOTECONTROL[] = "Remote control";
 constexpr char TEXT_GAMETRAK[] = "Gametrak";
+constexpr char TEXT_MOTORTEST[] = "Motortest";
 //constexpr char TEXT_BACK[] = "Back";
 
 //TimersMenu