diff --git a/CMakeLists.txt b/CMakeLists.txt
index f5e3dc8..8bd3942 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,6 +97,34 @@ add_custom_command(OUTPUT motortest.bin COMMAND arm-none-eabi-objcopy -O binary
 add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin)
 add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
 
+#
+# motor test peter
+#
+add_executable(motortest_peter.elf config.h defines.h main.cpp)
+target_link_libraries(motortest_peter.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(motortest_peter.elf PRIVATE
+    -DMOTOR_TEST
+    -DFEATURE_IGNORE_OTHER_MOTOR
+#    -DGSCHISSENES_HALL
+     -DSEHR_GSCHISSENES_HALL
+#    -DGSCHISSENE_PWM_FREQ
+#    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+#    -DHUARN2
+#    -DHUARN3
+#    -DFEATURE_SERIAL_CONTROL
+#    -DFEATURE_SERIAL_FEEDBACK
+#    -DLOG_TO_SERIAL
+#    -DFEATURE_CAN
+#    -DCAN_LOG_UNKNOWN_ADDR
+#    -DIS_BACK
+)
+add_custom_command(OUTPUT motortest_peter.hex COMMAND arm-none-eabi-objcopy -O ihex motortest_peter.elf motortest_peter.hex DEPENDS motortest_peter.elf)
+add_custom_command(OUTPUT motortest_peter.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest_peter.elf motortest_peter.bin DEPENDS motortest_peter.elf)
+add_custom_target(motortest_peter ALL SOURCES motortest_peter.hex motortest_peter.bin)
+add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
+
+
 #
 # feedc0de front
 #
diff --git a/defines.h b/defines.h
index 604d407..2d86f89 100644
--- a/defines.h
+++ b/defines.h
@@ -23,29 +23,37 @@
 #include "stm32f1xx_hal.h"
 
 #ifdef PETERS_PLATINE
-#ifdef GSCHISSENES_HALL
-    #define LEFT_HALL_U_PIN GPIO_PIN_10
-    #define LEFT_HALL_V_PIN GPIO_PIN_11
-    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#else
-    #define LEFT_HALL_U_PIN GPIO_PIN_12
-    #define LEFT_HALL_V_PIN GPIO_PIN_11
-    #define LEFT_HALL_W_PIN GPIO_PIN_10
-#endif
+    #ifdef GSCHISSENES_HALL
+        #define LEFT_HALL_U_PIN GPIO_PIN_10
+        #define LEFT_HALL_V_PIN GPIO_PIN_11
+        #define LEFT_HALL_W_PIN GPIO_PIN_12
+    #elif SEHR_GSCHISSENES_HALL
+        #define LEFT_HALL_U_PIN GPIO_PIN_12
+        #define LEFT_HALL_V_PIN GPIO_PIN_10
+        #define LEFT_HALL_W_PIN GPIO_PIN_11
+    #else
+        #define LEFT_HALL_U_PIN GPIO_PIN_12
+        #define LEFT_HALL_V_PIN GPIO_PIN_11
+        #define LEFT_HALL_W_PIN GPIO_PIN_10
+    #endif
 
-    #define LEFT_HALL_U_PORT GPIOC
-    #define LEFT_HALL_V_PORT GPIOC
-    #define LEFT_HALL_W_PORT GPIOC
+        #define LEFT_HALL_U_PORT GPIOC
+        #define LEFT_HALL_V_PORT GPIOC
+        #define LEFT_HALL_W_PORT GPIOC
 
-#ifdef GSCHISSENES_HALL
-    #define RIGHT_HALL_U_PIN GPIO_PIN_7
-    #define RIGHT_HALL_V_PIN GPIO_PIN_6
-    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#else
-    #define RIGHT_HALL_U_PIN GPIO_PIN_5
-    #define RIGHT_HALL_V_PIN GPIO_PIN_6
-    #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#endif
+    #ifdef GSCHISSENES_HALL
+        #define RIGHT_HALL_U_PIN GPIO_PIN_7
+        #define RIGHT_HALL_V_PIN GPIO_PIN_6
+        #define RIGHT_HALL_W_PIN GPIO_PIN_5
+    #elif SEHR_GSCHISSENES_HALL
+        #define RIGHT_HALL_U_PIN GPIO_PIN_5
+        #define RIGHT_HALL_V_PIN GPIO_PIN_7
+        #define RIGHT_HALL_W_PIN GPIO_PIN_6
+    #else
+        #define RIGHT_HALL_U_PIN GPIO_PIN_5
+        #define RIGHT_HALL_V_PIN GPIO_PIN_6
+        #define RIGHT_HALL_W_PIN GPIO_PIN_7
+    #endif
 
     #define RIGHT_HALL_U_PORT GPIOB
     #define RIGHT_HALL_V_PORT GPIOB
diff --git a/main.cpp b/main.cpp
index 26b3724..e0c26cc 100644
--- a/main.cpp
+++ b/main.cpp
@@ -516,7 +516,7 @@ void updateMotors()
     /* Make sure to stop BOTH motors in case of an error */
 
     constexpr bool ignoreOtherMotor =
-#ifdef FEATURE_IGNORE_OTHER_MOTOR
+#ifndef FEATURE_IGNORE_OTHER_MOTOR
         false
 #else
         true
@@ -1390,8 +1390,8 @@ void doMotorTest()
 
     left.enable = true;
     left.rtU.r_inpTgt            = pwm;
-    left.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
-    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Speed);
+    left.rtP.z_ctrlTypSel        = uint8_t(ControlType::Sinusoidal);
+    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Voltage);
     left.rtP.i_max               = (2 * A2BIT_CONV) << 4;
     left.iDcMax                  = 4;
     left.rtP.n_max               = 1000 << 4;
@@ -1399,9 +1399,9 @@ void doMotorTest()
     left.rtP.a_phaAdvMax         = 40 << 4;
 
     right.enable = true;
-    right.rtU.r_inpTgt           = pwm;
-    right.rtP.z_ctrlTypSel       = uint8_t(ControlType::FieldOrientedControl);
-    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Speed);
+    right.rtU.r_inpTgt           = -pwm;
+    right.rtP.z_ctrlTypSel       = uint8_t(ControlType::Sinusoidal);
+    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Voltage);
     right.rtP.i_max              = (2 * A2BIT_CONV) << 4;
     right.iDcMax                 = 4;
     right.rtP.n_max              = 1000 << 4;
@@ -1418,6 +1418,24 @@ void doMotorTest()
         pwm = -pwmMax;
         dir = 1;
     }
+
+    if(left.rtY.z_errCode != 0 || right.rtY.z_errCode != 0) {
+        if(left.rtY.z_errCode == 0 && right.rtY.z_errCode != 0) { //rechts
+            buzzer.freq = 1;
+            buzzer.pattern = 1;
+        }
+        if(right.rtY.z_errCode == 0 && left.rtY.z_errCode != 0) { //links
+            buzzer.freq = 3;
+            buzzer.pattern = 3;
+        }
+        if(right.rtY.z_errCode != 0 && left.rtY.z_errCode != 0) { //beide
+            buzzer.freq = 5;
+            buzzer.pattern = 5;
+        }
+    } else {
+        buzzer.freq = 0;
+        buzzer.pattern = 0;
+    }
 }
 #endif