diff --git a/platformio.ini b/platformio.ini
index b66e632..e78e5b7 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -16,7 +16,7 @@ build_flags = -DLOG_LOCAL_LEVEL=ESP_LOG_DEBUG
 
 src_filter = +<remote.cpp>
 
-monitor_baud = 115200
+monitor_speed = 115200
 upload_speed = 921600
   
 
@@ -27,7 +27,7 @@ framework = arduino
 
 src_filter = +<receiver.cpp>
 
-monitor_baud = 115200
+monitor_speed = 115200
 ; upload_speed = 921600
 
 lib_deps =
diff --git a/src/lights.h b/src/lights.h
index 35cf345..2c33974 100644
--- a/src/lights.h
+++ b/src/lights.h
@@ -3,6 +3,7 @@
 #define NUM_LEDS 40
 #define PIN_STRIP 17
 bool shouldUpdateLights = false;
+int lightMode = 0;
 
 Adafruit_NeoPixel pixels = Adafruit_NeoPixel(NUM_LEDS, PIN_STRIP, NEO_GRB + NEO_KHZ800);
 
@@ -24,10 +25,33 @@ void lightWhite() {
   portENABLE_INTERRUPTS();
 }
 
-void lightBackFront() {
-  // Implement me :-)
+void lightPolice() {
+  // Temporary mode to test
   for(int i = 0; i < NUM_LEDS; i++) {
-    pixels.setPixelColor(i, pixels.Color(180,180,180));
+    pixels.setPixelColor(i, pixels.Color(0,0,180));
+  }
+
+  portDISABLE_INTERRUPTS();
+  pixels.show();
+  portENABLE_INTERRUPTS();
+}
+
+void lightBlinkers(bool isLeft) {
+  // Temporary mode to test
+  for(int i = 0; i < NUM_LEDS; i++) {
+    if(i<10 && isLeft) pixels.setPixelColor(i, pixels.Color(180,180,0));
+    else if(i>30 && !isLeft) pixels.setPixelColor(i, pixels.Color(180,180,0));
+    else pixels.setPixelColor(i, pixels.Color(180,180,180));
+  }
+  portDISABLE_INTERRUPTS();
+  pixels.show();
+  portENABLE_INTERRUPTS();
+}
+
+void lightBackFront() {
+  for(int i = 0; i < NUM_LEDS; i++) {
+    if(i<5 || i>34) pixels.setPixelColor(i, pixels.Color(190,0,0));
+    else pixels.setPixelColor(i, pixels.Color(180,180,180));
   }
   portDISABLE_INTERRUPTS();
   pixels.show();
@@ -36,7 +60,20 @@ void lightBackFront() {
 
 void updateLights() {
   if(lightActive) {
-    lightWhite();
+    switch(lightMode) {
+    case 0:
+      lightBackFront();
+      break;
+    case 1:
+      lightBlinkers(true); // left
+      break;
+    case 2:
+      lightBlinkers(false); // right
+      break;
+    case 3:
+      lightPolice();
+      break;
+    }
   }else {
     lightOff();
   }
diff --git a/src/mac_config.h b/src/mac_config.h
index f0ab08a..42c6ac0 100644
--- a/src/mac_config.h
+++ b/src/mac_config.h
@@ -4,4 +4,4 @@
 uint8_t mac_receiver[] = {0xB4, 0xE6, 0x2D, 0x8C, 0x34, 0xAE};
 
 // remote macStr
-uint8_t mac_remote[] = {0x24, 0x0a, 0xc4, 0x82, 0x51, 0x70};
+uint8_t mac_remote[] = {0xB4, 0xE6, 0x2D, 0x8C, 0x38, 0x79};
diff --git a/src/receiver.cpp b/src/receiver.cpp
index 794005c..55f27f2 100644
--- a/src/receiver.cpp
+++ b/src/receiver.cpp
@@ -62,15 +62,14 @@ bool lightActive = false;
 int fanMode = FANS_AUTO;
 
 #include "lights.h"
-
 void setBoardOptions(uint8_t options) {
-  Serial.print("opt: ");
-  Serial.println(options, BIN);
-  if(lightActive != options & 1) {
-    lightActive = options & 1;
+  if(lightActive != (options >> 4) & 1) {
+    lightActive = (options >> 4) & 1;
     shouldUpdateLights = true;
   }
 
+  lightMode = options & 3;
+
   fanMode = (options >> 2) & 3;
 }
 
@@ -312,6 +311,7 @@ void setup() {
     Serial.println("ESPNow Init Failed");
     ESP.restart();
   }
+  esp_now_set_self_role(ESP_NOW_ROLE_COMBO);
 
   // Once ESPNow is successfully Init, we will register for recv CB to
   // get recv packer info.
diff --git a/src/remote.cpp b/src/remote.cpp
index 9f53f04..f18e87f 100644
--- a/src/remote.cpp
+++ b/src/remote.cpp
@@ -74,28 +74,26 @@ uint8_t esc2 = 127;
 
 byte hallCenterMargin = 5;
 
-const float minVoltage = 2.9; // These values are heavily strange since the devider is not working nicely yet...
-const float maxVoltage = 3.6;
+const float minVoltage = 3.4;
+const float maxVoltage = 4.2;
 const float refVoltage = 3.3;
 // Resistors in Ohms
-const float deviderR1 = 1500;
-const float deviderR2 = 22000;
+const float deviderR1 = 22000;
+const float deviderR2 = 11200;
 
 // Global copy of board
 esp_now_peer_info_t board;
 #define CHANNEL 1
 #define PRINTSCANRESULTS 0
 #define DELETEBEFOREPAIR 0
-#define HAL_MIN 1390
-#define HAL_MAX 2230
-#define HAL_CENTER 1880
-#define TRIM_LOW 180
-#define TRIM_HIGH 0
+#define HAL_MIN 1390 // defaults
+#define HAL_MAX 2230 // defaults
+#define HAL_CENTER 1880 // defaults
 
 //#define pairingMode
 #define leverPin 36
 #define triggerPin 17
-#define batteryMeasurePin 38
+#define batteryMeasurePin 39
 
 bool triggerActive();
 
@@ -113,6 +111,16 @@ void setCrusing(uint8_t speed) {
 }
 // ESPNOW functions ##############################
 // Scan for boards in AP mode
+// config AP
+void configDeviceAP(bool hidden) {
+  bool result = WiFi.softAP("ESK8", "ESK8_Password+vD8z2YAvoDBW?Zx", CHANNEL, hidden);
+  if (!result) {
+    Serial.println("AP Config failed.");
+  } else {
+    Serial.println("AP Config Success. Broadcasting with AP: " + String("ESK8"));
+  }
+}
+
 
 #ifdef pairingMode
 void ScanForBoard() {
@@ -158,6 +166,7 @@ void ScanForBoard() {
 
         board.channel = CHANNEL; // pick a channel
         board.encrypt = 0; // no encryption
+        board.ifidx = ESP_IF_WIFI_STA;
 
         boardFound = 1;
         // we are planning to have only one board in this example;
@@ -180,6 +189,7 @@ void ScanForBoard() {
 
 void deletePeer() {
   const esp_now_peer_info_t *peer = &board;
+
   const uint8_t *peer_addr = board.peer_addr;
   esp_err_t delStatus = esp_now_del_peer(peer_addr);
   DEBUG_PRINT("board Delete Status: ");
@@ -272,8 +282,11 @@ void sendData() {
     DEBUG_PRINTLN("ESP_ERR_ESPNOW_NO_MEM");
   } else if (result == ESP_ERR_ESPNOW_NOT_FOUND) {
     DEBUG_PRINTLN("Peer not found.");
+  } else if (result ==  ESP_ERR_ESPNOW_IF) {
+    DEBUG_PRINTLN("Interface error.");
   } else {
-    DEBUG_PRINTLN("Not sure what happened");
+    DEBUG_PRINT("Not sure what happened ");
+    DEBUG_PRINTLN(result);
   }
 }
 
@@ -340,10 +353,10 @@ void calculateThrottlePosition() {
   int maxSpeed = 255;
   if(settings[limitMode] == 1) maxSpeed = 180;
 
-  if (hallMeasurement >= HAL_CENTER) {
-    throttle = c_map(hallMeasurement, HAL_CENTER, HAL_MAX, 127, maxSpeed);
+  if (hallMeasurement >= settings[centerHallValue]) {
+    throttle = c_map(hallMeasurement, settings[centerHallValue], settings[maxHallValue], 127, maxSpeed);
   } else {
-    throttle = c_map(hallMeasurement, HAL_MIN, HAL_CENTER, 0, 127);
+    throttle = c_map(hallMeasurement, settings[minHallValue], settings[centerHallValue], 0, 127);
   }
   // removeing center noise
   if (abs(throttle - 127) < hallCenterMargin) {
@@ -647,25 +660,29 @@ void drawPage() {
 }
 
 void controlSelect() {
-  if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
+  if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
     // Up
     if (selectedIndex != 0) {
       selectedIndex--;
       settingsLoopFlag = true;
     }
-  } else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue]
+  } else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false) {
     // Down
     if (selectedIndex < 4) {
       selectedIndex++;
       settingsLoopFlag = true;
     }
-  } else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue]
+  } else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50)) { // settings[centerHallValue]
     settingsLoopFlag = false;
   }
 }
 
-String selectionItems[5]  = {
-  "Se","Li","B","St","Cr"
+String selectionTitles[5]  = {
+  "Settings","Limit","Light","Steering","Cruise"
+};
+
+uint16_t selectionGlyphs[5]  = {
+  0x0081, 0x008d, 0x0103, 0x00f6, 0x0088
 };
 
 void drawSelectionMenu() {
@@ -676,21 +693,25 @@ void drawSelectionMenu() {
   u8g2.setFontMode(0);
   u8g2.setDrawColor(1);
 
-  String title = "Select Action";
-  title.toCharArray(displayBuffer, 20);
-  u8g2.setFont(u8g2_font_helvR10_tr  );
-  u8g2.drawStr(20, 12, displayBuffer);
-
   for(int i = 0; i < 5; i++) {
     if(selectedIndex == i) {
+      String title = selectionTitles[i];
+      title.toCharArray(displayBuffer, 20);
+      u8g2.setFont(u8g2_font_helvR10_tr  );
+      u8g2.drawStr(30, 12, displayBuffer);
+
       u8g2.setFontMode(0);
-      u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15);
+      //u8g2.drawBox(xStart-2 + xSpace * i, y-12, 15, 15);
+      u8g2.drawBox(xStart + xSpace * i, y-12, 15, 15);
       u8g2.setDrawColor(0);
     }
 
-    selectionItems[i].toCharArray(displayBuffer, 10);
-    u8g2.setFont(u8g2_font_profont12_tr);
-    u8g2.drawStr(xStart + xSpace * i, y, displayBuffer);
+    //selectionItems[i].toCharArray(displayBuffer, 10);
+    //u8g2.setFont(u8g2_font_profont12_tr);
+    //u8g2.drawStr(xStart + xSpace * i, y, displayBuffer);
+
+    u8g2.setFont(u8g2_font_open_iconic_all_2x_t);
+    u8g2.drawGlyph(xStart + xSpace * i, y, selectionGlyphs[i]);
 
     u8g2.setFontMode(0);
     u8g2.setDrawColor(1);
@@ -776,7 +797,11 @@ void drawStartScreen() {
 void setup() {
   Serial.begin(115200);
   //Set device in STA mode to begin with
-  WiFi.mode(WIFI_STA);
+  //WiFi.mode(WIFI_STA);
+  //Set device in AP mode to begin with
+  WiFi.mode(WIFI_AP_STA);
+  // configure device AP mode
+  configDeviceAP(true);
   DEBUG_PRINTLN("ESPNowSkate");
 
   loadSettings();
@@ -787,8 +812,6 @@ void setup() {
   delay(50);
   digitalWrite(16, HIGH);
 
-  analogSetPinAttenuation(batteryMeasurePin, ADC_6db);
-
   // setup other pins
   pinMode(triggerPin, INPUT_PULLUP);
 
@@ -813,8 +836,8 @@ void setup() {
   }
 
   // This is the mac address of the Master in Station Mode
-  DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress());
 
+  DEBUG_PRINT("STA MAC: "); DEBUG_PRINTLN(WiFi.macAddress());
   if (esp_now_init() == ESP_OK) {
     DEBUG_PRINTLN("ESPNow Init Success");
   }
@@ -839,18 +862,27 @@ void setup() {
   }
   board.channel = CHANNEL; // pick a channel
   board.encrypt = 0; // no encryption
+  //board.ifidx = ESP_IF_WIFI_STA;
+
 }
 
 void loop() {
   updateMainDisplay();
 
-  if(currentMode == M_STEERING) readAccel();
+  //if(currentMode == M_STEERING) readAccel();
+  readAccel();
+  DEBUG_PRINT("Accel Value Left Right (Y): ");
+  DEBUG_PRINT(map(AcY, -15000, 15000, -100, 100));
+  //Serial.print("Help(Y): ");
+  //Serial.println(map(GyY, -15000, 15000, -100, 100));
 
-  Serial.print("Accel Value Left Right( Y): ");
-  Serial.print(map(AcY, -15000, 15000, -100, 100));
-  Serial.print("Help(Y): ");
-  Serial.println(map(GyY, -15000, 15000, -100, 100));
+  DEBUG_PRINT(" (X): ");
+  DEBUG_PRINT(map(AcX, -15000, 15000, -100, 100));
 
+  DEBUG_PRINT(" (Z): ");
+  DEBUG_PRINTLN(map(AcZ, -15000, 15000, -100, 100));
+
+  // left rigt : Z forward Back : Y
   calculateThrottlePosition();
 
   if (currentMode == M_SELECT) {
@@ -865,7 +897,7 @@ void loop() {
     if (triggerActive()) {
       if(currentMode == M_STEERING) {
         DEBUG_PRINT("Value: ");
-        int map = c_map(AcX, 15000, -15000, -60, 60);
+        int map = c_map(AcZ, -15000, 15000, -60, 60);
         DEBUG_PRINTLN(map);
 
 #ifdef steeringInfluential
@@ -878,6 +910,12 @@ void loop() {
           esc1 = throttle;
           esc2 = throttle;
         }
+
+        // ignore reverse
+        if(throttle < 127) {
+          esc1 = throttle;
+          esc2 = throttle;
+        }
 #endif
         if(throttle == 127) {
           esc1 = 127;
diff --git a/src/rpm.h b/src/rpm.h
index 6a218b6..501078f 100644
--- a/src/rpm.h
+++ b/src/rpm.h
@@ -15,8 +15,8 @@
 #include "driver/pcnt.h"
 
 TaskHandle_t rpmTaskHandle;
-int rpmRight = 0;
-int rpmLeft = 0;
+float rpmRight = 0;
+float rpmLeft = 0;
 
 int lastState[2] = {1, 1};
 int16_t counter[2] = {0, 0};
@@ -123,7 +123,7 @@ void measureRpm(void * parameter) {
       rpmRight = (counter[0]/pulsesPerRotation)*4;
       rpmLeft = (counter[1]/pulsesPerRotation)*4;
       kmh = (wheelCircumference/100) * (rpmRight+rpmLeft)/2 * 3600/1000;
-      Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]);
+      //Serial.print(kmh); Serial.print(" "); Serial.println(direction[0]);
       sendSpeed = abs(floor(kmh));
       sendSpeedDecimals = (kmh - sendSpeed) * 100;
       counter[true] = 0;
diff --git a/src/settings.h b/src/settings.h
index 464b61d..a88396a 100644
--- a/src/settings.h
+++ b/src/settings.h
@@ -1,18 +1,19 @@
 uint8_t currentSetting = 0;
-#define SETTINGS_COUNT 7
+#define SETTINGS_COUNT 8
 
 #define pageDisplay 0
 #define limitMode 1
 #define fanOveride 2
 #define wheelDiameter 3 // Speed factor
-#define minHallValue 4
-#define centerHallValue 5
-#define maxHallValue 6
+#define lightMode 4
+#define minHallValue 5
+#define centerHallValue 6
+#define maxHallValue 7
 
 int settings[SETTINGS_COUNT];
 
 uint8_t boardOptions = 0b00000000;
-// Map:(Light, Fan)      XXXXFFLL
+// Map:(LightActive, Fan, LightMode)      XXXAFFLL
 /*
    float gearRatio;
    float ratioRpmSpeed;
@@ -31,6 +32,7 @@ const char *settingPages[SETTINGS_COUNT] = {
   "LimitMode",
   "FanOveride",
   "Wheel diameter",
+  "Light Mode",
   "Throttle Min",
   "Throttle Center",
   "Throttle Max"
@@ -42,9 +44,10 @@ int settingRules[SETTINGS_COUNT][3] {
   {0, 0, 1}, //limit default is no limit
   {0, 0, 2},   //fan 0 no, 1 on, 2 off
   {83, 0, 250}, // wheel mm
-  {HAL_MIN, 1000, 2000},
-  {HAL_CENTER, 1000, 2000},
-  {HAL_MAX, 1000, 2000}
+  {0, 0, 3}, // LightMode
+  {HAL_MIN, 1000, 3000},
+  {HAL_CENTER, 1000, 3000},
+  {HAL_MAX, 1000, 3000}
 };
 /*
    const char *settingAliases[SETTINGS_COUNT] = {
@@ -66,8 +69,10 @@ bool inRange(int val, int minimum, int maximum) {
 void updateBoardOptions() {
   boardOptions = 0;
   boardOptions |= (uint8_t) settings[fanOveride] << 2;
-  boardOptions |= boardOptions | (uint8_t) lightActive;
-  Serial.print("board: "); Serial.println(boardOptions);
+
+  boardOptions |= boardOptions | (uint8_t) lightActive << 3;
+  boardOptions |= boardOptions | (uint8_t) settings[lightMode];
+  DEBUG_PRINT("board: "); DEBUG_PRINTLN(boardOptions);
 }
 
 void updateSettings() {
@@ -188,7 +193,7 @@ void controlSettingsMenu() {
     settingsChangeFlag = false;
   }
 
-  if (hallMeasurement >= (HAL_MAX - 250) && settingsLoopFlag == false) { //settings[maxHallValue]
+  if (hallMeasurement >= (settings[maxHallValue] - 250) && settingsLoopFlag == false) {
     // Up
     if (changeSelectedSetting == true) {
       int val = settings[currentSetting] - 1;
@@ -204,7 +209,7 @@ void controlSettingsMenu() {
         settingsLoopFlag = true;
       }
     }
-  } else if (hallMeasurement <= (HAL_MIN + 250) && settingsLoopFlag == false) { //settings[minHallValue]
+  } else if (hallMeasurement <= (settings[minHallValue] + 250) && settingsLoopFlag == false) {
     // Down
     if (changeSelectedSetting == true) {
       int val = settings[currentSetting] + 1;
@@ -219,7 +224,7 @@ void controlSettingsMenu() {
         settingsLoopFlag = true;
       }
     }
-  } else if (inRange(hallMeasurement, HAL_CENTER - 50, HAL_CENTER + 50)) { // settings[centerHallValue]
+  } else if (inRange(hallMeasurement, settings[centerHallValue] - 50, settings[centerHallValue] + 50)) {
     settingsLoopFlag = false;
   }
 }