First running Version

All Features functional.

Known Bugs:
Motorstart is sometimes a bit harsh - PID controller for Speed, Current and PID Sampletime have to be optimiced or method reworked

PS3 - Mode 3 Speeddivider not functional for no reason

Ultrasonic modul interference bewteen moduls cann cause early stoppage - filtering oder method have to be retought, randomincing the trigger for the moduls to lower intference improved situation a lot