diff --git a/ADIS_Csharp/RaspiControl/Application.cs b/ADIS_Csharp/RaspiControl/Application.cs
index dd15244..e835dd8 100644
--- a/ADIS_Csharp/RaspiControl/Application.cs
+++ b/ADIS_Csharp/RaspiControl/Application.cs
@@ -32,7 +32,7 @@ namespace RaspiControl {
 
         public void Status_StatusChanged(object? sender, StatusEventArgs e) {
             try {
-                if(e.Status == RoboStatus.Manual) {
+                if (e.Status == RoboStatus.Manual) {
                     this.sm.MoveNext(Command.manualMode);
                     this.smHandler();
                 }
@@ -40,11 +40,11 @@ namespace RaspiControl {
                     this.sm.MoveNext(Command.autoMode);
                     this.smHandler();
                 }
-                if(e.Status == RoboStatus.Final) {
+                if (e.Status == RoboStatus.Final) {
                     this.sm.MoveNext(Command.finished);
                     this.smHandler();
                 }
-                if(e.Status == RoboStatus.Failure) {
+                if (e.Status == RoboStatus.Failure) {
                     this.sm.MoveNext(Command.failure);
                     this.smHandler();
                 }
@@ -53,11 +53,12 @@ namespace RaspiControl {
             }
         }
 
-        public void Status_PresentChanged(object? sender, PresentEventArgs e) { 
-            if(this.sm.CurrentState == ProcessState.Auto) {
-                this.PresentCounter++;
-                this.challenge.RobotStationary.SplitFlap.Display(this.PresentCounter.ToString().PadLeft(4,'0'));
-            }
+        public void Status_PresentChanged(object? sender, PresentEventArgs e) {
+            //if(this.sm.CurrentState == ProcessState.Auto) {
+            this.challenge.RobotStationary.SplitFlap.Display(e.Present.ToString().PadLeft(4, '0'));
+            log.Debug(e.Present.ToString());
+            log.Debug(e.Present.ToString().PadLeft(4, '0'));
+            //}
         }
 
         public void Run() {
@@ -141,7 +142,7 @@ namespace RaspiControl {
                     this.PresentCounter = 0;
                     this.stopwatch.Stop();
                     long elapsedTime = stopwatch.ElapsedMilliseconds / 1000;
-                    this.challenge.RobotStationary.SplitFlap.Display(elapsedTime.ToString().PadLeft(4,'0'));
+                    this.challenge.RobotStationary.SplitFlap.Display($"{elapsedTime.ToString().PadLeft(3, '0')}S");
                     break;
                 case ProcessState.Error:
                     //this.PresentCounter = 0;
@@ -170,7 +171,7 @@ namespace RaspiControl {
                         this.sm.MoveNext(Command.JoystickCenter);
                         break;
                 }
-                if(e.Button != JoystickButton.None) {
+                if (e.Button != JoystickButton.None) {
                     this.smHandler();
                 }
             } catch (Exception ex) {
diff --git a/ADIS_Csharp/RaspiControl/NavigationConstants.cs b/ADIS_Csharp/RaspiControl/NavigationConstants.cs
index 0a1d671..7f774d6 100644
--- a/ADIS_Csharp/RaspiControl/NavigationConstants.cs
+++ b/ADIS_Csharp/RaspiControl/NavigationConstants.cs
@@ -1,9 +1,9 @@
 namespace RaspiControl {
     public static class NavigationConstants {
-        public const int TURN_ANGLE_LEFT = -10;
-        public const int TURN_ANGLE_RIGHT = 10;
-        public const int SPEED_FORWARD = 100;
-        public const int SPEED_BACKWARD = -100;
+        public const int TURN_ANGLE_LEFT = -15;
+        public const int TURN_ANGLE_RIGHT = 15;
+        public const int SPEED_FORWARD = 350;
+        public const int SPEED_BACKWARD = -350;
         public const bool STOP = true;
     }
 }
diff --git a/ADIS_Csharp/RaspiControl/RaspiControl.csproj b/ADIS_Csharp/RaspiControl/RaspiControl.csproj
index 4ebbd9f..d41197f 100644
--- a/ADIS_Csharp/RaspiControl/RaspiControl.csproj
+++ b/ADIS_Csharp/RaspiControl/RaspiControl.csproj
@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <Target Name="PostBuild" AfterTargets="PostBuildEvent">
-    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-home:ADIS/$(ProjectName)" />
+    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-hslu:ADIS/$(ProjectName)" />
   </Target>
 
   <ItemGroup>
diff --git a/ADIS_Csharp/RaspiControl/StateMachine.cs b/ADIS_Csharp/RaspiControl/StateMachine.cs
index b842125..822ec89 100644
--- a/ADIS_Csharp/RaspiControl/StateMachine.cs
+++ b/ADIS_Csharp/RaspiControl/StateMachine.cs
@@ -94,22 +94,19 @@ namespace RaspiControl {
                     {new StateTransition(ProcessState.MoveManual, Command.JoystickRight), ProcessState.MoveManualR },
                     {new StateTransition(ProcessState.MoveManual, Command.JoystickCenter), ProcessState.StopManual },
                     {new StateTransition(ProcessState.MoveManual, Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.MoveManual, Command.finished), ProcessState.Final },
 
                     {new StateTransition(ProcessState.StopManual,Command.JoystickUp), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickDown), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickLeft), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickRight), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual, Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.StopManual, Command.finished), ProcessState.Final },
 
                     {new StateTransition(ProcessState.ResumeMoveManual, Command.none),ProcessState.MoveManual },
                     {new StateTransition(ProcessState.ResumeMoveManual, Command.autoMode), ProcessState.Auto },
 
                     {new StateTransition(ProcessState.Auto, Command.finished), ProcessState.Final },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickUp), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickDown), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickLeft), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickRight), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickCenter), ProcessState.StartMoveManual },
                     {new StateTransition(ProcessState.Auto, Command.failure), ProcessState.Error },
                     {new StateTransition(ProcessState.Auto, Command.manualMode), ProcessState.ResumeMoveManual },