diff --git a/bluedot_server/dotserver.py b/bluedot_server/dotserver.py
index a32461da89679424fd10c88d68b3ef38a8943449..4156399b818591b200bff88ea52f9c4d9194a2c0 100644
--- a/bluedot_server/dotserver.py
+++ b/bluedot_server/dotserver.py
@@ -93,7 +93,7 @@ data1_ids={"lbrushcw":0,"lbrushccw":1,"none":2,"none":3,"rbrushcw":4,"rbrushccw"
 #extra out:
 #          24V DC                              42V AC  
 data2_ids={"col1":0,"col2":1,"col3":2,"col4":3,"blower":4,"none":5,"none":6,"none":7}
-#          5V DC                                               #special for reset line
+#          5V DC                                               #special for mock reset line
 data3_ids={"ampel_fwd":0,"ampel_bwd":1,"ampel_stop":2,"none":3,"reset":4, "none":5,"none":6,"none":7}
 
 #master_in:
@@ -144,7 +144,7 @@ last_position=0
 target_position=0
 position_reached=False
 
-maxposition=4      #number of screws triggering position sensor
+maxposition=3      #number of screws triggering position sensor
 
 motion_block=0
 
@@ -423,6 +423,8 @@ def apply_motion_block():
     global data1
     global data2
 
+    global auto
+
     global homed
     global homing
     global position
@@ -438,7 +440,7 @@ def apply_motion_block():
         actual_track_speed = 0
         target_track_speed= 0
         last_track_speed=0
-
+        auto=False
         
 
     if (motion_block & (1<<data0_ids["bwd"]) !=0):
@@ -447,13 +449,15 @@ def apply_motion_block():
         actual_track_speed = 0
         target_track_speed= 0
         last_track_speed=0
+        
 
         if homing:
             homing=False
             homed=True
             position=0
-            position_reached=true
-
+            position_reached=True
+        else:
+            auto=False
 
     if (motion_block & (1<<data0_ids["LL"]) !=0):
         print("stop LL")
@@ -695,6 +699,8 @@ def sectimerevent():
     global target_position
     global position_reached
     global target_track_speed
+    global target_left_speed
+    global target_right_speed
 
     global data3
     global isresetpressed
@@ -707,24 +713,52 @@ def sectimerevent():
         print("position_reached")
 
         if auto_stop_requested:
+            print("stopping auto now")
             auto=False
             auto_stop_requested=False
+            target_left_speed=0
+            target_right_speed=0
+            target_track_speed=0
+
         else:
             if homed:
                 
-                new_t=random.randint(1,maxposition+1)
+                new_t=random.randint(1,maxposition)
                 while new_t==target_position:
-                    new_t=random.randint(1,maxposition+1)
+                    new_t=random.randint(0,maxposition)
                     
                 print("new target: ",new_t)
                 
-                #target_position=new_t
-                #position_reached=False
-                #if target_position<position:
-                #    target_track_speed=-20
-                #else:
-                #    target_track_speed=20    
-
+                target_position=new_t
+                position_reached=False
+                if target_position<position:
+                    target_track_speed=-20
+                else:
+                    target_track_speed=20    
+
+                brush_active_L=random.randint(0,1)
+                if brush_active_L==0:
+                    newleft=0
+                    print("newleftspeed:",newleft)
+                    target_left_speed=newleft
+                else:
+                    newleft=random.randint(-100,100)
+                    while abs(newleft)<50:
+                        newleft=random.randint(-100,100)
+                    print("newleftspeed:",newleft)
+                    target_left_speed=newleft
+
+                brush_active_R=random.randint(0,1)
+                if brush_active_R==0:
+                    newright=0
+                    print("newrightspeed:",newright)
+                    target_right_speed=newright
+                else:
+                    newright=random.randint(-100,100)
+                    while abs(newright)<70:
+                        newright=random.randint(-100,100)
+                    print("newrightspeed:",newright)
+                    target_right_speed=newright
 
     return
 
@@ -885,6 +919,7 @@ def pressed(pos,id):
     global nextpumptarget
 
     global stoprequested
+    global auto_stop_requested
     
     global leftpressedts
     global rightpressedts
@@ -920,6 +955,7 @@ def pressed(pos,id):
         
         if auto:
             auto_stop_requested=True
+            print("auto stop requested")
         else:
             auto=True
             home()
@@ -933,11 +969,11 @@ def pressed(pos,id):
         stoprequested=True
 
     elif id=="fwd":
-        if (power and (motion_block & (1<<data0_ids["fwd"]) ==0)):
+        if ((not auto) and power and (motion_block & (1<<data0_ids["fwd"]) ==0)):
             target_track_speed=30
 
     elif id=="bwd":
-        if (power and (motion_block & (1<<data0_ids["bwd"]) ==0)):
+        if ((not auto) and power and (motion_block & (1<<data0_ids["bwd"]) ==0)):
             target_track_speed=-30