diff --git a/ExoMy_Software-master/config/exomy.remote.yaml b/ExoMy_Software-master/config/exomy.remote.yaml
new file mode 100644
index 0000000..b55b6f1
--- /dev/null
+++ b/ExoMy_Software-master/config/exomy.remote.yaml
@@ -0,0 +1,55 @@
+# Naming conventions:
+#
+# fl - front left  | fr - front right
+# cl - center left | cr - center right
+# rl - rear left   | rr - rear right
+
+# Pin numbers for motors on PWM board
+pin_drive_fl: 9
+pin_steer_fl: 11
+
+pin_drive_fr: 0
+pin_steer_fr: 2
+
+pin_drive_cl: 8
+pin_steer_cl: 10
+
+pin_drive_cr: 1
+pin_steer_cr: 3
+
+pin_drive_rl: 7
+pin_steer_rl: 4
+
+pin_drive_rr: 6
+pin_steer_rr: 5
+
+## PWM values
+# Those values highly depend on the motors and pwm board used
+# Check out the wiki for further explanation
+
+# PWM values for the neutral steering position
+steer_pwm_neutral_fl: 295
+steer_pwm_neutral_fr: 295
+steer_pwm_neutral_cl: 295
+steer_pwm_neutral_cr: 295
+steer_pwm_neutral_rl: 295
+steer_pwm_neutral_rr: 295
+
+# PWW range around steering neutral position
+steer_pwm_range: 250
+
+# PWM value for the stop position of driving motors
+drive_pwm_neutral: 307
+
+# PWW range around driving neutral position
+drive_pwm_range: 100
+
+# Steering direction correction for crabbing mode only
+#  1 keeps the calculated steering angle
+# -1 inverts it for the respective wheel
+crab_steer_direction_fl: 1
+crab_steer_direction_fr: 1
+crab_steer_direction_cl: 1
+crab_steer_direction_cr: 1
+crab_steer_direction_rl: 1
+crab_steer_direction_rr: 1
diff --git a/ExoMy_Software-master/gui/admin-motor-test.html b/ExoMy_Software-master/gui/admin-motor-test.html
new file mode 100644
index 0000000..908f903
--- /dev/null
+++ b/ExoMy_Software-master/gui/admin-motor-test.html
@@ -0,0 +1,752 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, viewport-fit=cover" />
+  <title>CUNO Motorentest</title>
+  <link rel="stylesheet" type="text/css" href="style.css">
+</head>
+
+<body class="admin-page">
+  <main>
+    <div class="admin_shell">
+      <section class="panel admin_panel admin_motor_panel">
+        <div class="panel_header">
+          <div class="pilot_brand">
+            <a class="pilot_logo_link" href="./admin.html" aria-label="Zurück zum Adminbereich">
+              <img class="pilot_logo" src="./Logo_Cuno.png" alt="CUNO Logo" />
+            </a>
+            <div>
+              <p class="eyebrow">Admin</p>
+              <h1>Motorentest</h1>
+            </div>
+          </div>
+          <p id="motor_test_status" class="status_badge">Bereit</p>
+        </div>
+
+        <p class="admin_copy">
+          Stoppe zuerst den ExoMy-Container. Erst wenn der Status unten eindeutig auf gestoppt steht, solltest du Motoren testen oder die Servo-Mitten ausrichten.
+        </p>
+
+        <div class="admin_content admin_motor_content">
+          <div class="admin_section">
+            <div class="admin_section_header">
+              <p class="eyebrow">Testmodus</p>
+            </div>
+
+            <div class="motor_test_status_card">
+              <div class="motor_test_status_row">
+                <span class="info_label">Container</span>
+                <strong id="container_name">exomy_autostart</strong>
+              </div>
+              <div class="motor_test_status_row">
+                <span class="info_label">Status</span>
+                <strong id="container_state" class="service_state state_unknown">-</strong>
+              </div>
+              <div class="motor_test_status_row">
+                <span class="info_label">Sicher testen</span>
+                <strong id="container_safe_state">-</strong>
+              </div>
+            </div>
+
+            <div class="motor_test_control_grid">
+              <button class="button buttonDanger" onclick="setContainerState('stop')">Container stoppen</button>
+              <button class="button buttonA" onclick="setContainerState('start')">Container starten</button>
+            </div>
+          </div>
+
+          <div class="motor_test_tabs" role="tablist" aria-label="Motorentest Bereiche">
+            <button id="tab_button_impulse" class="motor_test_tab_button is_active" role="tab" aria-selected="true" onclick="switchMotorTestTab('impulse')">Impulstest</button>
+            <button id="tab_button_neutral" class="motor_test_tab_button" role="tab" aria-selected="false" onclick="switchMotorTestTab('neutral')">Servo-Mitte</button>
+            <button id="tab_button_drive_neutral" class="motor_test_tab_button" role="tab" aria-selected="false" onclick="switchMotorTestTab('drive-neutral')">Fahr-Null</button>
+          </div>
+
+          <section id="tab_panel_impulse" class="motor_test_tab_panel is_active" role="tabpanel">
+            <div class="motor_test_layout_row">
+              <div class="admin_section motor_test_box">
+                <div class="admin_section_header">
+                  <p class="eyebrow">Rad auswählen</p>
+                </div>
+
+                <div class="wheel_selector" role="radiogroup" aria-label="Rad auswählen">
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="fl" checked>
+                    <span>Vorne links</span>
+                  </label>
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="fr">
+                    <span>Vorne rechts</span>
+                  </label>
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="cl">
+                    <span>Mitte links</span>
+                  </label>
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="cr">
+                    <span>Mitte rechts</span>
+                  </label>
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="rl">
+                    <span>Hinten links</span>
+                  </label>
+                  <label class="wheel_option">
+                    <input type="radio" name="wheel" value="rr">
+                    <span>Hinten rechts</span>
+                  </label>
+                </div>
+              </div>
+
+              <div class="admin_section motor_test_box">
+                <div class="admin_section_header">
+                  <p class="eyebrow">Impulstest</p>
+                </div>
+
+                <div class="motor_test_grid">
+                  <button class="button buttonX" onclick="runMotorTest('steer_left')">Lenkung links</button>
+                  <button class="button buttonX" onclick="runMotorTest('steer_right')">Lenkung rechts</button>
+                  <button class="button buttonA" onclick="runMotorTest('drive_forward')">Vorwärts</button>
+                  <button class="button buttonDanger" onclick="runMotorTest('drive_backward')">Rückwärts</button>
+                </div>
+              </div>
+            </div>
+          </section>
+
+          <section id="tab_panel_neutral" class="motor_test_tab_panel" role="tabpanel" hidden>
+            <div class="admin_section motor_test_neutral_box">
+              <div class="admin_section_header">
+                <p class="eyebrow">Servo-Mitte ausrichten</p>
+              </div>
+
+              <p class="admin_copy motor_test_neutral_copy">
+                Mit `-` und `+` wird die aktuelle Mittelstellung direkt am jeweiligen Lenkservo angefahren. `Speichern` schreibt alle Werte dauerhaft in die `exomy.yaml`.
+              </p>
+
+              <div class="motor_test_neutral_toolbar">
+                <button class="button buttonWarm" onclick="loadSteeringNeutralValues()">Neu laden</button>
+                <button id="neutral_save_button" class="button buttonA" onclick="saveSteeringNeutralValues()">Speichern</button>
+              </div>
+
+              <div id="steering_neutral_grid" class="steering_neutral_grid"></div>
+            </div>
+          </section>
+
+          <section id="tab_panel_drive_neutral" class="motor_test_tab_panel" role="tabpanel" hidden>
+            <div class="admin_section motor_test_neutral_box">
+              <div class="admin_section_header">
+                <p class="eyebrow">Fahrstellung nullen</p>
+              </div>
+
+              <p class="admin_copy motor_test_neutral_copy">
+                Das entspricht [config_drive_motor_neutral.py]: ein gemeinsamer `drive_pwm_neutral`-Wert für alle Fahrmotoren. Mit `-` und `+` sendest du den Stillstands-PWM direkt an alle Antriebe, bis wirklich alles steht.
+              </p>
+
+              <div class="motor_test_neutral_toolbar">
+                <button class="button buttonWarm" onclick="loadDriveNeutralValue()">Neu laden</button>
+                <button id="drive_neutral_save_button" class="button buttonA" onclick="saveDriveNeutralValue()">Speichern</button>
+              </div>
+
+              <article class="drive_neutral_card" id="drive_neutral_card">
+                <div class="steering_neutral_card_header">
+                  <span class="info_label">Drive PWM Neutral</span>
+                  <strong>Alle Fahrmotoren</strong>
+                </div>
+
+                <div class="steering_neutral_value_row drive_neutral_value_row">
+                  <button class="button buttonWarm steering_neutral_adjust" onclick="adjustDriveNeutralValue(-5)">-</button>
+                  <strong id="drive_neutral_value" class="steering_neutral_value">-</strong>
+                  <button class="button buttonA steering_neutral_adjust" onclick="adjustDriveNeutralValue(5)">+</button>
+                </div>
+
+                <div class="steering_neutral_meta">
+                  <span id="drive_neutral_pins">Pins: -</span>
+                </div>
+              </article>
+            </div>
+          </section>
+        </div>
+
+        <div class="admin_link_row">
+          <a class="admin_back" href="./admin.html">Zurück zum Adminbereich</a>
+          <a class="admin_back" href="./index.html">Zurück zur Steuerung</a>
+        </div>
+      </section>
+    </div>
+  </main>
+
+  <script type="text/javascript">
+    var adminApiBase = window.location.protocol + '//' + window.location.hostname + ':8082';
+    var isMotorTestRunning = false;
+    var isContainerActionRunning = false;
+    var isNeutralLoading = false;
+    var isNeutralPreviewRunning = false;
+    var isNeutralSaving = false;
+    var isDriveNeutralLoading = false;
+    var isDriveNeutralPreviewRunning = false;
+    var isDriveNeutralSaving = false;
+    var lastContainerStatus = null;
+    var activeMotorTestTab = 'impulse';
+    var steeringNeutralValues = {};
+    var steeringNeutralSavedValues = {};
+    var driveNeutralValue = null;
+    var driveNeutralSavedValue = null;
+    var driveNeutralPins = {};
+    var STEERING_NEUTRAL_STEP = 5;
+    var WHEEL_ORDER = ['fl', 'fr', 'cl', 'cr', 'rl', 'rr'];
+
+    function setMotorTestStatus(text) {
+      var status = document.getElementById('motor_test_status');
+      if (status) {
+        status.textContent = text;
+      }
+    }
+
+    function getSelectedWheel() {
+      var selected = document.querySelector('input[name="wheel"]:checked');
+      return selected ? selected.value : 'fl';
+    }
+
+    function setServiceState(node, value) {
+      if (!node) {
+        return;
+      }
+
+      node.textContent = value || '-';
+      node.classList.remove('state_active', 'state_inactive', 'state_unknown');
+
+      if (value === 'running' || value === 'active') {
+        node.classList.add('state_active');
+        return;
+      }
+
+      if (value === 'exited' || value === 'stopped' || value === 'inactive') {
+        node.classList.add('state_inactive');
+        return;
+      }
+
+      node.classList.add('state_unknown');
+    }
+
+    function renderContainerStatus(data) {
+      var containerStatus = data && data.container_status;
+      var containerName = document.getElementById('container_name');
+      var containerState = document.getElementById('container_state');
+      var containerSafeState = document.getElementById('container_safe_state');
+
+      lastContainerStatus = containerStatus || null;
+
+      if (containerName && containerStatus && containerStatus.container) {
+        containerName.textContent = containerStatus.container;
+      }
+
+      setServiceState(containerState, containerStatus && containerStatus.state);
+
+      if (containerSafeState) {
+        containerSafeState.textContent = containerStatus && containerStatus.is_safe_for_motor_test ? 'Ja' : 'Nein';
+      }
+    }
+
+    function shouldWarnBeforeLeaving() {
+      return lastContainerStatus && lastContainerStatus.is_safe_for_motor_test && !isContainerActionRunning;
+    }
+
+    function confirmLeaveIfNeeded() {
+      if (!shouldWarnBeforeLeaving()) {
+        return true;
+      }
+
+      return window.confirm('Der ExoMy-Container ist noch gestoppt. Wirklich die Motortest-Seite verlassen?');
+    }
+
+    function switchMotorTestTab(tabName) {
+      activeMotorTestTab = tabName;
+
+      var impulseButton = document.getElementById('tab_button_impulse');
+      var neutralButton = document.getElementById('tab_button_neutral');
+      var driveNeutralButton = document.getElementById('tab_button_drive_neutral');
+      var impulsePanel = document.getElementById('tab_panel_impulse');
+      var neutralPanel = document.getElementById('tab_panel_neutral');
+      var driveNeutralPanel = document.getElementById('tab_panel_drive_neutral');
+
+      var isImpulse = tabName === 'impulse';
+      var isNeutral = tabName === 'neutral';
+      var isDriveNeutral = tabName === 'drive-neutral';
+      impulseButton.classList.toggle('is_active', isImpulse);
+      neutralButton.classList.toggle('is_active', isNeutral);
+      driveNeutralButton.classList.toggle('is_active', isDriveNeutral);
+      impulseButton.setAttribute('aria-selected', isImpulse ? 'true' : 'false');
+      neutralButton.setAttribute('aria-selected', isNeutral ? 'true' : 'false');
+      driveNeutralButton.setAttribute('aria-selected', isDriveNeutral ? 'true' : 'false');
+      impulsePanel.classList.toggle('is_active', isImpulse);
+      neutralPanel.classList.toggle('is_active', isNeutral);
+      driveNeutralPanel.classList.toggle('is_active', isDriveNeutral);
+      impulsePanel.hidden = !isImpulse;
+      neutralPanel.hidden = !isNeutral;
+      driveNeutralPanel.hidden = !isDriveNeutral;
+
+      if (isNeutral && !Object.keys(steeringNeutralValues).length) {
+        loadSteeringNeutralValues();
+      }
+
+      if (isDriveNeutral && driveNeutralValue === null) {
+        loadDriveNeutralValue();
+      }
+    }
+
+    function renderSteeringNeutralCards() {
+      var grid = document.getElementById('steering_neutral_grid');
+      if (!grid) {
+        return;
+      }
+
+      var html = [];
+      WHEEL_ORDER.forEach(function (wheel) {
+        var entry = steeringNeutralValues[wheel];
+        if (!entry) {
+          return;
+        }
+
+        var savedEntry = steeringNeutralSavedValues[wheel];
+        var isDirty = !savedEntry || Number(savedEntry.value) !== Number(entry.value);
+        html.push(
+          '<article class="steering_neutral_card' + (isDirty ? ' is_dirty' : '') + '">' +
+            '<div class="steering_neutral_card_header">' +
+              '<span class="info_label">Rad</span>' +
+              '<strong>' + entry.wheel_label + '</strong>' +
+            '</div>' +
+            '<div class="steering_neutral_value_row">' +
+              '<button class="button buttonWarm steering_neutral_adjust" onclick="adjustSteeringNeutralValue(\'' + wheel + '\', -' + STEERING_NEUTRAL_STEP + ')">-</button>' +
+              '<strong class="steering_neutral_value">' + entry.value + '</strong>' +
+              '<button class="button buttonA steering_neutral_adjust" onclick="adjustSteeringNeutralValue(\'' + wheel + '\', ' + STEERING_NEUTRAL_STEP + ')">+</button>' +
+            '</div>' +
+            '<div class="steering_neutral_meta">' +
+              '<span>Pin: ' + entry.pin + '</span>' +
+            '</div>' +
+          '</article>'
+        );
+      });
+
+      grid.innerHTML = html.join('');
+      updateNeutralSaveButton();
+    }
+
+    function hasUnsavedNeutralChanges() {
+      return WHEEL_ORDER.some(function (wheel) {
+        var currentEntry = steeringNeutralValues[wheel];
+        var savedEntry = steeringNeutralSavedValues[wheel];
+        if (!currentEntry || !savedEntry) {
+          return false;
+        }
+        return Number(currentEntry.value) !== Number(savedEntry.value);
+      });
+    }
+
+    function updateNeutralSaveButton() {
+      var button = document.getElementById('neutral_save_button');
+      if (!button) {
+        return;
+      }
+
+      button.disabled = isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || !hasUnsavedNeutralChanges();
+    }
+
+    function renderDriveNeutralCard() {
+      var valueNode = document.getElementById('drive_neutral_value');
+      var pinsNode = document.getElementById('drive_neutral_pins');
+      var card = document.getElementById('drive_neutral_card');
+
+      if (valueNode) {
+        valueNode.textContent = driveNeutralValue === null ? '-' : String(driveNeutralValue);
+      }
+
+      if (pinsNode) {
+        var pinValues = WHEEL_ORDER
+          .filter(function (wheel) { return Object.prototype.hasOwnProperty.call(driveNeutralPins, wheel); })
+          .map(function (wheel) { return wheel.toUpperCase() + ':' + driveNeutralPins[wheel]; });
+        pinsNode.textContent = pinValues.length ? 'Pins: ' + pinValues.join(' ') : 'Pins: -';
+      }
+
+      if (card) {
+        var isDirty = driveNeutralValue !== null && driveNeutralSavedValue !== null && Number(driveNeutralValue) !== Number(driveNeutralSavedValue);
+        card.classList.toggle('is_dirty', isDirty);
+      }
+
+      updateDriveNeutralSaveButton();
+    }
+
+    function updateDriveNeutralSaveButton() {
+      var button = document.getElementById('drive_neutral_save_button');
+      if (!button) {
+        return;
+      }
+
+      var hasChanges = driveNeutralValue !== null && driveNeutralSavedValue !== null && Number(driveNeutralValue) !== Number(driveNeutralSavedValue);
+      button.disabled = isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving || !hasChanges;
+    }
+
+    async function fetchMotorTestStatus() {
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/status');
+        if (!response.ok) {
+          throw new Error('status ' + response.status);
+        }
+
+        var data = await response.json();
+        renderContainerStatus(data);
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('API nicht erreichbar');
+      }
+    }
+
+    async function setContainerState(action) {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      isContainerActionRunning = true;
+      updateNeutralSaveButton();
+      updateDriveNeutralSaveButton();
+      setMotorTestStatus(action === 'stop' ? 'Stoppe Container...' : 'Starte Container...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/' + action + '-container', {
+          method: 'POST'
+        });
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        setMotorTestStatus(data.status || 'Fertig');
+        renderContainerStatus(data);
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Die Container-Aktion konnte nicht ausgeführt werden.');
+      } finally {
+        isContainerActionRunning = false;
+        updateNeutralSaveButton();
+        updateDriveNeutralSaveButton();
+      }
+    }
+
+    async function runMotorTest(action) {
+      if (isMotorTestRunning || isContainerActionRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      isMotorTestRunning = true;
+      updateNeutralSaveButton();
+      updateDriveNeutralSaveButton();
+      setMotorTestStatus('Teste...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json'
+          },
+          body: JSON.stringify({
+            wheel: getSelectedWheel(),
+            action: action
+          })
+        });
+
+        var data = await response.json();
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        setMotorTestStatus(data.status || 'Test beendet');
+        renderContainerStatus(data);
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Der Motortest konnte nicht ausgeführt werden.');
+      } finally {
+        isMotorTestRunning = false;
+        updateNeutralSaveButton();
+        updateDriveNeutralSaveButton();
+      }
+    }
+
+    async function loadSteeringNeutralValues() {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      isNeutralLoading = true;
+      updateNeutralSaveButton();
+      setMotorTestStatus('Lade Servo-Mitten...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/steering-neutral');
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        steeringNeutralValues = data.neutral_values && data.neutral_values.values ? data.neutral_values.values : {};
+        steeringNeutralSavedValues = JSON.parse(JSON.stringify(steeringNeutralValues));
+        renderSteeringNeutralCards();
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Servo-Mitten geladen');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Die Servo-Mitten konnten nicht geladen werden.');
+      } finally {
+        isNeutralLoading = false;
+        updateNeutralSaveButton();
+      }
+    }
+
+    async function adjustSteeringNeutralValue(wheel, delta) {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      var entry = steeringNeutralValues[wheel];
+      if (!entry) {
+        return;
+      }
+
+      var nextValue = Number(entry.value) + Number(delta);
+      nextValue = Math.max(0, Math.min(4095, nextValue));
+
+      steeringNeutralValues[wheel].value = nextValue;
+      renderSteeringNeutralCards();
+
+      isNeutralPreviewRunning = true;
+      updateNeutralSaveButton();
+      setMotorTestStatus('Fahre Servo-Mitte an...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/steering-neutral/preview', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json'
+          },
+          body: JSON.stringify({
+            wheel: wheel,
+            value: nextValue
+          })
+        });
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Servo angefahren');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Die Servo-Vorschau konnte nicht ausgeführt werden.');
+      } finally {
+        isNeutralPreviewRunning = false;
+        updateNeutralSaveButton();
+      }
+    }
+
+    async function saveSteeringNeutralValues() {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving || !hasUnsavedNeutralChanges()) {
+        return;
+      }
+
+      var payload = {};
+      WHEEL_ORDER.forEach(function (wheel) {
+        var entry = steeringNeutralValues[wheel];
+        if (entry) {
+          payload[entry.key] = Number(entry.value);
+        }
+      });
+
+      isNeutralSaving = true;
+      updateNeutralSaveButton();
+      setMotorTestStatus('Speichere Servo-Mitten...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/steering-neutral/save', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json'
+          },
+          body: JSON.stringify({
+            values: payload
+          })
+        });
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        steeringNeutralValues = data.neutral_values && data.neutral_values.values ? data.neutral_values.values : steeringNeutralValues;
+        steeringNeutralSavedValues = JSON.parse(JSON.stringify(steeringNeutralValues));
+        renderSteeringNeutralCards();
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Servo-Mitten gespeichert');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Die Servo-Mitten konnten nicht gespeichert werden.');
+      } finally {
+        isNeutralSaving = false;
+        updateNeutralSaveButton();
+      }
+    }
+
+    async function loadDriveNeutralValue() {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      isDriveNeutralLoading = true;
+      updateDriveNeutralSaveButton();
+      setMotorTestStatus('Lade Fahr-Neutralwert...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral');
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        driveNeutralValue = Number(data.drive_neutral && data.drive_neutral.value);
+        driveNeutralSavedValue = driveNeutralValue;
+        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : {};
+        renderDriveNeutralCard();
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Fahr-Neutralwert geladen');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Der Fahr-Neutralwert konnte nicht geladen werden.');
+      } finally {
+        isDriveNeutralLoading = false;
+        updateDriveNeutralSaveButton();
+      }
+    }
+
+    async function adjustDriveNeutralValue(delta) {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      if (driveNeutralValue === null) {
+        return;
+      }
+
+      driveNeutralValue = Math.max(0, Math.min(4095, Number(driveNeutralValue) + Number(delta)));
+      renderDriveNeutralCard();
+
+      isDriveNeutralPreviewRunning = true;
+      updateDriveNeutralSaveButton();
+      setMotorTestStatus('Fahre Fahr-Neutralwert an...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral/preview', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json'
+          },
+          body: JSON.stringify({
+            value: driveNeutralValue
+          })
+        });
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : driveNeutralPins;
+        renderDriveNeutralCard();
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Fahr-Neutralwert angefahren');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Die Fahr-Vorschau konnte nicht ausgeführt werden.');
+      } finally {
+        isDriveNeutralPreviewRunning = false;
+        updateDriveNeutralSaveButton();
+      }
+    }
+
+    async function saveDriveNeutralValue() {
+      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
+        return;
+      }
+
+      if (driveNeutralValue === null || driveNeutralSavedValue === null || Number(driveNeutralValue) === Number(driveNeutralSavedValue)) {
+        return;
+      }
+
+      isDriveNeutralSaving = true;
+      updateDriveNeutralSaveButton();
+      setMotorTestStatus('Speichere Fahr-Neutralwert...');
+
+      try {
+        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral/save', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json'
+          },
+          body: JSON.stringify({
+            value: driveNeutralValue
+          })
+        });
+        var data = await response.json();
+
+        if (!response.ok) {
+          throw new Error(data.status || ('status ' + response.status));
+        }
+
+        driveNeutralValue = Number(data.drive_neutral && data.drive_neutral.value);
+        driveNeutralSavedValue = driveNeutralValue;
+        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : driveNeutralPins;
+        renderDriveNeutralCard();
+        renderContainerStatus(data);
+        setMotorTestStatus(data.status || 'Fahr-Neutralwert gespeichert');
+      } catch (error) {
+        console.error(error);
+        setMotorTestStatus('Fehler');
+        alert(error.message || 'Der Fahr-Neutralwert konnte nicht gespeichert werden.');
+      } finally {
+        isDriveNeutralSaving = false;
+        updateDriveNeutralSaveButton();
+      }
+    }
+
+    window.addEventListener('load', function () {
+      fetchMotorTestStatus();
+      window.setInterval(fetchMotorTestStatus, 4000);
+
+      document.querySelectorAll('a[href]').forEach(function (link) {
+        link.addEventListener('click', function (event) {
+          if (!confirmLeaveIfNeeded()) {
+            event.preventDefault();
+          }
+        });
+      });
+    });
+
+    window.addEventListener('beforeunload', function (event) {
+      if (!shouldWarnBeforeLeaving()) {
+        return;
+      }
+
+      event.preventDefault();
+      event.returnValue = '';
+    });
+  </script>
+</body>
+
+</html>
diff --git a/ExoMy_Software-master/gui/admin.html b/ExoMy_Software-master/gui/admin.html
index 6a4e438..07b9c64 100644
--- a/ExoMy_Software-master/gui/admin.html
+++ b/ExoMy_Software-master/gui/admin.html
@@ -59,6 +59,19 @@
             </div>
           </div>
 
+          <div class="admin_section">
+            <div class="admin_section_header">
+              <p class="eyebrow">Wartung</p>
+            </div>
+            <div class="admin_quick_link_card">
+              <div>
+                <strong>Motorentest pro Rad</strong>
+                <p>Separate Testseite für Lenkung links, Lenkung rechts, Vorwärts und Rückwärts je ausgewähltem Rad.</p>
+              </div>
+              <a class="button buttonX admin_quick_link_button" href="./admin-motor-test.html">Motortest öffnen</a>
+            </div>
+          </div>
+
           <div class="admin_section">
             <div class="admin_section_header">
               <p class="eyebrow">Systemstatus</p>
diff --git a/ExoMy_Software-master/gui/style.css b/ExoMy_Software-master/gui/style.css
index 2f7846f..b00844a 100644
--- a/ExoMy_Software-master/gui/style.css
+++ b/ExoMy_Software-master/gui/style.css
@@ -347,6 +347,30 @@ h2 {
   font-size: 0.96rem;
 }
 
+.admin_quick_link_card {
+  display: grid;
+  grid-template-columns: minmax(0, 1fr) 14rem;
+  gap: 0.9rem;
+  align-items: center;
+  padding: 0.95rem 1rem;
+  border-radius: var(--radius-md);
+  border: 1px solid var(--line);
+  background: var(--panel-strong);
+}
+
+.admin_quick_link_card p {
+  margin: 0.35rem 0 0;
+  color: var(--muted);
+  line-height: 1.35;
+}
+
+.admin_quick_link_button {
+  display: inline-flex;
+  align-items: center;
+  justify-content: center;
+  text-decoration: none;
+}
+
 .admin_back {
   color: var(--muted);
   text-decoration: none;
@@ -433,6 +457,8 @@ h2 {
 
 .admin-page {
   color: #1b2730;
+  overflow-y: auto;
+  overflow-x: hidden;
   background:
     radial-gradient(circle at top left, rgba(150, 176, 183, 0.32), transparent 24%),
     radial-gradient(circle at bottom right, rgba(221, 193, 144, 0.3), transparent 22%),
@@ -540,6 +566,19 @@ h2 {
   background: linear-gradient(180deg, #cb6159, #922e28);
 }
 
+.admin-page .admin_quick_link_card {
+  border-color: rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.admin-page .admin_quick_link_card p {
+  color: #617781;
+}
+
 .admin-page .admin_back {
   font-family: Consolas, "Courier New", monospace;
   font-size: 0.9rem;
@@ -591,6 +630,429 @@ h2 {
   box-shadow: 0 0 0 2px rgba(211, 171, 59, 0.14), 0 0 10px rgba(211, 171, 59, 0.32);
 }
 
+.admin_motor_panel {
+  display: flex;
+  gap: 0.7rem;
+  min-height: auto;
+  overflow: visible;
+}
+
+.admin_motor_content {
+  display: grid;
+  gap: 0.7rem;
+}
+
+.motor_test_status_card {
+  display: grid;
+  gap: 0.35rem;
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_status_row {
+  display: grid;
+  grid-template-columns: 6.5rem 1fr;
+  gap: 0.6rem;
+  align-items: center;
+}
+
+.motor_test_control_grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 0.55rem;
+}
+
+.motor_test_tabs {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.55rem;
+}
+
+.motor_test_tab_button {
+  min-height: 2.35rem;
+  padding: 0.45rem 0.7rem;
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  border-radius: var(--radius-md);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  color: #24414e;
+  cursor: pointer;
+  font-family: Consolas, "Courier New", monospace;
+  font-size: 0.74rem;
+  font-weight: 700;
+  letter-spacing: 0.04em;
+  text-transform: uppercase;
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_tab_button.is_active {
+  border-color: rgba(44, 102, 190, 0.58);
+  background:
+    linear-gradient(180deg, rgba(225, 236, 255, 0.98), rgba(205, 221, 247, 0.98));
+  color: #163650;
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.9),
+    0 10px 24px rgba(70, 107, 166, 0.18);
+}
+
+.motor_test_tab_panel {
+  display: none;
+}
+
+.motor_test_tab_panel.is_active {
+  display: block;
+}
+
+.motor_test_layout_row {
+  display: grid;
+  grid-template-columns: minmax(0, 1.2fr) minmax(16rem, 0.9fr);
+  gap: 0.7rem;
+  align-items: stretch;
+}
+
+.motor_test_box {
+  min-height: 0;
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.wheel_selector {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.wheel_option {
+  position: relative;
+  display: flex;
+  align-items: center;
+  min-height: 2.65rem;
+  padding: 0.48rem 0.7rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.28);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.82),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+  cursor: pointer;
+  font-weight: 700;
+}
+
+.wheel_option input {
+  position: absolute;
+  opacity: 0;
+  pointer-events: none;
+}
+
+.wheel_option span {
+  color: #17303b;
+  font-size: 0.82rem;
+}
+
+.wheel_option:has(input:checked) {
+  border-color: rgba(44, 102, 190, 0.58);
+  background:
+    linear-gradient(180deg, rgba(225, 236, 255, 0.98), rgba(205, 221, 247, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.9),
+    0 10px 24px rgba(70, 107, 166, 0.18);
+}
+
+.motor_test_grid {
+  display: grid;
+  grid-template-columns: 1fr;
+  gap: 0.45rem;
+}
+
+.motor_test_grid .button {
+  min-height: 2.65rem;
+  font-size: 0.76rem;
+}
+
+.motor_test_neutral_box {
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_neutral_copy {
+  margin-top: -0.1rem;
+}
+
+.motor_test_neutral_toolbar {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 12rem));
+  gap: 0.55rem;
+  justify-content: start;
+}
+
+.motor_test_neutral_toolbar .button {
+  width: auto;
+  min-height: 2.35rem;
+  padding: 0.5rem 0.9rem;
+  font-size: 0.74rem;
+}
+
+.motor_test_neutral_toolbar .button:disabled {
+  cursor: not-allowed;
+  filter: saturate(0.3);
+  opacity: 0.6;
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.22),
+    0 4px 10px rgba(96, 110, 117, 0.08);
+}
+
+.steering_neutral_grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 0.65rem;
+}
+
+.steering_neutral_card {
+  display: grid;
+  gap: 0.55rem;
+  padding: 0.8rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(248, 251, 251, 0.98), rgba(233, 239, 240, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.84),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.steering_neutral_card.is_dirty {
+  border-color: rgba(214, 145, 42, 0.52);
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.84),
+    0 8px 18px rgba(185, 133, 49, 0.14);
+}
+
+.drive_neutral_card {
+  display: grid;
+  gap: 0.55rem;
+  max-width: 28rem;
+  padding: 0.8rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(248, 251, 251, 0.98), rgba(233, 239, 240, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.84),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.drive_neutral_card.is_dirty {
+  border-color: rgba(214, 145, 42, 0.52);
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.84),
+    0 8px 18px rgba(185, 133, 49, 0.14);
+}
+
+.drive_neutral_value_row {
+  max-width: 16rem;
+}
+
+.steering_neutral_card_header {
+  display: grid;
+  gap: 0.18rem;
+}
+
+.steering_neutral_value_row {
+  display: grid;
+  grid-template-columns: 2.8rem minmax(0, 1fr) 2.8rem;
+  gap: 0.45rem;
+  align-items: center;
+}
+
+.steering_neutral_value {
+  text-align: center;
+  font-family: Consolas, "Courier New", monospace;
+  font-size: 1.25rem;
+}
+
+.steering_neutral_adjust {
+  width: auto;
+  min-height: 2.8rem;
+  min-width: 2.8rem;
+  padding: 0.25rem;
+  font-size: 1.1rem;
+  line-height: 1;
+}
+
+.steering_neutral_meta {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 0.55rem;
+  color: #5f7981;
+  font-family: Consolas, "Courier New", monospace;
+  font-size: 0.72rem;
+}
+
+.motor_test_feedback_box {
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_feedback_card {
+  display: grid;
+  grid-template-columns: minmax(0, 1fr) auto;
+  gap: 0.7rem;
+  align-items: center;
+}
+
+.motor_test_feedback_summary {
+  display: grid;
+  gap: 0.3rem;
+}
+
+.motor_test_feedback_buttons {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(6rem, 1fr));
+  gap: 0.5rem;
+}
+
+.motor_test_feedback_buttons .button {
+  min-height: 2.6rem;
+  font-size: 0.76rem;
+}
+
+.motor_test_feedback_buttons .button:disabled {
+  cursor: not-allowed;
+  filter: saturate(0.3);
+  opacity: 0.6;
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.22),
+    0 4px 10px rgba(96, 110, 117, 0.08);
+}
+
+.motor_test_hold_box {
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_hold_layout {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 0.7rem;
+}
+
+.motor_test_hold_card {
+  display: grid;
+  gap: 0.45rem;
+}
+
+.motor_test_hold_buttons {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.motor_test_hold_buttons .button {
+  min-height: 2.6rem;
+  font-size: 0.74rem;
+}
+
+.motor_test_percent_box {
+  padding: 0.75rem 0.85rem;
+  border-radius: var(--radius-md);
+  border: 1px solid rgba(116, 143, 152, 0.26);
+  background:
+    linear-gradient(180deg, rgba(244, 248, 248, 0.98), rgba(230, 237, 238, 0.98));
+  box-shadow:
+    inset 0 1px 0 rgba(255, 255, 255, 0.8),
+    0 8px 18px rgba(109, 126, 132, 0.08);
+}
+
+.motor_test_percent_card {
+  display: grid;
+  gap: 0.55rem;
+}
+
+.motor_test_percent_header {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 0.75rem;
+}
+
+.motor_test_percent_live_row {
+  display: grid;
+  grid-template-columns: 1fr auto;
+  gap: 0.6rem;
+  align-items: center;
+}
+
+.motor_test_live_toggle {
+  min-width: 4.6rem;
+  min-height: 2.2rem;
+  padding: 0.35rem 0.7rem;
+  font-size: 0.72rem;
+}
+
+.motor_test_percent_slider_row {
+  display: grid;
+  grid-template-columns: minmax(0, 1fr) auto;
+  gap: 0.6rem;
+  align-items: center;
+}
+
+.motor_test_percent_slider {
+  width: 100%;
+  accent-color: #3271da;
+}
+
+.motor_test_percent_buttons {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.motor_test_percent_buttons .button {
+  min-height: 2.6rem;
+  font-size: 0.74rem;
+}
+
+.admin_link_row {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 0.6rem;
+}
+
 @media (max-width: 1100px) {
   body {
     overflow-y: auto;
@@ -613,6 +1075,10 @@ h2 {
     grid-template-columns: 1fr;
   }
 
+  .admin_quick_link_card {
+    grid-template-columns: 1fr;
+  }
+
   .admin_actions {
     grid-template-columns: repeat(2, minmax(0, 1fr));
   }
@@ -621,8 +1087,40 @@ h2 {
     grid-template-columns: repeat(2, minmax(0, 1fr));
   }
 
+  .wheel_selector {
+    grid-template-columns: repeat(2, minmax(0, 1fr));
+  }
+
+  .motor_test_control_grid {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_tabs {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_layout_row {
+    grid-template-columns: 1fr;
+  }
+
+  .steering_neutral_grid {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_feedback_card {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_hold_layout {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_percent_buttons {
+    grid-template-columns: 1fr;
+  }
+
   .button {
-    min-height: 5.25rem;
+    min-height: 4rem;
   }
 }
 
@@ -693,6 +1191,38 @@ h2 {
   .admin_actions {
     grid-template-columns: 1fr;
   }
+
+  .wheel_selector,
+  .motor_test_grid,
+  .motor_test_control_grid,
+  .motor_test_tabs,
+  .motor_test_neutral_toolbar,
+  .motor_test_feedback_buttons,
+  .motor_test_hold_buttons,
+  .motor_test_percent_buttons {
+    grid-template-columns: 1fr;
+  }
+
+  .steering_neutral_grid {
+    grid-template-columns: 1fr;
+  }
+
+  .motor_test_status_row {
+    grid-template-columns: 1fr;
+    gap: 0.25rem;
+  }
+
+  .motor_test_percent_header,
+  .motor_test_percent_live_row,
+  .motor_test_percent_slider_row {
+    grid-template-columns: 1fr;
+    justify-content: flex-start;
+  }
+
+  .admin_link_row {
+    flex-direction: column;
+    align-items: flex-start;
+  }
 }
 
 @media (max-height: 760px) and (min-width: 761px) {
@@ -706,19 +1236,107 @@ h2 {
   }
 
   .admin_panel {
-    gap: 0.7rem;
+    gap: 0.45rem;
   }
 
   .admin_copy {
-    font-size: 0.86rem;
+    font-size: 0.78rem;
+  }
+
+  .admin_motor_content {
+    gap: 0.45rem;
+  }
+
+  .admin_section {
+    gap: 0.35rem;
+  }
+
+  .panel_header {
+    gap: 0.45rem;
+  }
+
+  .pilot_logo {
+    width: 3.2rem;
+  }
+
+  .status_badge {
+    padding: 0.45rem 0.7rem;
+    font-size: 0.76rem;
+  }
+
+  .eyebrow {
+    margin: 0 0 0.2rem;
+    font-size: 0.68rem;
+  }
+
+  h1 {
+    font-size: 1.45rem;
+  }
+
+  .motor_test_status_card,
+  .motor_test_box,
+  .motor_test_neutral_box,
+  .motor_test_feedback_box,
+  .motor_test_hold_box,
+  .motor_test_percent_box {
+    padding: 0.58rem 0.7rem;
+  }
+
+  .motor_test_status_row {
+    grid-template-columns: 5.4rem 1fr;
+    gap: 0.45rem;
+  }
+
+  .wheel_option {
+    min-height: 2.35rem;
+    padding: 0.4rem 0.55rem;
+  }
+
+  .wheel_option span {
+    font-size: 0.76rem;
+  }
+
+  .motor_test_grid .button,
+  .motor_test_tab_button,
+  .motor_test_neutral_toolbar .button,
+  .motor_test_feedback_buttons .button,
+  .motor_test_hold_buttons .button,
+  .motor_test_control_grid .button,
+  .motor_test_percent_buttons .button {
+    min-height: 2.35rem;
+    font-size: 0.7rem;
+  }
+
+  .steering_neutral_adjust {
+    min-height: 2.35rem;
+    min-width: 2.35rem;
+    font-size: 1.05rem;
+  }
+
+  .motor_test_live_toggle {
+    min-height: 2.1rem;
+    min-width: 4rem;
+    font-size: 0.68rem;
+  }
+
+  .motor_test_control_grid,
+  .motor_test_layout_row,
+  .motor_test_feedback_card,
+  .motor_test_hold_layout,
+  .motor_test_hold_buttons,
+  .motor_test_feedback_buttons,
+  .motor_test_percent_buttons,
+  .wheel_selector,
+  .motor_test_grid {
+    gap: 0.35rem;
   }
 
   .admin_actions .button {
-    min-height: 3.35rem;
-    font-size: 0.9rem;
+    min-height: 2.8rem;
+    font-size: 0.82rem;
   }
 
   .info_card {
-    padding: 0.7rem 0.8rem;
+    padding: 0.6rem 0.7rem;
   }
 }
diff --git a/ExoMy_Software-master/scripts/admin_motor_test.py b/ExoMy_Software-master/scripts/admin_motor_test.py
new file mode 100644
index 0000000..c60656d
--- /dev/null
+++ b/ExoMy_Software-master/scripts/admin_motor_test.py
@@ -0,0 +1,486 @@
+#!/usr/bin/env python3
+import json
+import math
+import os
+import subprocess
+import sys
+import time
+
+
+WHEELS = ('fl', 'fr', 'cl', 'cr', 'rl', 'rr')
+
+WHEEL_LABELS = {
+    'fl': 'Vorne links',
+    'fr': 'Vorne rechts',
+    'cl': 'Mitte links',
+    'cr': 'Mitte rechts',
+    'rl': 'Hinten links',
+    'rr': 'Hinten rechts',
+}
+
+WHEEL_DIRECTIONS = {
+    'fl': -1,
+    'fr': 1,
+    'cl': -1,
+    'cr': 1,
+    'rl': -1,
+    'rr': 1,
+}
+
+STEER_PIN_KEYS = {
+    'fl': 'pin_steer_fl',
+    'fr': 'pin_steer_fr',
+    'cl': 'pin_steer_cl',
+    'cr': 'pin_steer_cr',
+    'rl': 'pin_steer_rl',
+    'rr': 'pin_steer_rr',
+}
+
+STEER_NEUTRAL_KEYS = {
+    'fl': 'steer_pwm_neutral_fl',
+    'fr': 'steer_pwm_neutral_fr',
+    'cl': 'steer_pwm_neutral_cl',
+    'cr': 'steer_pwm_neutral_cr',
+    'rl': 'steer_pwm_neutral_rl',
+    'rr': 'steer_pwm_neutral_rr',
+}
+
+DRIVE_PIN_KEYS = {
+    'fl': 'pin_drive_fl',
+    'fr': 'pin_drive_fr',
+    'cl': 'pin_drive_cl',
+    'cr': 'pin_drive_cr',
+    'rl': 'pin_drive_rl',
+    'rr': 'pin_drive_rr',
+}
+
+ACTION_SETTINGS = {
+    'steer_left': {
+        'kind': 'steer',
+        'angle': -35,
+        'duration': 0.6,
+        'label': 'Lenkung links',
+    },
+    'steer_right': {
+        'kind': 'steer',
+        'angle': 35,
+        'duration': 0.6,
+        'label': 'Lenkung rechts',
+    },
+    'drive_forward': {
+        'kind': 'drive',
+        'speed': 35,
+        'duration': 0.7,
+        'label': 'Vorwärts',
+    },
+    'drive_backward': {
+        'kind': 'drive',
+        'speed': -35,
+        'duration': 0.7,
+        'label': 'Rückwärts',
+    },
+}
+
+CONTAINER_NAME = 'exomy_autostart'
+CONTAINER_SCRIPT_PATH = '/root/exomy_ws/src/exomy/scripts/admin_motor_test.py'
+
+
+class PCA9685Direct:
+    MODE1 = 0x00
+    PRESCALE = 0xFE
+    LED0_ON_L = 0x06
+
+    def __init__(self, busnum=1, address=0x40):
+        try:
+            import smbus
+        except ImportError as exc:
+            raise RuntimeError('smbus ist nicht installiert.') from exc
+
+        self.address = address
+        self.bus = smbus.SMBus(busnum)
+        self.write8(self.MODE1, 0x00)
+        time.sleep(0.005)
+
+    def write8(self, reg, value):
+        self.bus.write_byte_data(self.address, reg, value & 0xFF)
+
+    def read8(self, reg):
+        return self.bus.read_byte_data(self.address, reg)
+
+    def set_pwm_freq(self, freq_hz):
+        prescaleval = 25000000.0
+        prescaleval /= 4096.0
+        prescaleval /= float(freq_hz)
+        prescaleval -= 1.0
+        prescale = int(math.floor(prescaleval + 0.5))
+
+        oldmode = self.read8(self.MODE1)
+        sleepmode = (oldmode & 0x7F) | 0x10
+        self.write8(self.MODE1, sleepmode)
+        self.write8(self.PRESCALE, prescale)
+        self.write8(self.MODE1, oldmode)
+        time.sleep(0.005)
+        self.write8(self.MODE1, oldmode | 0xA1)
+
+    def set_pwm(self, channel, on, off):
+        base = self.LED0_ON_L + 4 * int(channel)
+        self.write8(base, on & 0xFF)
+        self.write8(base + 1, (on >> 8) & 0xFF)
+        self.write8(base + 2, off & 0xFF)
+        self.write8(base + 3, (off >> 8) & 0xFF)
+
+
+def _load_config(config_path):
+    config = {}
+    with open(config_path, 'r', encoding='utf-8') as handle:
+        for raw_line in handle:
+            line = raw_line.strip()
+            if not line or line.startswith('#') or ':' not in line:
+                continue
+            key, value = line.split(':', 1)
+            config[key.strip()] = value.strip()
+    return config
+
+
+def _update_config_values(config_path, updates):
+    output_lines = []
+    with open(config_path, 'r', encoding='utf-8') as handle:
+        for raw_line in handle:
+            line = raw_line
+            stripped = raw_line.strip()
+            if stripped and not stripped.startswith('#') and ':' in raw_line:
+                key = raw_line.split(':', 1)[0].strip()
+                if key in updates:
+                    line = f'{key}: {updates[key]}\n'
+            output_lines.append(line)
+
+    with open(config_path, 'w', encoding='utf-8') as handle:
+        handle.writelines(output_lines)
+
+
+class MotorTester:
+    def __init__(self, config_path=None):
+        try:
+            import Adafruit_PCA9685
+            self.pwm = Adafruit_PCA9685.PCA9685()
+        except ImportError:
+            self.pwm = PCA9685Direct(busnum=1)
+
+        if config_path is None:
+            config_path = os.path.join(os.path.dirname(__file__), '..', 'config', 'exomy.yaml')
+
+        if not os.path.exists(config_path):
+            raise FileNotFoundError(f'Konfigurationsdatei nicht gefunden: {config_path}')
+
+        self.config_path = os.path.abspath(config_path)
+        self.config = _load_config(self.config_path)
+        self.pwm.set_pwm_freq(50)
+        self.steer_pwm_range = int(self.config['steer_pwm_range'])
+        self.drive_pwm_neutral = int(self.config['drive_pwm_neutral'])
+        self.drive_pwm_range = int(self.config['drive_pwm_range'])
+
+    def _steer_pin(self, wheel):
+        return int(self.config[STEER_PIN_KEYS[wheel]])
+
+    def _steer_neutral(self, wheel):
+        return int(self.config[STEER_NEUTRAL_KEYS[wheel]])
+
+    def _drive_pin(self, wheel):
+        return int(self.config[DRIVE_PIN_KEYS[wheel]])
+
+    def set_drive_neutral_pwm(self, pwm_value):
+        duty_cycle = int(pwm_value)
+        for wheel in WHEELS:
+            self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
+            time.sleep(0.03)
+
+    def center_all_steering(self):
+        for wheel in WHEELS:
+            self.pwm.set_pwm(self._steer_pin(wheel), 0, self._steer_neutral(wheel))
+            time.sleep(0.03)
+
+    def stop_all_driving(self):
+        for wheel in WHEELS:
+            self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
+            time.sleep(0.03)
+
+    def set_steering_angle(self, wheel, angle):
+        duty_cycle = int(self._steer_neutral(wheel) + angle / 90.0 * self.steer_pwm_range)
+        self.pwm.set_pwm(self._steer_pin(wheel), 0, duty_cycle)
+
+    def set_steering_neutral(self, wheel):
+        self.pwm.set_pwm(self._steer_pin(wheel), 0, self._steer_neutral(wheel))
+
+    def set_steering_neutral_pwm(self, wheel, pwm_value):
+        self.pwm.set_pwm(self._steer_pin(wheel), 0, int(pwm_value))
+
+    def set_steering_percent(self, wheel, signed_percent):
+        percent = max(-100.0, min(100.0, float(signed_percent)))
+        duty_cycle = int(self._steer_neutral(wheel) + percent / 100.0 * self.steer_pwm_range)
+        self.pwm.set_pwm(self._steer_pin(wheel), 0, duty_cycle)
+
+    def set_all_steering_angle(self, angle):
+        for wheel in WHEELS:
+            self.set_steering_angle(wheel, angle)
+            time.sleep(0.03)
+
+    def set_all_steering_neutral(self):
+        for wheel in WHEELS:
+            self.set_steering_neutral(wheel)
+            time.sleep(0.03)
+
+    def test_steering(self, wheel, angle, duration):
+        self.set_steering_angle(wheel, angle)
+        time.sleep(duration)
+        self.set_steering_neutral(wheel)
+
+    def test_driving(self, wheel, speed, duration):
+        self.pwm.set_pwm(self._steer_pin(wheel), 0, self._steer_neutral(wheel))
+        duty_cycle = int(
+            self.drive_pwm_neutral +
+            speed / 100.0 * self.drive_pwm_range * WHEEL_DIRECTIONS[wheel]
+        )
+        self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
+        time.sleep(duration)
+        self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
+
+    def execute(self, wheel, action):
+        if wheel not in WHEELS:
+            raise ValueError('Unbekanntes Rad.')
+
+        if action not in ACTION_SETTINGS:
+            raise ValueError('Unbekannte Testaktion.')
+
+        settings = ACTION_SETTINGS[action]
+
+        self.stop_all_driving()
+
+        if settings['kind'] == 'steer':
+            self.test_steering(wheel, settings['angle'], settings['duration'])
+        else:
+            self.test_driving(wheel, settings['speed'], settings['duration'])
+
+        return {
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'action': action,
+            'action_label': settings['label'],
+        }
+
+    def hold_steering(self, wheel, angle):
+        if wheel not in WHEELS:
+            raise ValueError('Unbekanntes Rad.')
+
+        self.stop_all_driving()
+        self.set_steering_angle(wheel, angle)
+        return {
+            'scope': 'single',
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'angle': angle,
+        }
+
+    def hold_steering_percent(self, wheel, percent, direction):
+        if wheel not in WHEELS:
+            raise ValueError('Unbekanntes Rad.')
+
+        if direction not in ('left', 'right'):
+            raise ValueError('Unbekannte Richtung.')
+
+        clamped_percent = max(0.0, min(100.0, float(percent)))
+        signed_percent = -clamped_percent if direction == 'left' else clamped_percent
+
+        self.stop_all_driving()
+        self.set_steering_percent(wheel, signed_percent)
+        return {
+            'scope': 'single',
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'percent': clamped_percent,
+            'direction': direction,
+            'signed_percent': signed_percent,
+        }
+
+    def hold_all_steering(self, angle):
+        self.stop_all_driving()
+        self.set_all_steering_angle(angle)
+        return {
+            'scope': 'all',
+            'wheel': 'all',
+            'wheel_label': 'Alle Räder',
+            'angle': angle,
+        }
+
+    def neutral_single_steering(self, wheel):
+        if wheel not in WHEELS:
+            raise ValueError('Unbekanntes Rad.')
+
+        self.stop_all_driving()
+        self.set_steering_neutral(wheel)
+        return {
+            'scope': 'single',
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'angle': 0,
+        }
+
+    def neutral_all_steering(self):
+        self.stop_all_driving()
+        self.set_all_steering_neutral()
+        return {
+            'scope': 'all',
+            'wheel': 'all',
+            'wheel_label': 'Alle Räder',
+            'angle': 0,
+        }
+
+
+def run_motor_test(wheel, action, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.execute(wheel.lower(), action)
+
+
+def hold_single_steering(wheel, angle, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.hold_steering(wheel.lower(), angle)
+
+
+def hold_all_steering(angle, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.hold_all_steering(angle)
+
+
+def hold_single_steering_percent(wheel, percent, direction, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.hold_steering_percent(wheel.lower(), percent, direction)
+
+
+def neutral_single_steering(wheel, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.neutral_single_steering(wheel.lower())
+
+
+def neutral_all_steering(config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return tester.neutral_all_steering()
+
+
+def get_steering_neutral_values(config_path=None):
+    tester = MotorTester(config_path=config_path)
+    values = {}
+    for wheel in WHEELS:
+        key = STEER_NEUTRAL_KEYS[wheel]
+        values[wheel] = {
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'key': key,
+            'value': int(tester.config[key]),
+            'pin': tester._steer_pin(wheel),
+        }
+    return {
+        'config_path': tester.config_path,
+        'values': values,
+    }
+
+
+def preview_steering_neutral_value(wheel, pwm_value, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    if wheel not in WHEELS:
+        raise ValueError('Unbekanntes Rad.')
+
+    tester.stop_all_driving()
+    tester.set_steering_neutral_pwm(wheel, int(pwm_value))
+    return {
+        'wheel': wheel,
+        'wheel_label': WHEEL_LABELS[wheel],
+        'value': int(pwm_value),
+        'pin': tester._steer_pin(wheel),
+    }
+
+
+def save_steering_neutral_values(values, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    updates = {}
+
+    for wheel in WHEELS:
+        key = STEER_NEUTRAL_KEYS[wheel]
+        if key not in values:
+            raise ValueError(f'Neutralwert fehlt: {key}')
+        updates[key] = int(values[key])
+
+    _update_config_values(tester.config_path, updates)
+    tester.config = _load_config(tester.config_path)
+    tester.stop_all_driving()
+    tester.center_all_steering()
+
+    return get_steering_neutral_values(config_path=tester.config_path)
+
+
+def get_drive_neutral_value(config_path=None):
+    tester = MotorTester(config_path=config_path)
+    return {
+        'config_path': tester.config_path,
+        'value': int(tester.config['drive_pwm_neutral']),
+        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
+    }
+
+
+def preview_drive_neutral_value(pwm_value, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    value = int(pwm_value)
+    tester.center_all_steering()
+    tester.set_drive_neutral_pwm(value)
+    return {
+        'value': value,
+        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
+    }
+
+
+def save_drive_neutral_value(pwm_value, config_path=None):
+    tester = MotorTester(config_path=config_path)
+    value = int(pwm_value)
+    _update_config_values(tester.config_path, {'drive_pwm_neutral': value})
+    tester.config = _load_config(tester.config_path)
+    tester.drive_pwm_neutral = int(tester.config['drive_pwm_neutral'])
+    tester.center_all_steering()
+    tester.set_drive_neutral_pwm(tester.drive_pwm_neutral)
+    return get_drive_neutral_value(config_path=tester.config_path)
+
+
+def run_motor_test_in_container(wheel, action):
+    command = [
+        'docker',
+        'exec',
+        CONTAINER_NAME,
+        'python',
+        CONTAINER_SCRIPT_PATH,
+        wheel.lower(),
+        action,
+    ]
+    result = subprocess.run(command, capture_output=True, text=True, check=False)
+    if result.returncode != 0:
+        stderr = result.stderr.strip()
+        stdout = result.stdout.strip()
+        message = stderr or stdout or 'Motortest im Container fehlgeschlagen'
+        raise RuntimeError(message)
+
+    try:
+        return json.loads(result.stdout)
+    except json.JSONDecodeError as exc:
+        raise RuntimeError('Antwort des Container-Motortests war ungültig') from exc
+
+
+def main():
+    if len(sys.argv) != 3:
+        print('Aufruf: admin_motor_test.py <fl|fr|cl|cr|rl|rr> <steer_left|steer_right|drive_forward|drive_backward>')
+        return 1
+
+    wheel = sys.argv[1].lower()
+    action = sys.argv[2]
+    result = run_motor_test(wheel, action, config_path=None)
+    print(json.dumps(result))
+    return 0
+
+
+if __name__ == '__main__':
+    raise SystemExit(main())
diff --git a/ExoMy_Software-master/scripts/exomy_admin_api.py b/ExoMy_Software-master/scripts/exomy_admin_api.py
index 6a7ad77..d3dce70 100644
--- a/ExoMy_Software-master/scripts/exomy_admin_api.py
+++ b/ExoMy_Software-master/scripts/exomy_admin_api.py
@@ -4,10 +4,12 @@ import json
 import shutil
 import socketserver
 import subprocess
+import threading
 import time
 
 PORT = 8082
 EXOMY_CONTAINER = 'exomy_autostart'
+MOTOR_TEST_LOCK = threading.Lock()
 
 
 class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
@@ -95,6 +97,15 @@ def get_container_state(container_name):
     return 'unknown'
 
 
+def get_motor_test_container_status():
+    state = get_container_state(EXOMY_CONTAINER)
+    return {
+        'container': EXOMY_CONTAINER,
+        'state': state,
+        'is_safe_for_motor_test': state in ('exited', 'stopped', 'created'),
+    }
+
+
 def collect_status():
     return {
         'status': 'Bereit',
@@ -121,6 +132,16 @@ def restart_exomy_container():
     subprocess.Popen(['docker', 'restart', EXOMY_CONTAINER])
 
 
+def stop_exomy_container():
+    stdout, _, returncode = run_command(['docker', 'stop', '-t', '2', EXOMY_CONTAINER])
+    return returncode == 0, stdout
+
+
+def start_exomy_container():
+    stdout, _, returncode = run_command(['docker', 'start', EXOMY_CONTAINER])
+    return returncode == 0, stdout
+
+
 def reboot_raspberry_pi():
     subprocess.Popen(['systemctl', 'reboot'])
 
@@ -129,6 +150,189 @@ def shutdown_raspberry_pi():
     subprocess.Popen(['systemctl', 'poweroff'])
 
 
+def run_motor_test_action(wheel, action):
+    from admin_motor_test import run_motor_test
+
+    acquired = MOTOR_TEST_LOCK.acquire(blocking=False)
+    if not acquired:
+        return 409, {'status': 'Motortest läuft bereits'}
+
+    try:
+        container_status = get_motor_test_container_status()
+        if not container_status['is_safe_for_motor_test']:
+            return 409, {
+                'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+                'container_status': container_status,
+            }
+
+        result = run_motor_test(wheel, action)
+        return 200, {
+            'status': f"{result['wheel_label']}: {result['action_label']}",
+            'result': result,
+            'container_status': get_motor_test_container_status(),
+        }
+    except FileNotFoundError:
+        return 500, {'status': 'Motor-Konfiguration fehlt'}
+    except RuntimeError as exc:
+        return 500, {'status': str(exc)}
+    except ValueError as exc:
+        return 400, {'status': str(exc)}
+    except Exception:
+        return 500, {'status': 'Motortest fehlgeschlagen'}
+    finally:
+        MOTOR_TEST_LOCK.release()
+
+
+def get_steering_neutral_status():
+    from admin_motor_test import get_steering_neutral_values
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = get_steering_neutral_values()
+        return 200, {
+            'status': 'Servo-Mitten geladen',
+            'neutral_values': result,
+            'container_status': container_status,
+        }
+    except FileNotFoundError:
+        return 500, {'status': 'Motor-Konfiguration fehlt'}
+    except Exception:
+        return 500, {'status': 'Servo-Mitten konnten nicht geladen werden'}
+
+
+def preview_steering_neutral_action(wheel, value):
+    from admin_motor_test import preview_steering_neutral_value
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = preview_steering_neutral_value(str(wheel).lower(), int(value))
+        return 200, {
+            'status': f"{result['wheel_label']}: PWM {result['value']}",
+            'preview': result,
+            'container_status': container_status,
+        }
+    except ValueError as exc:
+        return 400, {'status': str(exc)}
+    except RuntimeError as exc:
+        return 500, {'status': str(exc)}
+    except Exception:
+        return 500, {'status': 'Servo-Vorschau fehlgeschlagen'}
+
+
+def save_steering_neutral_action(values):
+    from admin_motor_test import save_steering_neutral_values
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = save_steering_neutral_values(values)
+        return 200, {
+            'status': 'Servo-Mitten gespeichert',
+            'neutral_values': result,
+            'container_status': container_status,
+        }
+    except ValueError as exc:
+        return 400, {'status': str(exc)}
+    except RuntimeError as exc:
+        return 500, {'status': str(exc)}
+    except FileNotFoundError:
+        return 500, {'status': 'Motor-Konfiguration fehlt'}
+    except Exception:
+        return 500, {'status': 'Servo-Mitten konnten nicht gespeichert werden'}
+
+
+def get_drive_neutral_status():
+    from admin_motor_test import get_drive_neutral_value
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = get_drive_neutral_value()
+        return 200, {
+            'status': 'Fahr-Neutralwert geladen',
+            'drive_neutral': result,
+            'container_status': container_status,
+        }
+    except FileNotFoundError:
+        return 500, {'status': 'Motor-Konfiguration fehlt'}
+    except Exception:
+        return 500, {'status': 'Fahr-Neutralwert konnte nicht geladen werden'}
+
+
+def preview_drive_neutral_action(value):
+    from admin_motor_test import preview_drive_neutral_value
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = preview_drive_neutral_value(int(value))
+        return 200, {
+            'status': f"Fahr-Neutralwert: PWM {result['value']}",
+            'drive_neutral': result,
+            'container_status': container_status,
+        }
+    except ValueError as exc:
+        return 400, {'status': str(exc)}
+    except RuntimeError as exc:
+        return 500, {'status': str(exc)}
+    except Exception:
+        return 500, {'status': 'Fahr-Vorschau fehlgeschlagen'}
+
+
+def save_drive_neutral_action(value):
+    from admin_motor_test import save_drive_neutral_value
+
+    container_status = get_motor_test_container_status()
+    if not container_status['is_safe_for_motor_test']:
+        return 409, {
+            'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
+            'container_status': container_status,
+        }
+
+    try:
+        result = save_drive_neutral_value(int(value))
+        return 200, {
+            'status': 'Fahr-Neutralwert gespeichert',
+            'drive_neutral': result,
+            'container_status': container_status,
+        }
+    except ValueError as exc:
+        return 400, {'status': str(exc)}
+    except RuntimeError as exc:
+        return 500, {'status': str(exc)}
+    except FileNotFoundError:
+        return 500, {'status': 'Motor-Konfiguration fehlt'}
+    except Exception:
+        return 500, {'status': 'Fahr-Neutralwert konnte nicht gespeichert werden'}
+
+
 class Handler(http.server.BaseHTTPRequestHandler):
     def end_headers(self):
         self.send_header('Access-Control-Allow-Origin', '*')
@@ -152,9 +356,154 @@ class Handler(http.server.BaseHTTPRequestHandler):
         if self.path == '/api/status':
             self.write_json(200, collect_status())
             return
+        if self.path == '/api/motor-test/status':
+            self.write_json(200, {
+                'status': 'Bereit',
+                'container_status': get_motor_test_container_status(),
+            })
+            return
+        if self.path == '/api/motor-test/steering-neutral':
+            status_code, response = get_steering_neutral_status()
+            self.write_json(status_code, response)
+            return
+        if self.path == '/api/motor-test/drive-neutral':
+            status_code, response = get_drive_neutral_status()
+            self.write_json(status_code, response)
+            return
         self.write_json(404, {'status': 'Unbekannt'})
 
     def do_POST(self):
+        if self.path == '/api/motor-test/drive-neutral/preview':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+
+            status_code, response = preview_drive_neutral_action(payload.get('value', 0))
+            self.write_json(status_code, response)
+            return
+
+        if self.path == '/api/motor-test/drive-neutral/save':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+
+            status_code, response = save_drive_neutral_action(payload.get('value', 0))
+            self.write_json(status_code, response)
+            return
+
+        if self.path == '/api/motor-test/steering-neutral/preview':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+
+            status_code, response = preview_steering_neutral_action(
+                payload.get('wheel', ''),
+                payload.get('value', 0)
+            )
+            self.write_json(status_code, response)
+            return
+
+        if self.path == '/api/motor-test/steering-neutral/save':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+
+            values = payload.get('values')
+            if not isinstance(values, dict):
+                self.write_json(400, {'status': 'Neutralwerte fehlen'})
+                return
+
+            status_code, response = save_steering_neutral_action(values)
+            self.write_json(status_code, response)
+            return
+
+        if self.path == '/api/motor-test/stop-container':
+            stopped, _ = stop_exomy_container()
+            container_status = get_motor_test_container_status()
+            if not stopped and not container_status['is_safe_for_motor_test']:
+                self.write_json(500, {
+                    'status': 'ExoMy-Container konnte nicht gestoppt werden',
+                    'container_status': container_status,
+                })
+                return
+            self.write_json(200, {
+                'status': 'ExoMy-Container ist gestoppt',
+                'container_status': container_status,
+            })
+            return
+
+        if self.path == '/api/motor-test/start-container':
+            started, _ = start_exomy_container()
+            container_status = get_motor_test_container_status()
+            if not started and container_status['state'] != 'running':
+                self.write_json(500, {
+                    'status': 'ExoMy-Container konnte nicht gestartet werden',
+                    'container_status': container_status,
+                })
+                return
+            self.write_json(200, {
+                'status': 'ExoMy-Container läuft wieder',
+                'container_status': container_status,
+            })
+            return
+
+        if self.path == '/api/motor-test':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+
+            status_code, response = run_motor_test_action(
+                str(payload.get('wheel', '')).lower(),
+                str(payload.get('action', ''))
+            )
+            self.write_json(status_code, response)
+            return
+
         actions = {
             '/api/restart-camera': {
                 'handler': restart_camera_service,
diff --git a/ExoMy_Software-master/src/rover.py b/ExoMy_Software-master/src/rover.py
index 835246a..3c72d63 100644
--- a/ExoMy_Software-master/src/rover.py
+++ b/ExoMy_Software-master/src/rover.py
@@ -159,10 +159,10 @@ class Rover():
         if(self.locomotion_mode == LocomotionMode.CRABBING.value):
             if(driving_command != 0):
                 wheel_direction = 0
-                if(steering_command > 0):
+                if(steering_command >= 0):
                     wheel_direction = steering_command - 90
 
-                elif(steering_command <= 0):
+                elif(steering_command < 0):
                     wheel_direction = steering_command + 90
 
                 wheel_direction = np.clip(wheel_direction, -75, 75)
@@ -279,20 +279,14 @@ class Rover():
             return motor_speeds
 
         if(self.locomotion_mode == LocomotionMode.CRABBING.value):
-            if(driving_command > 0):
-                if(steering_command > 0):
-                    motor_speeds[self.FL] = 50
-                    motor_speeds[self.FR] = 50
-                    motor_speeds[self.CL] = 50
-                    motor_speeds[self.CR] = 50
-                    motor_speeds[self.RL] = 50
-                    motor_speeds[self.RR] = 50
-                elif(steering_command <= 0):
-                    motor_speeds[self.FL] = -50
-                    motor_speeds[self.FR] = -50
-                    motor_speeds[self.CL] = -50
-                    motor_speeds[self.CR] = -50
-                    motor_speeds[self.RL] = -50
-                    motor_speeds[self.RR] = -50
+            v = driving_command
+            if(steering_command < 0):
+                v *= -1
+            motor_speeds[self.FL] = v
+            motor_speeds[self.FR] = v
+            motor_speeds[self.CL] = v
+            motor_speeds[self.CR] = v
+            motor_speeds[self.RL] = v
+            motor_speeds[self.RR] = v
 
         return motor_speeds
diff --git a/motor_test_results.jsonl b/motor_test_results.jsonl
new file mode 100644
index 0000000..bd050c9
--- /dev/null
+++ b/motor_test_results.jsonl
@@ -0,0 +1,24 @@
+{"timestamp": "2026-05-19 17:52:01", "wheel": "rl", "wheel_label": "Hinten links", "action": "steer_left", "action_label": "Lenkung links", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:06", "wheel": "rl", "wheel_label": "Hinten links", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:09", "wheel": "rl", "wheel_label": "Hinten links", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:12", "wheel": "rl", "wheel_label": "Hinten links", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:20", "wheel": "rr", "wheel_label": "Hinten rechts", "action": "steer_left", "action_label": "Lenkung links", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:23", "wheel": "rr", "wheel_label": "Hinten rechts", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:26", "wheel": "rr", "wheel_label": "Hinten rechts", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:29", "wheel": "rr", "wheel_label": "Hinten rechts", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:34", "wheel": "cl", "wheel_label": "Mitte links", "action": "steer_left", "action_label": "Lenkung links", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:40", "wheel": "cl", "wheel_label": "Mitte links", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "not_ok", "verdict_label": "Nein"}
+{"timestamp": "2026-05-19 17:52:44", "wheel": "cl", "wheel_label": "Mitte links", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:47", "wheel": "cl", "wheel_label": "Mitte links", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "not_ok", "verdict_label": "Nein"}
+{"timestamp": "2026-05-19 17:52:52", "wheel": "cr", "wheel_label": "Mitte rechts", "action": "steer_left", "action_label": "Lenkung links", "verdict": "not_ok", "verdict_label": "Nein"}
+{"timestamp": "2026-05-19 17:52:55", "wheel": "cr", "wheel_label": "Mitte rechts", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:52:58", "wheel": "cr", "wheel_label": "Mitte rechts", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:01", "wheel": "cr", "wheel_label": "Mitte rechts", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:08", "wheel": "fl", "wheel_label": "Vorne links", "action": "steer_left", "action_label": "Lenkung links", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:13", "wheel": "fl", "wheel_label": "Vorne links", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:17", "wheel": "fl", "wheel_label": "Vorne links", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:20", "wheel": "fl", "wheel_label": "Vorne links", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:24", "wheel": "fr", "wheel_label": "Vorne rechts", "action": "steer_left", "action_label": "Lenkung links", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:28", "wheel": "fr", "wheel_label": "Vorne rechts", "action": "steer_right", "action_label": "Lenkung rechts", "verdict": "not_ok", "verdict_label": "Nein"}
+{"timestamp": "2026-05-19 17:53:31", "wheel": "fr", "wheel_label": "Vorne rechts", "action": "drive_forward", "action_label": "Vorwärts", "verdict": "ok", "verdict_label": "Ja"}
+{"timestamp": "2026-05-19 17:53:35", "wheel": "fr", "wheel_label": "Vorne rechts", "action": "drive_backward", "action_label": "Rückwärts", "verdict": "ok", "verdict_label": "Ja"}