diff --git a/DVT_CmdHandlerClass.h b/DVT_CmdHandlerClass.h
new file mode 100644
index 0000000..4f3ae42
--- /dev/null
+++ b/DVT_CmdHandlerClass.h
@@ -0,0 +1,140 @@
+#ifndef DVT_CMDHANDLERCLASS_H
+#define DVT_CMDHANDLERCLASS_H
+
+#include "DVT_GantryClass.h"
+#include "DVT_VariacClass.h"
+#include "DVT_MainClass.h"
+#include "DVT_EncoderClass.h"
+#include "DVT_FilamentClass.h"
+#include "DVT_XRayClass.h"
+
+typedef struct {
+  String Name;
+  int Value;
+  bool unknown;
+  int ID;
+} cmd_t;
+
+class CommandHandler{
+  private:
+  String cmdList[13];
+  public:
+  CommandHandler(String cmdList[13]){
+    for (int i = 0; i < sizeof(commandList) / sizeof(*commandList); i++) {
+      this->cmdList[i] = commandList[i];
+    }
+  }
+  void issueOrder(cmd_t cmd);
+  void Recognize(String cmdstr);
+  String GetCommandByID(int ID);
+  cmd_t lastCommand;
+};
+
+CommandHandler cmds = CommandHandler(commandList);
+#endif
+
+void CommandHandler::issueOrder(cmd_t cmd){
+  debugMSG("issueOrder");
+
+  switch (cmd.ID) {
+    case PULS:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      ENCODE.SetPos(cmd.Value);
+      break;
+    case ANGL:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      ENCODE.SetPos(cmd.Value * ENCODE.puls_per_angle);
+      break;
+    case SPCL:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      GANTRY.SetClSpeed(cmd.Value);
+      break;
+    case SPCC:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      GANTRY.SetCcSpeed(cmd.Value);
+      break;
+    case RES:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      ENCODE.Reset();
+      break;
+    case VARF:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      break;
+    case VARB:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      break;
+    case TEST:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      sysMSG(ENCODE.GetEncoderPos());
+      break;
+    case RXON:
+      XRAY.SetTime(cmd.Value);
+      XRAY.Signal();
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      break;
+    case STFI:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      FILAMENT.SetFilamentState(cmd.Value);
+      break;
+    case RXSH:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      break;
+    case SCAN:
+      CONTROLMSG("Command : " + cmd.Name + " Value : " + String(cmd.Value));
+      break;
+  }
+}
+
+void CommandHandler::Recognize(String cmdstr){
+  cmd_t cmdbuffer;
+  debugMSG("CommandRecognize");
+  cmdstr.toUpperCase();
+  cmdstr.replace("\n", "");
+
+  if (cmdstr.indexOf(';') > 0) {
+    cmdbuffer.Name = cmdstr.substring(0, cmdstr.indexOf(';'));
+    cmdbuffer.Value = cmdstr.substring(cmdstr.indexOf(';') + 1).toInt();
+  } else {
+    cmdbuffer.Name = cmdstr;
+    cmdbuffer.Value = 0;
+  }
+
+  for (int i = 0; i < sizeof(cmdList) / sizeof(*cmdList); i++) {
+    if (cmdbuffer.Name == cmdList[i]) {
+      cmdbuffer.unknown = false;
+      cmdbuffer.ID = i;
+      break;
+    } else {
+      cmdbuffer.unknown = true;
+    }
+  }
+
+  this->lastCommand = cmdbuffer;
+  debugMSG("Command Name : " + this->lastCommand.Name);
+  debugMSG("Command Value : " + String(this->lastCommand.Value));
+
+  switch (lastCommand.unknown) {
+    case 0:
+      debugMSG("Available");
+      break;
+    case 1:
+      debugMSG("Unknown Command");
+      break;
+  };
+  
+  debugMSG(' ');
+  if (this->lastCommand.unknown) {
+    CONTROLMSG("Available Commandlist :");
+    for (int i = 0; i < sizeof(this->cmdList) / sizeof(*this->cmdList); i++) {
+      CONTROLMSG(this->cmdList[i]);
+    }
+    CONTROLMSG(' ');
+  } else {
+    this->issueOrder(this->lastCommand);
+  }
+
+}
+
+String CommandHandler::GetCommandByID(int ID){
+  return this->cmdList[ID];
+}
diff --git a/DVT_EncoderClass.h b/DVT_EncoderClass.h
new file mode 100644
index 0000000..44d81c8
--- /dev/null
+++ b/DVT_EncoderClass.h
@@ -0,0 +1,76 @@
+#ifndef DVT_ENCODERCLASS_H
+#define DVT_ENCODERCLASS_H
+
+
+#include "DVT_Types.h"
+#include "DVT_MainClass.h"
+#include "DVT_GantryClass.h"
+
+
+long CurEncoderPos;
+long NewEncoderPos;
+
+void IRAM_ATTR ISREncoderSteps() {
+  if (NewEncoderPos > CurEncoderPos)
+  {
+    if (NewEncoderPos - 5000 <= CurEncoderPos) {
+      //GANTRY.SetCcSpeed(NtCcSpeedSlow);
+    } else {
+      GANTRY.SetCcSpeed(NtCcSpeed);
+    }
+    CurEncoderPos++;
+  }
+  else if (NewEncoderPos < CurEncoderPos)
+  {
+    if (NewEncoderPos + 5000 >= CurEncoderPos) {
+      //GANTRY.SetCcSpeed(NtClSpeedSlow);
+    } else {
+      GANTRY.SetCcSpeed(NtClSpeed);
+    }
+    CurEncoderPos--;
+  }
+  else
+  {
+    detachInterrupt(ENCODER.GetPin());
+    GANTRY.Stop();
+  }
+}
+
+void IRAM_ATTR ISREncoderSwitch() {
+  sysMSG("ISREncoderSwitch Trigger" + String(CurEncoderPos));
+  CurEncoderPos = 0;
+}
+
+class Encoder {
+  public:
+    Encoder(long CurPos) {
+      CurEncoderPos = CurPos;
+      attachInterrupt(INDUCT_SWITCH.GetPin(), ISREncoderSwitch, RISING);
+    }
+    void SetPos(int Pos) {
+      GANTRY.Start();
+      NewEncoderPos = Pos;
+      debugMSG("Pos : " + String(NewEncoderPos));
+      if (CurEncoderPos > NewEncoderPos) {
+        GANTRY.CcRotation();
+      } else {
+        GANTRY.ClRotation();
+      }
+      attachInterrupt(ENCODER.GetPin(), ISREncoderSteps, RISING);
+    }
+
+    int GetEncoderPos() {
+      debugMSG("CurEncoderPos : " + String(CurEncoderPos));
+      return CurEncoderPos;
+    }
+    void Reset() {
+      CurEncoderPos = -1;
+    }
+
+
+    double puls_per_angle = 113108 / 360;
+};
+
+Encoder ENCODE = Encoder(0);
+
+#endif
diff --git a/DVT_MainClass.h b/DVT_MainClass.h
new file mode 100644
index 0000000..c710bef
--- /dev/null
+++ b/DVT_MainClass.h
@@ -0,0 +1,53 @@
+#ifndef DVT_MAINCLASS_H
+#define DVT_MAINCLASS_H
+
+#include <Arduino.h>
+#include <analogWrite.h>
+#include "DVT_Types.h"
+
+class Pin {
+  private:
+    byte pin;
+    byte pinMODE;
+    DVT_State_t pinSTATE;
+  public:
+    Pin(byte pin, byte pinMODE, bool pinSTATE) {
+      this->pin = pin;
+      this->pinMODE = pinMODE;
+      this->pinSTATE.State = pinSTATE;
+      
+      pinMode(pin, pinMODE);
+      if (this->pinMODE == OUTPUT)
+      digitalWrite(this->pin, this->pinSTATE.State);
+    }
+    void SetState(bool pinSTATE){
+      digitalWrite(this->pin, pinSTATE);
+    }
+    void SetAnalogState(int pinSTATE){
+      analogWrite(this->pin,pinSTATE);
+    }
+    bool GetState() {
+      return this->pinSTATE.State;
+    }
+    bool ReadState(){
+      return digitalRead(this->pin);
+    }
+    byte GetPin(){
+      return this->pin;
+    }
+};
+
+Pin INDUCT_SWITCH = Pin(PIN_INDUCT_SWITCH,INPUT,LOW);
+Pin ENCODER = Pin(PIN_ENCODER,INPUT,LOW);
+Pin VARIAC_LIMIT_BACK = Pin(PIN_VARIAC_LIMIT_BACK,INPUT,LOW);
+Pin VARIAC_LIMIT_FOR = Pin(PIN_VARIAC_LIMIT_FOR,INPUT,LOW);
+Pin ARM_STOP = Pin(PIN_ARM_STOP,OUTPUT,LOW);
+Pin ARM_SPEED = Pin(PIN_ARM_SPEED,OUTPUT,LOW);
+Pin ARM_DIRECT = Pin(PIN_ARM_DIRECT,OUTPUT,HIGH);
+Pin STEPMOTOR_ABLE = Pin(PIN_STEPMOTOR_ABLE,OUTPUT,HIGH);
+Pin STEPMOTOR_DIRECT = Pin(PIN_STEPMOTOR_DIRECT,OUTPUT,HIGH);
+Pin STEPMOTOR_CLOCK = Pin(PIN_STEPMOTOR_CLOCK,OUTPUT,HIGH);
+Pin XRAY_SWITCH = Pin(PIN_XRAY,OUTPUT,LOW);
+Pin FILAMENT_SWITCH = Pin(PIN_FILAMENT_SWITCH,OUTPUT,LOW);
+
+#endif
diff --git a/DVT_Types.h b/DVT_Types.h
new file mode 100644
index 0000000..a5f9c4a
--- /dev/null
+++ b/DVT_Types.h
@@ -0,0 +1,9 @@
+#ifndef DVT_TYPES_H
+#define DVT_TYPES_H
+
+typedef struct {
+  bool State;
+  long Time;
+}DVT_State_t;
+
+#endif
diff --git a/DVT_main.ino b/DVT_main.ino
new file mode 100644
index 0000000..3c3b942
--- /dev/null
+++ b/DVT_main.ino
@@ -0,0 +1,35 @@
+#include "DVT_CmdHandlerClass.h"
+#include "DVT_EncoderClass.h"
+#include "DVT_FilamentClass.h"
+#include "DVT_XRayClass.h"
+                     
+void setup() {
+  Serial.begin(115200);
+
+  CONTROLMSG(' ');
+  CONTROLMSG("#DVT Control");
+  CONTROLMSG(' ');
+
+
+}
+
+
+long shuffle=0;
+bool Status=false;
+
+void TESTSignal(){
+  if (millis() >= shuffle){
+    Status = !Status;
+    digitalWrite(PIN_STEPMOTOR_DIRECT,Status);
+    shuffle+=10;
+  }
+}
+
+
+void loop() {
+  while (Serial.available()) {
+   cmds.Recognize(Serial.readString());
+  }
+  XRAY.RunTime();
+  FILAMENT.Heated();
+}