diff --git a/LinuxCNC_ArduinoConnector.ino b/LinuxCNC_ArduinoConnector.ino
index b01ec11..d5fa0de 100644
--- a/LinuxCNC_ArduinoConnector.ino
+++ b/LinuxCNC_ArduinoConnector.ino
@@ -9,7 +9,7 @@
   You can create as many digital & analog Inputs, Outputs and PWM Outputs as your Arduino can handle.
   You can also generate "virtual Pins" by using latching Potentiometers, which are connected to one analog Pin, but are read in Hal as individual Pins.
 
-  Currently the Software provides: 
+  Currently the Software Supports: 
   - analog Inputs
   - latching Potentiometers
   - 1 binary encoded selector Switch
@@ -29,7 +29,9 @@
   Analog Inputs           = 'A' -write only  -Pin State: 0-1024
   Latching Potentiometers = 'L' -write only  -Pin State: 0-max Position
   binary encoded Selector = 'K' -write only  -Pin State: 0-32
-
+  rotary encoder          = 'R' -write only  -Pin State: up/ down / -32768 to 32767
+  joystick                = 'R' -write only  -Pin State: up/ down / -32768 to 32767
+  
 Keyboard Input:
   Matrix Keypad           = 'M' -write only  -Pin State: Number of Matrix Key. 
 
@@ -61,20 +63,20 @@ Communication Status      = 'E' -read/Write  -Pin State: 0:0
 //###################################################IO's###################################################
 
 
-#define INPUTS                       //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs.
+//#define INPUTS                       //Use Arduino IO's as Inputs. Define how many Inputs you want in total and then which Pins you want to be Inputs.
 #ifdef INPUTS
   const int Inputs = 5;               //number of inputs using internal Pullup resistor. (short to ground to trigger)
   int InPinmap[] = {37,38,39,40,41};
 #endif
 
                                        //Use Arduino IO's as Toggle Inputs, which means Inputs (Buttons for example) keep HIGH State after Release and Send LOW only after beeing Pressed again. 
-#define SINPUTS                        //Define how many Toggle Inputs you want in total and then which Pins you want to be Toggle Inputs.
+//#define SINPUTS                        //Define how many Toggle Inputs you want in total and then which Pins you want to be Toggle Inputs.
 #ifdef SINPUTS
   const int sInputs = 5;              //number of inputs using internal Pullup resistor. (short to ground to trigger)
   int sInPinmap[] = {32,33,34,35,36};
 #endif
 
-#define OUTPUTS                     //Use Arduino IO's as Outputs. Define how many Outputs you want in total and then which Pins you want to be Outputs.
+//#define OUTPUTS                     //Use Arduino IO's as Outputs. Define how many Outputs you want in total and then which Pins you want to be Outputs.
 #ifdef OUTPUTS
   const int Outputs = 9;              //number of outputs
   int OutPinmap[] = {10,9,8,7,6,5,4,3,2,21};
@@ -89,8 +91,8 @@ Communication Status      = 'E' -read/Write  -Pin State: 0:0
 //#define AINPUTS                       //Use Arduino ADC's as Analog Inputs. Define how many Analog Inputs you want in total and then which Pins you want to be Analog Inputs.
                                         //Note that Analog Pin numbering is different to the Print on the PCB.
 #ifdef AINPUTS
-  const int AInputs = 1; 
-  int AInPinmap[] = {1};                //Potentiometer for SpindleSpeed override
+  const int AInputs = 2; 
+  int AInPinmap[] = {0,2};                //Potentiometer for SpindleSpeed override
   int smooth = 200;                     //number of samples to denoise ADC, try lower numbers on your setup 200 worked good for me.
 #endif
 
@@ -113,7 +115,7 @@ Note that Analog Pin numbering is different to the Print on the PCB.
 //#define LPOTIS
 #ifdef LPOTIS
   const int LPotis = 2; 
-  int LPotiPins[LPotis][2] = {
+  const int LPotiPins[LPotis][2] = {
                     {2,9},             //Latching Knob Spindle Overdrive on A1, has 9 Positions
                     {3,4}              //Latching Knob Feed Resolution on A2, has 4 Positions
                     };
@@ -126,6 +128,64 @@ Note that Analog Pin numbering is different to the Print on the PCB.
 #endif
 
 
+#define ROTENC                   
+//Support for Rotatary Encoders with Quadrature Output. Define Pins for A and B Signals for your encoders. Visit https://www.pjrc.com/teensy/td_libs_Encoder.html for further explanation.
+
+#ifdef ROTENC
+  #include <Encoder.h>
+  const int RotEncs = 2; //how many Rotary Encoders do you want?
+    // Encoders have 2 signals, which must be connected to 2 pins. There are three options.
+
+    //Best Performance: Both signals connect to interrupt pins.
+    //Good Performance: First signal connects to an interrupt pin, second to a non-interrupt pin.
+    //Low Performance: Both signals connect to non-interrupt pins, details below. 
+
+    //Board	            Interrupt Pins	            LED Pin(do not use)
+    //Teensy 4.0 - 4.1	All Digital Pins	          13
+    //Teensy 3.0 - 3.6	All Digital Pins	          13
+    //Teensy LC	        2 - 12, 14, 15, 20 - 23	    13
+    //Teensy 2.0	      5, 6, 7, 8	                11
+    //Teensy 1.0	      0, 1, 2, 3, 4, 6, 7, 16	
+    //Teensy++ 2.0	    0, 1, 2, 3, 18, 19, 36, 37  6
+    //Teensy++ 1.0	    0, 1, 2, 3, 18, 19, 36, 37	
+    //Arduino Due	      All Digital Pins	          13
+    //Arduino Uno	      2, 3	                      13
+    //Arduino Leonardo	0, 1, 2, 3	                13
+    //Arduino Mega	    2, 3, 18, 19, 20, 21	      13
+    //Sanguino	        2, 10, 11	                  0
+
+Encoder Encoder0(2,3);      //A,B Pin
+Encoder Encoder1(18,19);    //A,B Pin
+//Encoder Encoder2(A,B);
+//Encoder Encoder3(A,B);
+//Encoder Encoder4(A,B);                      
+  const int RotEncData[] = {1,2}; //define wich kind of Signal you want to generate. 
+                                  //1= send up or down signal (typical use for selecting modes in hal)
+                                  //2= send position signal (typical use for MPG wheel)
+
+  const int RotEncMp[] = {1,4};  //some Rotary encoders send multiple Electronical Impulses per mechanical pulse. How many Electrical impulses are send for each mechanical Latch?            
+
+#endif
+
+#define JOYSTICK                   //Support of an Rotating Knob that was build in my Machine. It encodes 32 Positions with 5 Pins in Binary. This will generate 32 Pins in LinuxCNC Hal.
+#ifdef JOYSTICK
+  const int JoySticks = 1;
+  const int JoyStickPins[JoySticks][2] = {
+                        {A0,A2},//Analog Pins JoyStick 1 is connected to
+                        //{2,3}//Analog Pins JoyStick 2 is connected to 
+                        };                                   
+  const int JoyStickDeadband = 50; //Area around Middle Position that gets ignored. 
+  const int JoyStickSpeed = 100; //Multiplier to slow down the Output Speed if in counter mode. Higher number = slower. 
+
+
+  const int JoyStickMaxVal = 500; //The Analog Input gets transformed from 0-1023 to -JoyStickMaxVal to +JoyStickMaxVal, so that the Middle Position of the Joystick is 0. I don't think you should change this.
+#endif
+
+
+
+
+
+
 //The Software will detect if there is an communication issue. When you power on your machine, the Buttons etc won't work, till LinuxCNC is running. THe StatusLED will inform you about the State of Communication.
 // Slow Flash = Not Connected
 // Steady on = connected
@@ -266,7 +326,15 @@ const int debounceDelay = 50;
 #ifdef KEYPAD
   byte KeyState = 0;
 #endif
-
+#ifdef ROTENC
+  long EncCount[RotEncs];
+  long OldEncCount[RotEncs];
+#endif
+#ifdef JOYSTICK
+  //int oldJoyStick[JoySticks];
+  long JoyStickCount[JoySticks][2];
+  
+#endif
 
 //### global Variables setup###
 //Please don't touch them
@@ -286,8 +354,6 @@ char cmd = 0;
 uint16_t io = 0;
 uint16_t value = 0;
 
-
-
 void setup() {
 
 #ifdef INPUTS
@@ -351,6 +417,15 @@ for(int col = 0; col < numCols; col++) {
 }
 #endif
 
+#ifdef JOYSTICK
+  for(int i= 0; i<JoySticks;i++){
+    JoyStickCount[i][0] = 0;
+    JoyStickCount[i][1] = 0;
+    pinMode(JoyStickPins[i][0], INPUT);
+    pinMode(JoyStickPins[i][1], INPUT);
+    }
+#endif
+
 //Setup Serial
   Serial.begin(115200);
   while (!Serial){}
@@ -391,9 +466,65 @@ void loop() {
   readKeypad(); //read Keyboard & send data
 #endif
 
-
+#ifdef ROTENC
+  readEncoders(); //read Encoders & send data
+#endif
+#ifdef JOYSTICK
+  readJoySticks(); //read Encoders & send data
+#endif
 }
 
+#ifdef JOYSTICK
+void readJoySticks(){
+  for(int i= 0;i<JoySticks; i++){
+    long var0 = 0;
+    long var1 = 0;
+    for(int d= 0;d<5; d++){// take couple samples to denoise signal
+        var0 = var0+ analogRead(JoyStickPins[i][0]);
+        var1 = var1+ analogRead(JoyStickPins[i][1]);
+    }
+    var0 = var0 / 5; //0-1023
+    var1 = var1 / 5; //0-1023
+
+
+    if(var0 > 510+JoyStickDeadband || var0 < 510-JoyStickDeadband){
+      var0 = map(var0,0,1023,JoyStickMaxVal*-1,JoyStickMaxVal);
+      JoyStickCount[i][0] = JoyStickCount[i][0] + (var0*2);
+      sendData('R',JoyStickPins[i][0],JoyStickCount[i][0]/(JoyStickMaxVal*JoyStickSpeed));
+    }
+    if(var1 > 510 + JoyStickDeadband || var1 < 510 - JoyStickDeadband){
+      var1 = map(var1,0,1023,JoyStickMaxVal*-1,JoyStickMaxVal);
+      JoyStickCount[i][1] = JoyStickCount[i][1] + (var1*2) ;
+      sendData('R',JoyStickPins[i][1],JoyStickCount[i][1]/(JoyStickMaxVal*JoyStickSpeed));
+    }
+
+  }
+}
+#endif
+void readEncoders(){
+    if(RotEncs>=1){
+      EncCount[0] = RotEncMp[0]* Encoder0.read();
+    }
+    if(RotEncs>=2){
+      EncCount[1] = RotEncMp[1]* Encoder1.read();
+    }
+    if(RotEncs>=3){
+      //EncCount[2] = RotEncMp[2]* Encoder2.read();
+    }
+    if(RotEncs>=4){
+      //EncCount[3] = RotEncMp[3]* Encoder3.read();
+    }
+    if(RotEncs>=5){
+      //EncCount[4] = RotEncMp[4]* Encoder4.read();
+    }
+
+    for(int i=0; i<=RotEncs;i++){
+      if(OldEncCount[i] != EncCount[i]){
+         //sendData("R",i,EncCount[i]);
+         OldEncCount[i] = EncCount[i];
+      }
+    }
+}
 
 void comalive(){
   #ifdef STATUSLED
@@ -510,10 +641,10 @@ int readLPoti(){
 
 #ifdef AINPUTS
 int readAInputs(){
-   unsigned long var = 0;
+   
    for(int i= 0;i<AInputs; i++){
-      int State = analogRead(AInPinmap[i]);
-      for(int i= 0;i<smooth; i++){// take couple samples to denoise signal
+      unsigned long var = 0;
+      for(int d= 0;d<smooth; d++){// take couple samples to denoise signal
         var = var+ analogRead(AInPinmap[i]);
       }
       var = var / smooth;
diff --git a/arduino.py b/arduino.py
index 5eadaf4..cc96ee1 100644
--- a/arduino.py
+++ b/arduino.py
@@ -51,16 +51,16 @@ connection = '/dev/ttyACM0' 	#this is the port your Arduino is connected to. You
 
 
 # Set how many Inputs you have programmed in Arduino and which pins are Inputs, Set Inputs = 0 to disable
-Inputs = 5
+Inputs = 0
 InPinmap = [37,38,39,40,41]
 
 # Set how many Toggled ("sticky") Inputs you have programmed in Arduino and which pins are Toggled Inputs , Set SInputs = 0 to disable
-SInputs = 5
+SInputs = 0
 sInPinmap = [32,33,34,35,36]
 
 
 # Set how many Outputs you have programmed in Arduino and which pins are Outputs, Set Outputs = 0 to disable
-Outputs = 9				#9 Outputs, Set Outputs = 0 to disable
+Outputs = 0				#9 Outputs, Set Outputs = 0 to disable
 OutPinmap = [10,9,8,7,6,5,4,3,2,21]	
 
 # Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs, you can set as many as your Arduino has PWM pins. List the connected pins below.
@@ -93,6 +93,17 @@ BinSelKnobPos = 32
 SetBinSelKnobValue = [1]
 BinSelKnobvalues = [[180,190,200,0,0,0,0,0,0,0,0,0,0,0,0,10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170],
 			   [0.001,0.01,0.1,1]]
+
+#Quadrature Encoders
+
+#Joystick
+JoySticks = 1
+JoyStickPins = [[54,56],
+			   [3,1]]
+
+
+
+
 # Set how many Digital LED's you have connected. 
 DLEDcount = 0 
 
@@ -115,14 +126,14 @@ DLEDcount = 0
 
 Keypad = 0	# Set to 1 to Activate
 LinuxKeyboardInput = 1	#Activate direct Keyboard integration to Linux.
-Columns = 4
-Rows = 4
+Columns = 24
+Rows = 8
 Chars = [			#here you must define as many characters as your Keypad has keys. calculate columns * rows . for example 4 *4 = 16. You can write it down like in the example for ease of readability.
  "1", "2", "3", "A",
  "4", "5", "6", "B",
  "7", "8", "9", "C",
  "#", "0", "*", "D"
-] 
+]
 
 # These are Settings to connect Keystrokes to Linux, you can ignore them if you only use them as LinuxCNC Inputs.
 
@@ -132,7 +143,7 @@ Destination = [		#define, which Key should be inserted in LinuxCNC as Input or a
 					# 1 = Linux
 	0, 0, 0, 1,
 	0, 0, 0, 1,
-	0, 0, 0, 1, 
+	0, 0, 0, 1,
 	1, 0, 1, 1
 ]
 
@@ -204,6 +215,10 @@ if Keypad > 0:
 			pass #if destination is set to Linux, don't register a Hal Pin for this key.
 		else:
 			c.newpin("Keypad.{}".format(Chars[port]), hal.HAL_BIT, hal.HAL_IN)
+#setup JoyStick Pins
+if JoySticks > 0:
+	for port in range(JoySticks):
+    c.newpin("Jsk.{}".format(JoyStickPins[port]), hal.HAL_FLOAT, hal.HAL_OUT)
 c.ready()
 
 #setup Serial connection
@@ -272,110 +287,116 @@ def managageOutputs():
 
 
 while True:
-	
-	try:
-		data = arduino.readline().decode('utf-8')					#read Data received from Arduino and decode it
-		if (Debug):print ("I received:{}".format(data))
-		data = data.split(":",1)
-
+	time.wait(0.01)	
+	if(arduino.in_waiting()>0):
 		try:
-			cmd = data[0][0]
-			if cmd == "":
-				if (Debug):print ("No Command!:{}.".format(cmd))
-			
-			else:
-				if not data[0][1]:
-					io = 0
-				else:
-					io = extract_nbr(data[0])
-				value = extract_nbr(data[1])
-				if value<0: value = 0
+			data = arduino.readline().decode('utf-8')					#read Data received from Arduino and decode it
+			if (Debug):print ("I received:{}".format(data))
+			data = data.split(":",1)
+
+			try:
+				cmd = data[0][0]
+				if cmd == "":
+					if (Debug):print ("No Command!:{}.".format(cmd))
 				
+				else:
+					if not data[0][1]:
+						io = 0
+					else:
+						io = extract_nbr(data[0])
+					value = extract_nbr(data[1])
+					if value<0: value = 0
+					
 
-				if cmd == "I":
-					firstcom = 1
-					if value == 1:
-						c["dIn.{}".format(io)] = 1
-						c["dIn.{}-invert".format(io)] = 0
-						if(Debug):print("dIn{}:{}".format(io,1))
-						
-					if value == 0:
-						c["dIn.{}".format(io)] = 0
-						c["dIn.{}-invert".format(io)] = 1
-						if(Debug):print("dIn{}:{}".format(io,0))
-					else:pass
+					if cmd == "I":
+						firstcom = 1
+						if value == 1:
+							c["dIn.{}".format(io)] = 1
+							c["dIn.{}-invert".format(io)] = 0
+							if(Debug):print("dIn{}:{}".format(io,1))
+							
+						if value == 0:
+							c["dIn.{}".format(io)] = 0
+							c["dIn.{}-invert".format(io)] = 1
+							if(Debug):print("dIn{}:{}".format(io,0))
+						else:pass
 
-				elif cmd == "A":
-					firstcom = 1
-					c["aIn.{}".format(io)] = value
-					if (Debug):print("aIn.{}:{}".format(io,value))
+					elif cmd == "A":
+						firstcom = 1
+						c["aIn.{}".format(io)] = value
+						if (Debug):print("aIn.{}:{}".format(io,value))
 
-				elif cmd == "L":
-					firstcom = 1
-					for Poti in range(LPoti):
-						if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0:
-							for Pin in range(LPotiLatches[Poti][1]):
-								if Pin == value:
-									c["LPoti.{}.{}" .format(io,Pin)] = 1
-									if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
+					elif cmd == "L":
+						firstcom = 1
+						for Poti in range(LPoti):
+							if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0:
+								for Pin in range(LPotiLatches[Poti][1]):
+									if Pin == value:
+										c["LPoti.{}.{}" .format(io,Pin)] = 1
+										if(Debug):print("LPoti.{}.{} =1".format(io,Pin))
+									else:
+										c["LPoti.{}.{}" .format(io,Pin)] = 0
+										if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
+							
+							if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1:
+								c["LPoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value]
+								if(Debug):print("LPoti.{}.{} = 0".format("out",LPotiValues[Poti][value]))
+
+					elif cmd == "K":
+						firstcom = 1
+						if SetBinSelKnobValue == 0:
+							for port in range(BinSelKnobPos):
+								if port == value:
+									c["BinSelKnob.{}".format(port)] = 1
+									if(Debug):print("BinSelKnob.{}:{}".format(port,1))
 								else:
-									c["LPoti.{}.{}" .format(io,Pin)] = 0
-									if(Debug):print("LPoti.{}.{} =0".format(io,Pin))
-						
-						if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1:
-							c["LPoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value]
-							if(Debug):print("LPoti.{}.{} = 0".format("out",LPotiValues[Poti][value]))
+									c["BinSelKnob.{}".format(port)] = 0
+									if(Debug):print("BinSelKnob.{}:{}".format(port,0))
+						else: 
+							c["BinSelKnob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value]
 
-				elif cmd == "K":
-					firstcom = 1
-					if SetBinSelKnobValue == 0:
-						for port in range(BinSelKnobPos):
-							if port == value:
-								c["BinSelKnob.{}".format(port)] = 1
-								if(Debug):print("BinSelKnob.{}:{}".format(port,1))
+
+					elif cmd == "M":
+						firstcom = 1
+						if value == 1:
+							if Destination[io] == 0 and LinuxKeyboardInput == 1:
+								subprocess.call(["xdotool", "key", Chars[io]])
+								if(Debug):print("Emulating Keypress{}".format(Chars[io]))
 							else:
-								c["BinSelKnob.{}".format(port)] = 0
-								if(Debug):print("BinSelKnob.{}:{}".format(port,0))
-					else: 
-						c["BinSelKnob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value]
+								c["Keypad.{}".format(Chars[io])] = 1
+								if(Debug):print("Keypad{}:{}".format(Chars[io],1))
 
+						if value == 0 & Destination[io] == 0:
+							c["Keypad.{}".format(Chars[io])] = 0
+							if(Debug):print("Keypad{}:{}".format(Chars[io],0))
 
-				elif cmd == "M":
-					firstcom = 1
-					if value == 1:
-						if Destination[io] == 0 and LinuxKeyboardInput == 1:
-							subprocess.call(["xdotool", "key", Chars[io]])
-							if(Debug):print("Emulating Keypress{}".format(Chars[io]))
-						else:
-							c["Keypad.{}".format(Chars[io])] = 1
-							if(Debug):print("Keypad{}:{}".format(Chars[io],1))
-
-					if value == 0 & Destination[io] == 0:
-						c["Keypad.{}".format(Chars[io])] = 0
-						if(Debug):print("Keypad{}:{}".format(Chars[io],0))
+					elif cmd == "R":
+						firstcom = 1
+						c["Jsk.{}".format(io)] = value
+						if (Debug):print("aIn.{}:{}".format(io,value))
 
 
 
-				elif cmd == 'E':
-					arduino.write(b"E0:0\n")
-					if (Debug):print("Sending E0:0 to establish contact")
-				else: pass
-	
+					elif cmd == 'E':
+						arduino.write(b"E0:0\n")
+						if (Debug):print("Sending E0:0 to establish contact")
+					else: pass
+		
 
-		except: pass
-	
+			except: pass
+		
 
-	except KeyboardInterrupt:
-		if (Debug):print ("Keyboard Interrupted.. BYE")
-		exit()
-	except: 
-		if (Debug):print ("I received garbage")
-		arduino.flush()
-	
-	if firstcom == 1: managageOutputs()		#if ==1: E0:0 has been exchanged, which means Arduino knows that LinuxCNC is running and starts sending and receiving Data
+		except KeyboardInterrupt:
+			if (Debug):print ("Keyboard Interrupted.. BYE")
+			exit()
+		except: 
+			if (Debug):print ("I received garbage")
+			arduino.flush()
+		
+		if firstcom == 1: managageOutputs()		#if ==1: E0:0 has been exchanged, which means Arduino knows that LinuxCNC is running and starts sending and receiving Data
 
-	if keepAlive(event):	#keep com alive. This is send to help Arduino detect connection loss.
-		arduino.write(b"E:\n")
-		if (Debug):print("keepAlive")
-		event = time.time()
-	
+		if keepAlive(event):	#keep com alive. This is send to help Arduino detect connection loss.
+			arduino.write(b"E:\n")
+			if (Debug):print("keepAlive")
+			event = time.time()
+