diff --git a/config.h b/config.h
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+/*
+##########################################################
+######### DIESES SKRIPT NICHT BEARBEITEN!!! ##############
+##########################################################
+*/
+
+/*      BITS-i sensor shematic
+ *    
+ *     +----#2-----L4-----#4----+
+ *   L1|                        |L3
+ *     |        <------         |
+ *  US1| #0      BITS-i         |US2
+ *     |                        |
+ *   L1|                        |L3
+ *     +----#1-----L2-----#3----+
+ *
+ * US1 - 2: Ultraschall Sensoren
+ * #0 - #4: Time of Flight Sensoren  
+ * L1 - 4: LED Streifen            
+ *
+ *                   #2   L4  #3
+ *                   ___      ___
+ *                  [_ _]    [_ _]   _
+ *             /|  ___S________S_   | \   L3
+ *            / |-/        ____  [++| |+
+ *    US1 #0 <<<<<---<|  |>____O)<ooo>|   US2
+ *            \ |-\___ ________ _[++| |+  
+ *             \|    _S_      _S_   |_/   L3    
+ *                  [___]    [___]      
+ *                   #1   L2  #4
+ *
+ */
+
+#ifndef BITSIPARAMETER_H
+#define BITSIPARAMETER_H
+
+/* ************** *
+ * Debug Settings *
+ * ************** */
+// #define DEBUG_TOF
+// #define DEBUG_IMU
+// #define DEBUG_COURSE
+
+/* ************ *
+ * Bibliotheken *
+ * ************ */
+#include <bits_motor_driver_tb6612fng.h>
+#include <thk_servo_controller.h>
+#include <bits_time_of_flight_controller.h>
+#include <thk_ir_controller.h>
+#include <RF24.h>
+#include <thk_imu.h>
+#include <thk_ledstrip_controller.h>
+#include <util/atomic.h> // For the ATOMIC_BLOCK macro
+
+/* ************ *
+ * LED Streifen *
+ * ************ */
+const int FRONT_LED_NUM = 13;
+const int RIGHT_LED_NUM = 10;
+const int BACK_LED_NUM = 10;
+const int LEFT_LED_NUM = 10;
+
+thk_LedStripController front_strip(FRONT_LED_NUM,33);     
+thk_LedStripController left_strip(LEFT_LED_NUM, 35);   
+thk_LedStripController right_strip(RIGHT_LED_NUM, 37);  
+thk_LedStripController back_strip(BACK_LED_NUM,39);     
+bool state = true;
+uint8_t red, green, blue;
+
+/* ************* *
+ * Antriebsmotor *
+ * ************* */
+bits_MotorDriverTB6612FNG Motor;
+uint8_t velocity = 100;
+uint8_t velocity_backward = 80; // Geschwindigkeit für rückwährts fahren
+
+/* ********** *
+ * Servomotor *
+ * ********** */
+const int STEER_SERVO_PIN = 11;
+const int STEER_ANGLE_MAX = 107;    // Muss eventuell angepasst werden!
+const int STEER_ANGLE_MIN = 43;     // Muss eventuell angepasst werden!
+const int STEER_START_POS = 90;     // Muss eventuell angepasst werden!
+int STEER_HALF_RIGHT = STEER_START_POS + (STEER_ANGLE_MAX-STEER_START_POS)/2;
+int STEER_HALF_LEFT = STEER_START_POS - (STEER_START_POS-STEER_ANGLE_MIN)/2;
+thk_ServoController ServoSteer(STEER_SERVO_PIN, STEER_START_POS, STEER_ANGLE_MAX, STEER_ANGLE_MIN);
+
+const int SEARCH_SERVO_PIN = 12;
+const int SEARCH_ANGLE_MAX = 180;   // Muss eventuell angepasst werden!
+const int SEARCH_ANGLE_MIN = 0;     // Muss eventuell angepasst werden!
+const int SEARCH_START_POS = 90;    // Muss eventuell angepasst werden!
+thk_ServoController ServoSearch(SEARCH_SERVO_PIN, SEARCH_START_POS, SEARCH_ANGLE_MAX, SEARCH_ANGLE_MIN);
+
+float servo_steering_angle;
+
+/* ****** *
+ * Buzzer *
+ * ****** */
+const int BUZZER_PIN = A5;
+
+/* *** *
+ * IMU *
+ * *** */
+thk_IMU imu(0);
+float yaw, pitch, roll;
+
+/* ******************* *
+ * Ultraschallsensoren *
+ * ******************* */
+#define TRIGF 4
+#define ECHOF 2
+
+#define TRIGB 7
+#define ECHOB 3
+int entfernung;
+double dauer;
+
+/* *********************** *
+ * Time of flight Sensoren *
+ * *********************** */
+int tof_l_1, tof_r_1, tof_l_2, tof_r_2;
+bits_TimeOfFlightController tof_controller(8000);
+
+// Choose which ToF is mounted on the servo
+#define TOF_VL53L0X
+// #define TOF_TFLUNA
+
+#ifdef TOF_TFLUNA      // TFLuna-I2C Library v.0.1.1
+#include <TFLI2C.h>
+TFLI2C tflI2C;
+
+int16_t  tfDist;    // distance in centimeters
+int16_t  tfAddr = TFL_DEF_ADR;  // Use this default I2C address or
+                                // set variable to your own value
+#endif
+
+/* ************ *
+ * IR Empfänger *
+ * ************ */
+const uint8_t IR_PIN = 46;
+thk_IrController ir_sensor(IR_PIN);
+
+/* ******** *
+ * NRF24L01 *
+ * ******** */
+int ReceivedMessage[3];
+RF24 radio(49, 53); // NRF24L01 used SPI pins + CE Pin 49 and CSN PIN 53 on the Mega Pro
+const uint64_t pipe = 0xE6E6E6E6E6E6; // Needs to be the same for communicating between 2 NRF24L01
+
+/* ********* *
+ * Sonstiges *
+ * ********* */
+long start;
+int sensor_distance = 19; // Abstand der Seitlichen ToFs von einander in cm
+float weighted_distance;
+const int MIN_DIST_F = 35;  // Mindest Abstand für Vorne
+const int MIN_DIST_B = 10;  // Mindest Abstand für Hinten
+const int PATH_DISTANCE = 60; // Abstand, der auf eine Abzweigung deutet.
+int US_distance_f, US_distance_b;
+int tof_distance_front;
+float output_value;
+
+#endif
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