diff --git a/public/calculateActions.js b/public/calculateActions.js
index 1f3a3d1..3580f41 100755
--- a/public/calculateActions.js
+++ b/public/calculateActions.js
@@ -38,42 +38,79 @@ async function fetchCSV() {
         });
         return obj;
     });
-
+    appendToAnalysis(`CSV-Daten geladen: ${rows.length} Zeilen, ${headers.length} Spalten.`);
     return { data, headers, rows };
 }
 
 async function readValues( data, headers, rows ){
-    appendToAnalysis('Geladene Daten: ' + JSON.stringify(data, null, 2));
-    appendToAnalysis('Headers: ' + JSON.stringify(headers));
-    appendToAnalysis('Parsed rows: ' + JSON.stringify(rows, null, 2));
+    console.log('Geladene Daten:', data);
+    console.log('Headers:', headers);
+    console.log('Parsed rows:', rows);
 
-    // Hier kannst du manuell mit den Daten arbeiten
-    // Beispiel: Finde die Position mit der höchsten x_mm
-    let maxX = -Infinity;
-    let bestRow = null;
-    rows.forEach(row => {
-      if (row.x_mm > maxX) {
-        maxX = row.x_mm;
-        bestRow = row;
-      }
-    });
-    appendToAnalysis('Position mit höchster x_mm: ' + JSON.stringify(bestRow));
+    
+}
 
-    // Füge hier deine Logik für Vorschläge hinzu
-    // z.B. calculateSuggestions(rows);
+async function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0) {
+    let y = parseFloat(row.y_mm);
+    let z = parseFloat(row.z_mm);
+
+    let dy =  -(y - axisY);
+    let dz =  z - axisZ;
+
+    let angle0Rad = 0;
+    if(deltaZangle0 !== 0){
+        angle0Rad = Math.atan(deltaZangle0/deltaYangle0);
+    }
+
+    angleRad = Math.atan(dz/dy) - angle0Rad;
+    angleDeg = angleRad * (180 / Math.PI);
+
+    appendToAnalysis(`(yMotor = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus Position von ID = ${row.id}`);
+}
+async function calculateAngleFromRollColumn(row, roll0 = 0, pitch0 = 0, yaw0 = 0) {
+    let roll = -parseFloat(row.roll_deg) + roll0;
+    appendToAnalysis(`(yMotor = ${roll.toFixed(2)}° = ${(roll * Math.PI / 180).toFixed(4)} rad) aus roll_deg von ID = ${row.id}`);
 }
 
 async function calculate() {
+  
+    let shoulderAxisY = 115;
+    let shoulderAxisZ = 61;
+
+    let rows = null;
+    let headers = null;
+
     try {
         appendToAnalysis('Starte Berechnung...');
-        const { data, headers, rows } = await fetchCSV(); 
+        const result = await fetchCSV();
+        rows = result.rows;
+        headers = result.headers;
+        const data = result.data;   
         await readValues( data, headers, rows );
-        appendToAnalysis('Berechnung abgeschlossen.');
     } catch (err) {
         appendToAnalysis('Fehler in calculate: ' + err.message);
     }
-    // Schreibe den die Länge der CSV Datei und die vierte Zeile in das Analysis&Reasoning fenster.
+
+
+    const row243 = rows.find(r => r.id == 243)
+    if(row243){
+        const angle = await calculateAngleFromPosition(row243, shoulderAxisY, shoulderAxisZ, 250+35, 0);
+        calculateAngleFromRollColumn(row243, 90, 0, 0);
+    }
+    const row229 = rows.find(r => r.id == 229)
+    if(row229){
+        const angle = await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
+        calculateAngleFromRollColumn(row229, 0, 0, 0);
+    }
+
+    const row203 = rows.find(r => r.id == 203)
+    if(row203){
+        const angle = await calculateAngleFromPosition(row203, shoulderAxisY, shoulderAxisZ, 165, 35);
+        calculateAngleFromRollColumn(row203, 0, 0, 0);
+    }
 }
 
+
+
 // Export für Module, falls benötigt
 // export { fetchCSV, calculate };
\ No newline at end of file