diff --git a/public/calculateActions.js b/public/calculateActions.js
index 3580f41..6cec0c3 100755
--- a/public/calculateActions.js
+++ b/public/calculateActions.js
@@ -50,7 +50,7 @@ async function readValues( data, headers, rows ){
     
 }
 
-async function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0) {
+function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0) {
     let y = parseFloat(row.y_mm);
     let z = parseFloat(row.z_mm);
 
@@ -66,10 +66,26 @@ async function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, delta
     angleDeg = angleRad * (180 / Math.PI);
 
     appendToAnalysis(`(yMotor = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus Position von ID = ${row.id}`);
+    return angleRad;
 }
-async function calculateAngleFromRollColumn(row, roll0 = 0, pitch0 = 0, yaw0 = 0) {
+
+function calculateAngleFromRollColumn(row, roll0 = 0, pitch0 = 0, yaw0 = 0, strMotor = "yMotor") {
     let roll = -parseFloat(row.roll_deg) + roll0;
-    appendToAnalysis(`(yMotor = ${roll.toFixed(2)}° = ${(roll * Math.PI / 180).toFixed(4)} rad) aus roll_deg von ID = ${row.id}`);
+    appendToAnalysis(`(${strMotor} = ${roll.toFixed(2)}° = ${(roll * Math.PI / 180).toFixed(4)} rad) aus roll_deg von ID = ${row.id}`);
+    return roll*Math.PI / 180;
+}
+
+function calculateAngleFromRelativePosition(row1, row2, strMotor = "zMotor") {
+    let y1 = parseFloat(row1.y_mm);
+    let z1 = parseFloat(row1.z_mm);
+    let y2 = parseFloat(row2.y_mm);
+    let z2 = parseFloat(row2.z_mm); 
+    let dy = y1 - y2;
+    let dz = z1 - z2;
+    let angleRad = -Math.atan(dz/dy);
+    let angleDeg = angleRad * (180 / Math.PI);
+    appendToAnalysis(`(${strMotor} = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad) aus relativer Position von ID = ${row1.id} und ID = ${row2.id}`);    
+    return angleRad;
 }
 
 async function calculate() {
@@ -92,21 +108,64 @@ async function calculate() {
     }
 
 
-    const row243 = rows.find(r => r.id == 243)
+    // Oberarm:
+    var angleY = 0;
+    var angleZ = 0;
+    var angleYcount = 0;
+    var angleZcount = 0;
+
+    // 243 damit 35mm weiter außen (250+35) und 0mm höher als Schulterachse
+    const row243 = rows.find(r => r.id == 243 && r.seen_by == 3)
     if(row243){
-        const angle = await calculateAngleFromPosition(row243, shoulderAxisY, shoulderAxisZ, 250+35, 0);
-        calculateAngleFromRollColumn(row243, 90, 0, 0);
+        angleY += await calculateAngleFromPosition(row243, shoulderAxisY, shoulderAxisZ, 250+35, 0);
+        angleY += await calculateAngleFromRollColumn(row243, 90, 0, 0);
+        angleYcount+=2;
     }
-    const row229 = rows.find(r => r.id == 229)
+    const row229 = rows.find(r => r.id == 229 && r.seen_by == 3)
     if(row229){
-        const angle = await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
-        calculateAngleFromRollColumn(row229, 0, 0, 0);
+        angleY += await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
+        angleY +=calculateAngleFromRollColumn(row229, 0, 0, 0);
+        angleYcount+=2;
+    }
+    console.log(angleY, angleYcount);
+    const row198 = rows.find(r => r.id == 198 && r.seen_by == 3)
+    if(row198){
+        angleY += await calculateAngleFromPosition(row198, shoulderAxisY, shoulderAxisZ, 165, 35);
+        //angleY +=calculateAngleFromRollColumn(row198, 180, 0, 0); // ist ungenau
+        angleYcount++;
     }
 
-    const row203 = rows.find(r => r.id == 203)
-    if(row203){
-        const angle = await calculateAngleFromPosition(row203, shoulderAxisY, shoulderAxisZ, 165, 35);
-        calculateAngleFromRollColumn(row203, 0, 0, 0);
+    if(row198 && row229){
+        angleY += 3*(calculateAngleFromRelativePosition(row198, row229, "yMotor"));
+        angleYcount += 3;
+    }
+
+    // Unterarm:
+
+    // 218 und 219, wenn die sichtbar sind, ist auch die Schulter eindeutig definiert
+    const row218 = rows.find(r => r.id == 218 && r.seen_by == 3)
+    const row219 = rows.find(r => r.id == 219 && r.seen_by == 3)
+    if(row218 && row219){
+        const lowerArmAngle = calculateAngleFromRelativePosition(row218, row219, "zMotor");
+        angleZ += lowerArmAngle;
+        angleZcount++;
+    }   
+    console.log("z", angleZ);
+
+    const row226 = rows.find(r => r.id == 226 && r.seen_by == 3)
+    if(row226){
+        angleZ += calculateAngleFromRollColumn(row226, 0, 0, 0, "zMotor");
+        angleZcount++;  
+    }
+    
+    console.log("z", angleZ);
+
+    if(angleYcount > 0 && angleYcount > 0){
+        // appendToAnalysis(`Suggestion: G92 y${(angleY/angleYcount).toFixed(3)} z${(angleZ/angleZcount).toFixed(3)} (Set to coordinats. Angles in rad)`);   
+        strActionOptionA = `G92 y${(angleY*180/(angleYcount*Math.PI)).toFixed(1)} z${(angleZ*180/(Math.PI*angleZcount)).toFixed(1)} (Set Coord. Angles in deg)`;
+        appendToAnalysis(`Suggestion: ${strActionOptionA}`);
+        
+        // ToDo: Change 
     }
 }