diff --git a/Assets/PID_Spinning_Stuff.glb b/Assets/PID_Spinning_Stuff.glb
new file mode 100644
index 0000000..9fa3b7a
Binary files /dev/null and b/Assets/PID_Spinning_Stuff.glb differ
diff --git a/Assets/PID_Spinning_Stuff.glb.import b/Assets/PID_Spinning_Stuff.glb.import
new file mode 100644
index 0000000..d58a275
--- /dev/null
+++ b/Assets/PID_Spinning_Stuff.glb.import
@@ -0,0 +1,42 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://b8yyluxikhlr0"
+path="res://.godot/imported/PID_Spinning_Stuff.glb-977aece4b561e834c064e6c1c7e53471.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Spinning_Stuff.glb"
+dest_files=["res://.godot/imported/PID_Spinning_Stuff.glb-977aece4b561e834c064e6c1c7e53471.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+gltf/naming_version=2
+gltf/embedded_image_handling=1
diff --git a/Assets/PID_Spinning_Target.glb b/Assets/PID_Spinning_Target.glb
new file mode 100644
index 0000000..b66897f
Binary files /dev/null and b/Assets/PID_Spinning_Target.glb differ
diff --git a/Assets/PID_Spinning_Target.glb.import b/Assets/PID_Spinning_Target.glb.import
new file mode 100644
index 0000000..89350c3
--- /dev/null
+++ b/Assets/PID_Spinning_Target.glb.import
@@ -0,0 +1,42 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://cin3pgpeydkpe"
+path="res://.godot/imported/PID_Spinning_Target.glb-739e3becae2412e2332407d1fc9f1fc7.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Spinning_Target.glb"
+dest_files=["res://.godot/imported/PID_Spinning_Target.glb-739e3becae2412e2332407d1fc9f1fc7.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+gltf/naming_version=2
+gltf/embedded_image_handling=1
diff --git a/Assets/PID_Test_Obj.blend b/Assets/PID_Test_Obj.blend
new file mode 100644
index 0000000..f93b754
Binary files /dev/null and b/Assets/PID_Test_Obj.blend differ
diff --git a/Assets/PID_Test_Obj.blend.import b/Assets/PID_Test_Obj.blend.import
new file mode 100644
index 0000000..ba8d357
--- /dev/null
+++ b/Assets/PID_Test_Obj.blend.import
@@ -0,0 +1,59 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://c8ywajojvb7pw"
+path="res://.godot/imported/PID_Test_Obj.blend-06d5e64216d0d8667c2f9c3cb6d12c34.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Test_Obj.blend"
+dest_files=["res://.godot/imported/PID_Test_Obj.blend-06d5e64216d0d8667c2f9c3cb6d12c34.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+blender/nodes/visible=0
+blender/nodes/active_collection_only=false
+blender/nodes/punctual_lights=true
+blender/nodes/cameras=true
+blender/nodes/custom_properties=true
+blender/nodes/modifiers=1
+blender/meshes/colors=false
+blender/meshes/uvs=true
+blender/meshes/normals=true
+blender/meshes/export_geometry_nodes_instances=false
+blender/meshes/tangents=true
+blender/meshes/skins=2
+blender/meshes/export_bones_deforming_mesh_only=false
+blender/materials/unpack_enabled=true
+blender/materials/export_materials=1
+blender/animation/limit_playback=true
+blender/animation/always_sample=true
+blender/animation/group_tracks=true
+gltf/naming_version=2
diff --git a/Levels/pid_test.gd b/Levels/pid_test.gd
new file mode 100644
index 0000000..3f6c071
--- /dev/null
+++ b/Levels/pid_test.gd
@@ -0,0 +1,14 @@
+extends Node3D
+
+@export var p:float = 0.5
+@export var i:float = 0.0
+@export var d:float = 0.0
+@export var force:float = 10.0
+
+var spinner:Node3D
+var target:Node3D
+
+func _ready() -> void:
+	spinner = get_node("Spinner")
+	target = get_node("Target")
+
diff --git a/Levels/pid_test.gd.uid b/Levels/pid_test.gd.uid
new file mode 100644
index 0000000..b7f9c95
--- /dev/null
+++ b/Levels/pid_test.gd.uid
@@ -0,0 +1 @@
+uid://b63aqs33qyp0g
diff --git a/Levels/pid_test.tscn b/Levels/pid_test.tscn
index ebab52e..6eb4bb2 100644
--- a/Levels/pid_test.tscn
+++ b/Levels/pid_test.tscn
@@ -1,3 +1,55 @@
-[gd_scene format=3 uid="uid://caj5t8q1fii5m"]
+[gd_scene load_steps=5 format=3 uid="uid://caj5t8q1fii5m"]
+
+[ext_resource type="PackedScene" uid="uid://cin3pgpeydkpe" path="res://Assets/PID_Spinning_Target.glb" id="1_0c8sw"]
+[ext_resource type="Script" uid="uid://b63aqs33qyp0g" path="res://Levels/pid_test.gd" id="1_sxbsa"]
+[ext_resource type="PackedScene" uid="uid://b8yyluxikhlr0" path="res://Assets/PID_Spinning_Stuff.glb" id="2_sxbsa"]
+
+[sub_resource type="Environment" id="Environment_d03hh"]
+background_mode = 2
+background_color = Color(0.14478481, 0.14478481, 0.14478481, 1)
+ambient_light_source = 2
 
 [node name="PidTest" type="Node3D"]
+script = ExtResource("1_sxbsa")
+
+[node name="Target" type="Node3D" parent="."]
+
+[node name="PID_Spinning_Target" parent="Target" instance=ExtResource("1_0c8sw")]
+
+[node name="Spinner" type="Node3D" parent="."]
+
+[node name="PID_Spinning_Stuff" parent="Spinner" instance=ExtResource("2_sxbsa")]
+
+[node name="OmniLight3D" type="OmniLight3D" parent="Spinner/PID_Spinning_Stuff"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.40560818, 0.6382216, 0)
+light_color = Color(0.99999994, 0.20727095, 0.32746297, 1)
+light_energy = 0.2
+shadow_enabled = true
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(-4.3597606e-08, -0.072106734, 0.99739695, -3.1518854e-09, 0.99739695, 0.072106734, -1, 0, -4.371139e-08, 4.3431935, 0.43207824, 0)
+environment = SubResource("Environment_d03hh")
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.25000006, 0.9659258, 0.06698735, -0.2588191, -1.9081726e-08, 0.9659258, 0.93301266, -0.25881913, 0.25000003, 0, 3.3288543, 0)
+
+[node name="PID Menue" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 0
+offset_right = 40.0
+offset_bottom = 40.0
+
+[node name="VBoxContainer" type="VBoxContainer" parent="PID Menue"]
+layout_mode = 0
+offset_right = 40.0
+offset_bottom = 40.0
+
+[node name="HBoxContainer" type="HBoxContainer" parent="PID Menue/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/VBoxContainer/HBoxContainer"]
+layout_mode = 2
+text = "Proportinal Term (P)"
+
+[node name="LineEdit" type="SpinBox" parent="PID Menue/VBoxContainer/HBoxContainer"]
+layout_mode = 2