diff --git a/KSM-Line-2.2.tprusr b/KSM-Line-2.2.tprusr
index 07013cb..25756fc 100644
--- a/KSM-Line-2.2.tprusr
+++ b/KSM-Line-2.2.tprusr
@@ -1,13 +1,13 @@
 [project]
 watch=works[i].Count, portVector, works[i].WorkPort, len(port), pinState, z, works[i], EncoderCfg.reinitInterval, works
 [file1]
-line=0
-cursor=263
-opened=active
+line=60
+cursor=465
+opened=yes
 breakpoints=
 [file2]
-line=62
-cursor=1455
+line=68
+cursor=1100
 opened=yes
 breakpoints=
 [file3]
@@ -26,13 +26,13 @@ cursor=161
 opened=no
 breakpoints=
 [file6]
-line=0
-cursor=190
+line=108
+cursor=1395
 opened=yes
 breakpoints=
 [file7]
-line=100
-cursor=2644
+line=0
+cursor=2450
 opened=yes
 breakpoints=
 [file8]
@@ -45,8 +45,8 @@ line=0
 cursor=0
 opened=no
 [file10]
-line=22
-cursor=5043
+line=168
+cursor=5269
 opened=yes
 breakpoints=
 [file11]
@@ -70,8 +70,8 @@ cursor=93
 opened=no
 breakpoints=
 [file15]
-line=0
-cursor=294
+line=7
+cursor=20
 opened=yes
 breakpoints=
 [file16]
@@ -86,7 +86,7 @@ opened=no
 breakpoints=
 [file18]
 line=0
-cursor=334
+cursor=295
 opened=yes
 breakpoints=
 [file19]
@@ -95,9 +95,9 @@ cursor=93
 opened=yes
 breakpoints=
 [file20]
-line=0
-cursor=2782
-opened=yes
+line=48
+cursor=2344
+opened=active
 breakpoints=
 [file21]
 line=0
diff --git a/command.tc b/command.tc
index 75cceed..1460799 100644
--- a/command.tc
+++ b/command.tc
@@ -21,15 +21,13 @@ void on_sock_inband() // обработка поступивших команд
 			cmdlen = instr(1,cmdline,chr('&'),1);
 		string cmd = left(cmdline,cmdlen-1);
 		string params = mid(cmdline,cmdlen+1,position-cmdlen-1);
-		d("{cmd}: "+cmd);
-		d("{cmd}.params: "+params);
+//		d("{cmd}: "+cmd);
+//		d("{cmd}.params: "+params);
 		if (cmd =="systeminfo"){
 			cmd_replay(cmd_systeminfo());
 		}else if (cmd == "reset" || cmd == "reboot"){
-//			cmd_replay(cmd_reset());
 			cmd_replay("{cmd} Rebooting...");
 			cmd_reset();
-
 		}else if (cmd == "ip"){
 			cmd_replay(cmd_ip(params));
 		}else if (cmd == "setbraker"){
@@ -38,6 +36,10 @@ void on_sock_inband() // обработка поступивших команд
 			cmd_replay(cmd_setencoder(params));
 		}else if (cmd == "enc_calibrate_start"){
 			cmd_replay(cmd_enc_calibre(params));
+		}else if (cmd == "enc_set_windows"){
+			cmd_replay(cmd_enc_set_windows(params));
+		}else if (cmd == "debug_enc_level"){
+			cmd_replay(cmd_debug_enc_level(params));
 		}else if (cmd == "debug_sensors"){
 			cmd_replay(cmd_debug_sensors(params));
 		}else if (cmd == "debug_showtime"){
@@ -55,15 +57,28 @@ void on_sock_inband() // обработка поступивших команд
 string cmd_debug_sensors(string params){
 	getParams(params);
 	config.debug.SensorsLook = val(pars[0])>0;
-	return "Debug sensors SET="+config.debug.SensorsLook? "TRUE":"FALSE";
+	return "Debug sensors SET="+(config.debug.SensorsLook? "TRUE":"FALSE");
 }
+string cmd_debug_enc_level(string params){
+	getParams(params);
+	config.debug.EncoderDebug= val(pars[0]);
+	return "Debug encoder level SET="+str(config.debug.EncoderDebug);
+}
+
 string cmd_debug_showtime(string params){
 	getParams(params);
 	config.debug.ShowTime = val(pars[0])>0;
-	return "Debug show time SET="+config.debug.ShowTime? "TRUE":"FALSE";
+	return "Debug show time SET="+(config.debug.ShowTime? "TRUE":"FALSE");
+}
+
+string cmd_enc_set_windows(string params){
+	getParams(params);
+	config.EncoderCfg.windowWidth = val(pars[0]);
+	return "Encoder window SET="+str(config.EncoderCfg.windowWidth);
 }
 
 void cmd_replay(string message){
+	d(message);
 	sock.setsendinband(chr(sock.escchar)+" "+message+chr(sock.endchar)+chr(13)+chr(10));
 }
 
diff --git a/command.th b/command.th
index 4342c9f..ffecf54 100644
--- a/command.th
+++ b/command.th
@@ -6,6 +6,8 @@ string cmd_ip(string params);
 string cmd_setbraker(string params);
 string cmd_setencoder(string params);
 string cmd_enc_calibre(string params);
+string cmd_enc_set_windows(string params);
+string cmd_debug_enc_level(string params);
 string cmd_debug_sensors(string params);
 string cmd_debug_showtime(string params);
 void getParams(string params);
diff --git a/config_work.tc b/config_work.tc
index d5b11f9..8ad39a7 100644
--- a/config_work.tc
+++ b/config_work.tc
@@ -195,5 +195,7 @@ void config_create(){
 	config.EncoderCfg.windowWidth= 40;
 	config.EncoderCfg.reinitInterval = 3;
 	config.EncoderCfg.workedPorts = "";
+	
+	config.debug.EncoderDebug=0;
 
 }
\ No newline at end of file
diff --git a/encoder.tc b/encoder.tc
index eaeb7c0..5358ce5 100644
--- a/encoder.tc
+++ b/encoder.tc
@@ -62,30 +62,35 @@ bool getEncEnabled(unsigned char port,bool value){
 		if (works[portVector[port]].Inited == false){
 			works[portVector[port]].Count = interval/2;
 			works[portVector[port]].Inited =true;
-			d(str(port)+" выравнивание по первой ");
+			if (config.debug.EncoderDebug>0) d(str(port)+" выравнивание по первой ");
 			z[portVector[port]]=0;
 		}
+		int point = (works[portVector[port]].Point + works[portVector[port]].Count) /2;
+		int sdvig = center - point;
+
+		if (config.debug.EncoderDebug>3) d(str(port)+ " count:"+str(works[portVector[port]].Count)+" center:"+str(center)+" point:"+str(point)+" diff:"+str(diff)+" sdvig:"+stri(sdvig));
+		
 		if (works[portVector[port]].Count >= (interval/2 - diff) && works[portVector[port]].Count <= (interval/2+diff)){
 			works[portVector[port]].State = true;
-			d(str(port)+" попал о окно "+str(works[portVector[port]].Count));
+			if (config.debug.EncoderDebug>2) d(str(port)+" попал о окно "+str(works[portVector[port]].Count));
 			works[portVector[port]].Point = (works[portVector[port]].Point + works[portVector[port]].Count) /2;
-			int sdvig = center - works[portVector[port]].Point;
-
+			//int point = works[portVector[port]].Point;
+			//int sdvig = center - point;
 			int d1=diff/2;
 			if (sdvig > d1 || sdvig < 0-d1 ){
-				
-				d(str(port)+" "+ str(works[portVector[port]].Count)+" "+str(sdvig)+" "+(sdvig < 0 ? "<<" : ">>"));
-				works[portVector[port]].Count = works[portVector[port]].Count + (sdvig < 0 ? 0-d1: d1);
+				int nc = center;
+				if (config.debug.EncoderDebug>1) d(str(port)+" "+ str(works[portVector[port]].Count)+" "+stri(sdvig)+" "+(sdvig < 0 ? " << " : " >> ")+" new "+str(nc));
+				works[portVector[port]].Count = nc;
 				
 			}
 		}else{
-			d(str(port)+" не попал о окно "+str(works[portVector[port]].Count));
+			if (config.debug.EncoderDebug>2) d(str(port)+" не попал о окно "+str(works[portVector[port]].Count));
 		}
 		return works[portVector[port]].State;
 	}
 	else{
 		if (works[portVector[port]].Enabled && works[portVector[port]].State == true && value){
-			d(str(port)+" Повторное срабатывание "+str(works[portVector[port]].Count));
+			if (config.debug.EncoderDebug>1) d(str(port)+" Повторное срабатывание "+str(works[portVector[port]].Count));
 		} 
 		return false;
 	}
@@ -103,7 +108,7 @@ void on_io_int(unsigned char linestate){
 				{
 					calibrate_buff[i][z[i]]=calibrate_count[i];
 					cmd_replay("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i]));
-					d("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i]));
+					if (config.debug.EncoderDebug>0) d("Калибровка энкодера "+str(port)+":"+str(calibrate_count[i]));
 				}
 				z[i]++;
 				calibrate_count[i]=0;
diff --git a/global.th b/global.th
index 8e0841d..cd022fe 100644
--- a/global.th
+++ b/global.th
@@ -60,7 +60,7 @@ typedef struct BrakerProcess{
 typedef struct EncoderConfig{
 	unsigned char encoderPort;
 	unsigned char encoderMode;
-	unsigned long encoderInterval;
+	unsigned int encoderInterval;
 	unsigned char reinitInterval;
 	unsigned char windowWidth;
 	string workedPorts;
@@ -71,14 +71,15 @@ typedef struct EncoderProcess{
 	EncoderConfig *config;
 	bool Inited;
 	bool State;
-	unsigned long Count;
-	unsigned long Point;
+	unsigned int Count;
+	unsigned int Point;
 	unsigned char WorkPort;
 };
 
 typedef struct DebugConf{
 	bool SensorsLook;
 	bool ShowTime;
+	int EncoderDebug;
 };
 
 typedef struct Configuration{