diff --git a/pantilt_inv.py b/pantilt_inv.py
index 049aa01..3f8371d 100644
--- a/pantilt_inv.py
+++ b/pantilt_inv.py
@@ -159,6 +159,11 @@ speed=speed_1
 joint_min=[toRad(-90),toRad(-90-40),toRad(90-90),toRad(-180-80),toRad(-90-90),toRad(0-75)]
 joint_max=[toRad(90),toRad(-90+40),toRad(90+40),toRad(-180+110),toRad(-90+90),toRad(0+75)]
 
+manual_pan=0
+manual_tilt=0
+manual_last_time=0
+manual_speed=0.5
+
 
 def constrain(v,_min,_max):
     return min(_max,max(_min,v))
@@ -192,10 +197,26 @@ while running:
                 speed=speed_3
             if event.key == pygame.K_4:
                 speed=speed_4
+            
                 
         if event.type == pygame.QUIT:
             running = False
 
+
+    # Live key movement
+    if time.time()+0.1 >= manual_last_time: #limit frequency. in seconds
+        manual_last_time=time.time()
+        keys = pygame.key.get_pressed()
+        if keys[pygame.K_LEFT]:
+            manual_pan -= manual_speed
+        if keys[pygame.K_RIGHT]:
+            manual_pan += manual_speed
+        if keys[pygame.K_UP]:
+            manual_tilt += manual_speed
+        if keys[pygame.K_DOWN]:
+            manual_tilt -= manual_speed
+        #print("Manual pan="+str(manual_pan)+" tilt="+str(manual_tilt)+" time="+str(time.time()))
+
     # Receive Socket stuff
     try:
         client, address = s.accept()
@@ -232,6 +253,15 @@ while running:
                             print("Not a float")
         except socket.error:
             pass
+    else:
+        _pan=manual_pan
+        _tilt=manual_tilt
+        
+        if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
+            pan=_pan
+            tilt=_tilt
+            
+        
 
 
     # Robot Control stuff
@@ -291,9 +321,10 @@ while running:
     for i in range(6):
         drawBar(screen,(10,10+30*(3+i)),(100,20),mapFromTo(joint_q[i],joint_min[i],joint_max[i],0.0,1.0),jointnames[i],str(round(toDeg(joint_q[i]),2))+"°")
 
-    for i in range(6):
-        _jointdiff = joint_q_aim[i]-joint_q[i]
-        drawBar(screen,(200,10+30*(3+i)),(100,20),mapFromTo(_jointdiff,-speed[i]/frequency,speed[i]/frequency,0.0,1.0),"diff_"+str(jointnames[i]),str(round(toDeg(_jointdiff),3))+"°")
+    if use_rtde:
+        for i in range(6):
+            _jointdiff = joint_q_aim[i]-joint_q[i]
+            drawBar(screen,(200,10+30*(3+i)),(100,20),mapFromTo(_jointdiff,-speed[i]/frequency,speed[i]/frequency,0.0,1.0),"diff_"+str(jointnames[i]),str(round(toDeg(_jointdiff),3))+"°")