diff --git a/src/Command.cpp b/src/Command.cpp
index 57ad675..fe3692c 100644
--- a/src/Command.cpp
+++ b/src/Command.cpp
@@ -9,6 +9,7 @@ const char parameterValue2Code = 'W';
 const char elementCode = 'E';
 const char timeCode = 'T';
 const char modeCode = 'M';
+const char numberCode = 'N';    // Edited by Finn
 const char msgQueueCode = 'Q';
 
 CommandCodeEnum commandCodeEnum = CODE_UNDEFINED;
@@ -61,6 +62,18 @@ CommandCodeEnum Command::getGCodeEnum(char *code)
   //	return F03;
   //}
 
+  // Finn: F01 
+  if (strcmp(code, "F01") == 0 || strcmp(code, "F1") == 0)
+  {
+    return F01;
+  }
+
+  // Finn: F02 
+  if (strcmp(code, "F02") == 0 || strcmp(code, "F2") == 0)
+  {
+    return F02;
+  }
+
   if (strcmp(code, "F09") == 0 || strcmp(code, "F9") == 0)
   {
     return F09;
@@ -230,6 +243,13 @@ void Command::getParameter(char *charPointer)
     time = atof(charPointer + 1);
   }
 
+  // Edited by Finn
+  if (charPointer[0] == numberCode) {
+    number = atof(charPointer + 1);
+    // Serial.print("Set number to: ");
+    // Serial.println(number);
+  }
+
   if (charPointer[0] == modeCode)
   {
     mode = atof(charPointer + 1);
@@ -267,6 +287,8 @@ void Command::print()
   Serial.print(element);
   Serial.print(", M: ");
   Serial.print(mode);
+  Serial.print(", N: ");
+  Serial.print(number);
 
   Serial.print(", A: ");
   Serial.print(axisSpeedValue[0]);
@@ -346,6 +368,11 @@ long Command::getM()
   return mode;
 }
 
+long Command::getN()  // Edited by Finn
+{
+  return number;
+}
+
 long Command::getQ()
 {
   //msgQueue = 9876;
diff --git a/src/Command.h b/src/Command.h
index b889c32..cf3cd92 100644
--- a/src/Command.h
+++ b/src/Command.h
@@ -60,6 +60,7 @@ class Command
   long getT();
   long getE();
   long getM();
+  long getN();      // Edited by Finn
   long getQ();
 
   void printQAndNewLine();
@@ -77,6 +78,7 @@ class Command
   long element = 0;
   long time = 0;
   long mode = 0;
+  long number = 0;    // Edited by Finn
   long msgQueue = 0;
 };
 
diff --git a/src/F01Handler.cpp b/src/F01Handler.cpp
new file mode 100644
index 0000000..8992903
--- /dev/null
+++ b/src/F01Handler.cpp
@@ -0,0 +1,45 @@
+/*
+ * F01Handler.cpp
+ *
+ *  Created on: 12 june 2024
+ *      Author: Finn Roters
+ */
+
+#include "F01Handler.h"
+
+static F01Handler *instance;  // defines a static pointer to an "F01Handler" instance (ensures that there is only one instance of the class).
+
+
+// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F01Handler is created).
+F01Handler *F01Handler::getInstance()
+{
+  if (!instance)
+  {
+    instance = new F01Handler();
+  };
+  return instance;
+};
+
+// Constructor of the F01Handler class (empty, because no special initialisations are necessary).
+F01Handler::F01Handler()
+{
+}
+
+
+int F01Handler::execute(Command *command)
+{
+  //int duration = command->getT(); 
+  int valvePin = 10;               // Pin for the water valve.
+  Serial.println("F01 command has started");
+  // Open the water valve
+  PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital).
+
+  // Wait for the specified duration
+  //delay(duration);
+  delay(command->getT());
+
+  // Close the water valve
+  PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital).
+  Serial.println("F01 command is done");
+  return 0;
+}
diff --git a/src/F01Handler.h b/src/F01Handler.h
new file mode 100644
index 0000000..afd3393
--- /dev/null
+++ b/src/F01Handler.h
@@ -0,0 +1,28 @@
+/*
+ * F01Handler.h
+ *
+ *  Created on: 12 june 2024
+ *      Author: Finn Roters
+ */
+
+#ifndef F01HANDLER_H_
+#define F01HANDLER_H_
+#include "GCodeHandler.h"
+#include "Config.h"
+#include "CurrentState.h"
+#include "pins.h"
+#include "PinControl.h"
+
+class F01Handler : public GCodeHandler  // Class F01Handler is defined, which inherits from GCodeHandler.
+{
+public: // can be called from outside.
+  static F01Handler *getInstance(); // static method that returns an instance of the "F01Handler" class.
+  int execute(Command *);           // method is used to execute the G- and F-code.
+
+private: // only accessible within the "F01Handler" class
+  F01Handler();                           // private constructor of the class (prevents objects of the class from being created directly).
+  F01Handler(F01Handler const &);         // private copy constructor (This prevents the class from being copied).
+  void operator=(F01Handler const &);     // private assignment operator (This prevents objects from being assigned to the class).
+};
+
+#endif /* F01HANDLER_H_ */
diff --git a/src/F02Handler.cpp b/src/F02Handler.cpp
new file mode 100644
index 0000000..69268c2
--- /dev/null
+++ b/src/F02Handler.cpp
@@ -0,0 +1,63 @@
+/*
+ * F02Handler.cpp
+ *
+ *  Created on: 1 july 2024
+ *      Author: Finn Roters
+ */
+
+#include "F02Handler.h"
+
+static F02Handler *instance;  // defines a static pointer to an "F02Handler" instance (ensures that there is only one instance of the class).
+
+unsigned int F02Handler::pulse;
+float F02Handler::totalMilliLiters;
+const float F02Handler::conversionFactor = 1.96;    // The irrigation system dispenses 42.64 ml per second and 21.79 pulses per second are measured. If 42.64 ml is divided by 21.79 pulses, the result is 1.96 ml per pulse.
+const float F02Handler::offset = 18.75;  // The milliliter output per second is not linear, but can be described by the polynomial 42.64 ml * t + 18.75 ml. The offset is 18.75 ml.
+// Check whether instance points to nullptr (i.e. no valid memory area) (if yes, a new instance of F02Handler is created).
+F02Handler *F02Handler::getInstance()
+{
+  if (!instance)
+  {
+    instance = new F02Handler();
+  };
+  return instance;
+};
+
+// Constructor of the F42Handler class (empty, because no special initialisations are necessary).
+F02Handler::F02Handler()
+{
+}
+
+
+int F02Handler::execute(Command *command)
+{
+  unsigned int valvePin = 10;               // Pin for the water valve.
+  unsigned int sensorPin = 2;              // Pin 2 (Arduino Mega 2560) Interrupt capable
+  pulse = 0;
+  totalMilliLiters = 0.0;
+  pinMode(sensorPin, INPUT);
+  attachInterrupt(digitalPinToInterrupt(sensorPin), F02Handler::pulseCount, RISING);
+
+  Serial.println("F02 command has started");
+  // Open the water valve  
+  PinControl::getInstance()->writeValue(valvePin, 1, 0); // Set the pin of the water valve to high (0 = digital).
+  
+  Serial.print("command->getN(): ");
+  Serial.println(command->getN());  // Output of the value of command->getN()
+
+  while(totalMilliLiters < command->getN()){
+    Serial.print("Pulse : ");
+    Serial.println(pulse);  
+    Serial.print("Total Ml : ");
+    Serial.println(totalMilliLiters);
+  }
+  // Close the water valve
+  PinControl::getInstance()->writeValue(valvePin, 0, 0); // Set the pin of the water valve to low (0 = digital).
+  Serial.println("F02 is done");
+  return 0;
+}
+
+void F02Handler::pulseCount() {
+  pulse++;
+  totalMilliLiters = pulse * conversionFactor + offset;
+}
diff --git a/src/F02Handler.h b/src/F02Handler.h
new file mode 100644
index 0000000..196f864
--- /dev/null
+++ b/src/F02Handler.h
@@ -0,0 +1,34 @@
+/*
+ * F02Handler.h
+ *
+ *  Created on: 1 july 2024
+ *      Author: Finn Roters
+ */
+
+#ifndef F02HANDLER_H_
+#define F02HANDLER_H_
+#include "GCodeHandler.h"
+#include "Config.h"
+#include "CurrentState.h"
+#include "pins.h"
+#include "PinControl.h"
+
+class F02Handler : public GCodeHandler  // Class F02Handler is defined, which inherits from GCodeHandler.
+{
+public: // can be called from outside.
+  static F02Handler *getInstance(); // static method that returns an instance of the "F02Handler" class.
+  int execute(Command *);           // method is used to execute the G- and F-code.
+
+private: // only accessible within the "F02Handler" class
+  F02Handler();                           // private constructor of the class (prevents objects of the class from being created directly).
+  F02Handler(F02Handler const &);         // private copy constructor (This prevents the class from being copied).
+  void operator=(F02Handler const &);     // private assignment operator (This prevents objects from being assigned to the class).
+  static void pulseCount();               // Function pulseCount is declared statically in order to exist during the entire runtime of the programme and only be valid in this area.
+  static unsigned int pulse;
+  static float totalMilliLiters;
+  static const float conversionFactor;
+  static const float offset;
+};
+
+#endif /* F02HANDLER_H_ */
+
diff --git a/src/F21Handler.cpp b/src/F21Handler.cpp
index 5c03fb2..3428a25 100644
--- a/src/F21Handler.cpp
+++ b/src/F21Handler.cpp
@@ -24,7 +24,7 @@ F21Handler::F21Handler()
 
 int F21Handler::execute(Command *command)
 {
-
+  
   ParameterList::getInstance()->readValue(command->getP());
 
   return 0;
diff --git a/src/GCodeProcessor.cpp b/src/GCodeProcessor.cpp
index 876b727..899b858 100644
--- a/src/GCodeProcessor.cpp
+++ b/src/GCodeProcessor.cpp
@@ -232,6 +232,18 @@ GCodeHandler *GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum)
     handler = G28Handler::getInstance();
   }
 
+  // Edited by Finn:
+  if (codeEnum == F01)
+  {
+    handler = F01Handler::getInstance();
+  }
+
+  // Edited by Finn:
+  if (codeEnum == F02)
+  {
+    handler = F02Handler::getInstance();
+  }
+
   if (codeEnum == F09)
   {
     handler = F09Handler::getInstance();
diff --git a/src/GCodeProcessor.h b/src/GCodeProcessor.h
index d8272a5..fc8a8f3 100644
--- a/src/GCodeProcessor.h
+++ b/src/GCodeProcessor.h
@@ -17,6 +17,9 @@
 #include "G00Handler.h"
 #include "G28Handler.h"
 
+#include "F01Handler.h"   // Edited by Finn
+#include "F02Handler.h"   // Edited by Finn
+
 #include "F09Handler.h"
 
 #include "F11Handler.h"
diff --git a/src/src.ino b/src/src.ino
index 2a7bbff..ca86767 100644
--- a/src/src.ino
+++ b/src/src.ino
@@ -3,7 +3,6 @@
  Created:	11/14/2019 9:51:10 PM
  Author:	Tim Evers
 */
-
 #include "TMC2130_Basics.h"
 #include "farmbot_arduino_controller.h"
 //#include <SPI.h>
@@ -14,7 +13,8 @@
 // the setup function runs once when you press reset or power the board
 void setup()
 {
-  startSerial();
+  Serial.begin(9600);
+  //startSerial();
   setPinInputOutput();
 
   readParameters();
@@ -56,5 +56,5 @@ void loop()
   checkEmergencyStop();
   checkParamsChanged();
   periodicChecksAndReport();
-
+  
 }