diff --git a/arduino/TactiloControllerPanda.ino b/arduino/TactiloControllerPanda.ino
new file mode 100644
index 0000000..d6a8eae
--- /dev/null
+++ b/arduino/TactiloControllerPanda.ino
@@ -0,0 +1,157 @@
+
+///-------------------------------------------------------------------------------------------------
+/// 
+/// \file TactiloControllerPanda.ino
+/// \brief Controlls the Tactilos on the Leonardos GPIOs, based on the messages from OpenVibes TactiloController Box Algorithm
+///	       Hochladen mit der Arduino IDE
+/// \author Tobias Baumann (TH-Nürnberg).
+/// \version 1.0.
+/// \date Mon Mar 7 14:02:56 2022.
+/// 
+///-------------------------------------------------------------------------------------------------
+
+//define used GPIO pins
+#define TAC1  13  //PWM
+#define TAC2  11  //PWM
+#define TAC3  10  //PWM
+#define TAC4   9  //PWM
+#define TAC5   6  //PWM
+#define TAC6   5  //PWM
+//reserve
+#define TAC7   3  //PWM
+#define TAC8   2
+#define TAC9   1
+#define TAC10  0
+
+
+#define LED  13
+
+
+void setup() 
+{
+	//init serial
+	Serial.begin(115200);
+  
+	//init GPIOs
+	Serial.println("...init GPIOs");
+	set_PinMode();
+	set_AllLow();
+}
+
+void loop() 
+{
+	char SerialData;
+
+	if(Serial.available() > 0)
+	{
+		SerialData = Serial.read();
+		processSerialData(SerialData);
+	}
+}
+
+void set_PinMode()
+{
+	//set all pins to OUTPUT
+	pinMode(TAC1, OUTPUT);
+	pinMode(TAC2, OUTPUT);
+	pinMode(TAC3, OUTPUT);
+	pinMode(TAC4, OUTPUT);
+	pinMode(TAC5, OUTPUT);
+	pinMode(TAC6, OUTPUT);
+	pinMode(TAC7, OUTPUT);
+	pinMode(TAC8, OUTPUT);
+	pinMode(TAC9, OUTPUT);
+	pinMode(TAC10, OUTPUT);
+
+	pinMode(LED, OUTPUT);
+}
+
+void set_AllLow()
+{
+	//set all pins to LOW
+	digitalWrite(TAC1, LOW);
+	digitalWrite(TAC2, LOW);
+	digitalWrite(TAC3, LOW);
+	digitalWrite(TAC4, LOW);
+	digitalWrite(TAC5, LOW);
+	digitalWrite(TAC6, LOW);
+	digitalWrite(TAC7, LOW);
+	digitalWrite(TAC8, LOW);
+	digitalWrite(TAC9, LOW);
+	digitalWrite(TAC10, LOW);
+
+	digitalWrite(LED, LOW);
+}
+
+void processSerialData(char SerialData)
+{
+	switch(SerialData)
+	{
+		case '0':
+			digitalWrite(TAC1, !digitalRead(TAC1));
+			Serial.print("Tactilo 1: ");
+			Serial.println(digitalRead(TAC1));
+			break;
+		case '1':
+			digitalWrite(TAC2, !digitalRead(TAC2));
+			Serial.print("Tactilo 2: ");
+			Serial.println(digitalRead(TAC2));
+			break;
+		case '2':
+			digitalWrite(TAC3, !digitalRead(TAC3));
+			Serial.print("Tactilo 3: ");
+			Serial.println(digitalRead(TAC3));
+			break;
+		case '3':
+			digitalWrite(TAC4, !digitalRead(TAC4));
+			Serial.print("Tactilo 4: ");
+			Serial.println(digitalRead(TAC4));
+			break;
+		case '4':
+			digitalWrite(TAC5, !digitalRead(TAC5));
+			Serial.print("Tactilo 5: ");
+			Serial.println(digitalRead(TAC5));
+			break;
+		case '5':
+			digitalWrite(TAC6, !digitalRead(TAC6));
+			Serial.print("Tactilo 6: ");
+			Serial.println(digitalRead(TAC6));
+			break;
+		case '6':
+			digitalWrite(TAC7, !digitalRead(TAC7));
+			Serial.print("Tactilo 7: ");
+			Serial.println(digitalRead(TAC7));
+			break;
+		case '7':
+			digitalWrite(TAC8, !digitalRead(TAC8));
+			Serial.print("Tactilo 8: ");
+			Serial.println(digitalRead(TAC8));
+			break;
+		case '8':
+			digitalWrite(TAC9, !digitalRead(TAC9));
+			Serial.print("Tactilo 9: ");
+			Serial.println(digitalRead(TAC9));
+			break;
+		case '9':
+			digitalWrite(TAC10, !digitalRead(TAC10));
+			Serial.print("Tactilo 10: ");
+			Serial.println(digitalRead(TAC10));
+			break;
+		case 'b':
+			if(digitalRead(LED) == LOW)
+			{
+				digitalWrite(LED, HIGH);
+				Serial.println("...Begin Tactile Session");
+			}
+			break;
+		case 'e':
+			if(digitalRead(LED) == HIGH)
+			{
+				set_AllLow();
+				Serial.println("...End Tactile Session");
+			}
+			break;
+		default:
+			break;
+	}
+}
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