diff --git a/documentation/Robot.docx b/documentation/Robot.docx
index 45c7b27..e3d84c2 100644
Binary files a/documentation/Robot.docx and b/documentation/Robot.docx differ
diff --git a/documentation/SmartGardeningProjekt.mdj b/documentation/SmartGardeningProjekt.mdj
index 557ecd6..ccbb515 100644
--- a/documentation/SmartGardeningProjekt.mdj
+++ b/documentation/SmartGardeningProjekt.mdj
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@@ -13936,7 +13980,7 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 1150,
+									"left": 918,
 									"top": 166,
 									"height": 13,
 									"alpha": -0.5235987755982988,
@@ -13956,7 +14000,7 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 1147,
+									"left": 915,
 									"top": 152,
 									"height": 13,
 									"alpha": -0.7853981633974483,
@@ -13976,7 +14020,7 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 1154,
+									"left": 922,
 									"top": 193,
 									"height": 13,
 									"alpha": 0.5235987755982988,
@@ -14021,7 +14065,7 @@
 							"tail": {
 								"$ref": "AAAAAAGH4UHyHitFzP8="
 							},
-							"points": "1022:187;1176:187",
+							"points": "926:187;944:187",
 							"showVisibility": true,
 							"nameLabel": {
 								"$ref": "AAAAAAGH4UQrASzhzR0="
@@ -14080,7 +14124,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 353,
-									"top": 555,
+									"top": 323,
 									"height": 13,
 									"alpha": 1.5707963267948966,
 									"distance": 15,
@@ -14101,7 +14145,7 @@
 									"visible": null,
 									"font": "Arial;13;0",
 									"left": 353,
-									"top": 540,
+									"top": 308,
 									"height": 13,
 									"alpha": 1.5707963267948966,
 									"distance": 30,
@@ -14122,7 +14166,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 353,
-									"top": 585,
+									"top": 353,
 									"height": 13,
 									"alpha": -1.5707963267948966,
 									"distance": 15,
@@ -14143,7 +14187,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 368,
-									"top": 338,
+									"top": 243,
 									"height": 13,
 									"alpha": 0.5235987755982988,
 									"distance": 30,
@@ -14164,7 +14208,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 381,
-									"top": 341,
+									"top": 246,
 									"height": 13,
 									"alpha": 0.7853981633974483,
 									"distance": 40,
@@ -14185,7 +14229,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 340,
-									"top": 334,
+									"top": 239,
 									"height": 13,
 									"alpha": -0.5235987755982988,
 									"distance": 25,
@@ -14205,8 +14249,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 454,
-									"top": 555,
+									"left": 422,
+									"top": 323,
 									"height": 13,
 									"alpha": -0.5235987755982988,
 									"distance": 30,
@@ -14225,8 +14269,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 451,
-									"top": 541,
+									"left": 419,
+									"top": 309,
 									"height": 13,
 									"alpha": -0.7853981633974483,
 									"distance": 40,
@@ -14245,8 +14289,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 458,
-									"top": 582,
+									"left": 426,
+									"top": 350,
 									"height": 13,
 									"alpha": 0.5235987755982988,
 									"distance": 25,
@@ -14290,7 +14334,7 @@
 							"tail": {
 								"$ref": "AAAAAAGH4UEkiyYzZg4="
 							},
-							"points": "353:319;353:576;480:576",
+							"points": "353:224;353:344;448:344",
 							"showVisibility": true,
 							"nameLabel": {
 								"$ref": "AAAAAAGH4UQ+Gi7YRhg="
@@ -14349,7 +14393,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 749,
-									"top": 580,
+									"top": 353,
 									"height": 13,
 									"alpha": 1.5707963267948966,
 									"distance": 15,
@@ -14370,7 +14414,7 @@
 									"visible": null,
 									"font": "Arial;13;0",
 									"left": 749,
-									"top": 595,
+									"top": 368,
 									"height": 13,
 									"alpha": 1.5707963267948966,
 									"distance": 30,
@@ -14391,7 +14435,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 750,
-									"top": 550,
+									"top": 323,
 									"height": 13,
 									"alpha": -1.5707963267948966,
 									"distance": 15,
@@ -14412,7 +14456,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 765,
-									"top": 338,
+									"top": 243,
 									"height": 13,
 									"alpha": 0.5235987755982988,
 									"distance": 30,
@@ -14433,7 +14477,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 778,
-									"top": 341,
+									"top": 246,
 									"height": 13,
 									"alpha": 0.7853981633974483,
 									"distance": 40,
@@ -14454,7 +14498,7 @@
 									"visible": false,
 									"font": "Arial;13;0",
 									"left": 737,
-									"top": 334,
+									"top": 239,
 									"height": 13,
 									"alpha": -0.5235987755982988,
 									"distance": 25,
@@ -14474,8 +14518,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 706,
-									"top": 579,
+									"left": 674,
+									"top": 352,
 									"height": 13,
 									"alpha": -0.5235987755982988,
 									"distance": 30,
@@ -14494,8 +14538,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 709,
-									"top": 593,
+									"left": 677,
+									"top": 366,
 									"height": 13,
 									"alpha": -0.7853981633974483,
 									"distance": 40,
@@ -14514,8 +14558,8 @@
 									},
 									"visible": false,
 									"font": "Arial;13;0",
-									"left": 702,
-									"top": 552,
+									"left": 670,
+									"top": 325,
 									"height": 13,
 									"alpha": 0.5235987755982988,
 									"distance": 25,
@@ -14559,7 +14603,7 @@
 							"tail": {
 								"$ref": "AAAAAAGH4UHyHitFzP8="
 							},
-							"points": "750:319;750:571;681:571",
+							"points": "750:224;750:344;649:344",
 							"showVisibility": true,
 							"nameLabel": {
 								"$ref": "AAAAAAGH4UT84TJLLpY="
diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py
index 267abbb..5e967d9 100644
--- a/software/roboter/raspy/functions.py
+++ b/software/roboter/raspy/functions.py
@@ -50,7 +50,7 @@ def drive_plant_thread(plantID, actionID, client: mqtt.Client):
     Meassure and publish data via MQTT
     Drive home to starting point
 
-    ***If color codes are working properly this function is not needed anymore***
+    ***Function is only neccessary for driving without color codes*** 
 
     Args:
         plantID (_type_): plant to measure
@@ -116,7 +116,7 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         client (mqtt.Client): current MQTT client
     """
 
-    allPlantData = {
+    allPlantData = {                        # Sensordata for all plants
         "SensorData": [],
         "ActionID": ""
     }
@@ -168,11 +168,12 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
             else:
                 errorMessage = "Motor or Sensor unplugged"
          
-            logging.info(f"{errorMessage}, Drive Plant aborted, Robot at starting position")
+            logging.info(f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}")
             client.publish(Topics["ROBOT_DATA_ERROR"], f"{errorMessage}, Drive Plant aborted, Robot at plant {plant}", qos=1)
             client.publish(Topics["ROBOT_DATA_ROBOTREADY"], "True", qos=1)
             return
 
+    # End of drive and measure operation
     logging.info("All Plants measured, sending data")
     client.publish(Topics["ROBOT_DATA_ALL"], json.dumps(allPlantData, indent=4), qos=1)
 
@@ -206,7 +207,7 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     Function to drive to plant according to request
     Starting Drive in Thread to not block main programm
 
-    ***If color codes are working properly this function is not needed anymore***
+     ***Function is only neccessary for driving without color codes*** 
 
     Args:
         client (mqtt.Client): current mqtt client
diff --git a/software/roboter/raspy/raspy_sensors.py b/software/roboter/raspy/raspy_sensors.py
index 8047a5b..17d7ab7 100644
--- a/software/roboter/raspy/raspy_sensors.py
+++ b/software/roboter/raspy/raspy_sensors.py
@@ -42,7 +42,7 @@ def readDHT22():
 
 def readTSL2561():
     """
-    Reads TSL2561 brightness in Lux and returns integer value
+    Reads TSL2561 brightness via I2C in Lux and returns integer value
 
     Raises:
         Exception: If TSL2561 not connected properly
@@ -67,7 +67,7 @@ def readTSL2561():
 
 def readMCP3008():
     """
-    Reads YL-69 via MCP3008 ADC soil moisture in percent and returns float value
+    Reads YL-69 via MCP3008 ADC and SPI soil moisture in percent and returns float value
     
     Raises:
         Exception: If YL-69 not connected properly
@@ -133,7 +133,7 @@ def readSensors(sensorData):
         sensorData["SoilMoisture"] = 0                 # No value returend if error occurs -> setting safe value
         errorMessage = errorMessage + str(e) + "\n"    # Appending received error message to later forward all occured errors
 
-    # raise combined error message
+    # raise combined error message, successfull values still available
     if errorMessage != "":
         raise Exception(errorMessage)