diff --git a/documentation/Robot.docx b/documentation/Robot.docx
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diff --git a/documentation/SmartGardeningProjekt.mdj b/documentation/SmartGardeningProjekt.mdj
index 9f48c84..557ecd6 100644
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+							},
+							"stereotypeLabel": {
+								"$ref": "AAAAAAGJAjaSWjsCNhg="
+							},
+							"propertyLabel": {
+								"$ref": "AAAAAAGJAjaSWjsDTLA="
+							},
+							"showEndOrder": "hide",
+							"tailRoleNameLabel": {
+								"$ref": "AAAAAAGJAjaSWjsELCE="
+							},
+							"tailPropertyLabel": {
+								"$ref": "AAAAAAGJAjaSWjsFcKg="
+							},
+							"tailMultiplicityLabel": {
+								"$ref": "AAAAAAGJAjaSWjsGSAE="
+							},
+							"headRoleNameLabel": {
+								"$ref": "AAAAAAGJAjaSWjsHdU0="
+							},
+							"headPropertyLabel": {
+								"$ref": "AAAAAAGJAjaSWjsI0OA="
+							},
+							"headMultiplicityLabel": {
+								"$ref": "AAAAAAGJAjaSWjsJxvo="
+							},
+							"tailQualifiersCompartment": {
+								"$ref": "AAAAAAGJAjaSWjsK960="
+							},
+							"headQualifiersCompartment": {
+								"$ref": "AAAAAAGJAjaSWjsLVBM="
+							}
 						}
 					]
 				},
@@ -11156,7 +11459,7 @@
 					"_parent": {
 						"$ref": "AAAAAAGH3D2ih0dk35I="
 					},
-					"name": "mainProg",
+					"name": "RaspberryPi",
 					"ownedElements": [
 						{
 							"_type": "UMLAssociation",
@@ -11354,9 +11657,46 @@
 									"$ref": "AAAAAAGH3D4gT0fn5xE="
 								}
 							}
+						},
+						{
+							"_type": "UMLAssociation",
+							"_id": "AAAAAAGJAjaSWjr8YY4=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "RobotReady",
+							"end1": {
+								"_type": "UMLAssociationEnd",
+								"_id": "AAAAAAGJAjaSWjr9Ajc=",
+								"_parent": {
+									"$ref": "AAAAAAGJAjaSWjr8YY4="
+								},
+								"reference": {
+									"$ref": "AAAAAAGH3D4F30e9Sco="
+								}
+							},
+							"end2": {
+								"_type": "UMLAssociationEnd",
+								"_id": "AAAAAAGJAjaSWjr+0f8=",
+								"_parent": {
+									"$ref": "AAAAAAGJAjaSWjr8YY4="
+								},
+								"reference": {
+									"$ref": "AAAAAAGH3D3wxUeT3SY="
+								},
+								"navigable": "navigable"
+							}
 						}
 					],
 					"operations": [
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH4UPAXywhJ1c=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "main"
+						},
 						{
 							"_type": "UMLOperation",
 							"_id": "AAAAAAGH3EEdiklS30M=",
@@ -11403,6 +11743,146 @@
 								}
 							]
 						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3EMsNkqHBBI=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "drive_plant",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EQYB0slB0A=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMsNkqHBBI="
+									},
+									"name": "client",
+									"type": "mqtt.Client"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EQYB0smfc8=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMsNkqHBBI="
+									},
+									"name": "userdata"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EQYB0snvXM=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMsNkqHBBI="
+									},
+									"name": "message"
+								}
+							]
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGJAjEaTtNHMvw=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "drive_plant_all",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGJAjMZdQyKPBc=",
+									"_parent": {
+										"$ref": "AAAAAAGJAjEaTtNHMvw="
+									},
+									"name": "client",
+									"type": "mqtt.Client"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGJAjMZdgyLcsA=",
+									"_parent": {
+										"$ref": "AAAAAAGJAjEaTtNHMvw="
+									},
+									"name": "userdata"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGJAjMZdgyMJVg=",
+									"_parent": {
+										"$ref": "AAAAAAGJAjEaTtNHMvw="
+									},
+									"name": "message"
+								}
+							]
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3EMxj0qorZA=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "get_position",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3ER1dEtcsG8=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMxj0qorZA="
+									},
+									"name": "client",
+									"type": "mqtt.Client"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3ER1dUtde8A=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMxj0qorZA="
+									},
+									"name": "userdata"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3ER1dUte0IY=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EMxj0qorZA="
+									},
+									"name": "message"
+								}
+							]
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3EM1BkrJ200=",
+							"_parent": {
+								"$ref": "AAAAAAGH3D4F30e9Sco="
+							},
+							"name": "get_batteryStatus",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EUSq0uat1w=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EM1BkrJ200="
+									},
+									"name": "client",
+									"type": "mqtt.Client"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EUSq0ubRjk=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EM1BkrJ200="
+									},
+									"name": "userdata"
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3EUSq0ucxCM=",
+									"_parent": {
+										"$ref": "AAAAAAGH3EM1BkrJ200="
+									},
+									"name": "message"
+								}
+							]
+						},
 						{
 							"_type": "UMLOperation",
 							"_id": "AAAAAAGH3EHqAkmvWqg=",
@@ -11479,122 +11959,40 @@
 						},
 						{
 							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3EMsNkqHBBI=",
+							"_id": "AAAAAAGJAjP+sRpxSo8=",
 							"_parent": {
 								"$ref": "AAAAAAGH3D4F30e9Sco="
 							},
-							"name": "drive_plant",
+							"name": "drive_plant_all_thread",
 							"parameters": [
 								{
 									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EQYB0slB0A=",
+									"_id": "AAAAAAGJAjSFPBvXncs=",
 									"_parent": {
-										"$ref": "AAAAAAGH3EMsNkqHBBI="
+										"$ref": "AAAAAAGJAjP+sRpxSo8="
 									},
-									"name": "clients",
-									"type": "mqtt.Client"
-								},
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EQYB0smfc8=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EMsNkqHBBI="
-									},
-									"name": "userdata",
+									"name": "plantIDs",
 									"type": ""
 								},
 								{
 									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EQYB0snvXM=",
+									"_id": "AAAAAAGJAjSFPBvYwX8=",
 									"_parent": {
-										"$ref": "AAAAAAGH3EMsNkqHBBI="
+										"$ref": "AAAAAAGJAjP+sRpxSo8="
 									},
-									"name": "message",
+									"name": "actionID",
 									"type": ""
+								},
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGJAjSFPBvZ/QY=",
+									"_parent": {
+										"$ref": "AAAAAAGJAjP+sRpxSo8="
+									},
+									"name": "client",
+									"type": "mqtt.client"
 								}
 							]
-						},
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3EMxj0qorZA=",
-							"_parent": {
-								"$ref": "AAAAAAGH3D4F30e9Sco="
-							},
-							"name": "get_position",
-							"parameters": [
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3ER1dEtcsG8=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EMxj0qorZA="
-									},
-									"name": "clients",
-									"type": "mqtt.Client"
-								},
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3ER1dUtde8A=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EMxj0qorZA="
-									},
-									"name": "userdata",
-									"type": ""
-								},
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3ER1dUte0IY=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EMxj0qorZA="
-									},
-									"name": "message",
-									"type": ""
-								}
-							]
-						},
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3EM1BkrJ200=",
-							"_parent": {
-								"$ref": "AAAAAAGH3D4F30e9Sco="
-							},
-							"name": "get_batteryStatus",
-							"parameters": [
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EUSq0uat1w=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EM1BkrJ200="
-									},
-									"name": "clients",
-									"type": "mqtt.Clients"
-								},
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EUSq0ubRjk=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EM1BkrJ200="
-									},
-									"name": "userdata",
-									"type": ""
-								},
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3EUSq0ucxCM=",
-									"_parent": {
-										"$ref": "AAAAAAGH3EM1BkrJ200="
-									},
-									"name": "message",
-									"type": ""
-								}
-							]
-						},
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH4UPAXywhJ1c=",
-							"_parent": {
-								"$ref": "AAAAAAGH3D4F30e9Sco="
-							},
-							"name": "main"
 						}
 					]
 				},
@@ -11757,51 +12155,6 @@
 						}
 					],
 					"operations": [
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3FSgmd+KRe4=",
-							"_parent": {
-								"$ref": "AAAAAAGH3FRA/NhynDA="
-							},
-							"name": "readSesnors",
-							"parameters": [
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3FT4FeDVImY=",
-									"_parent": {
-										"$ref": "AAAAAAGH3FSgmd+KRe4="
-									},
-									"name": "sensorData"
-								}
-							]
-						},
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3FUGTeL1xTE=",
-							"_parent": {
-								"$ref": "AAAAAAGH3FRA/NhynDA="
-							},
-							"name": "takePicture"
-						},
-						{
-							"_type": "UMLOperation",
-							"_id": "AAAAAAGH3FWOReapIIQ=",
-							"_parent": {
-								"$ref": "AAAAAAGH3FRA/NhynDA="
-							},
-							"name": "readPosition",
-							"parameters": [
-								{
-									"_type": "UMLParameter",
-									"_id": "AAAAAAGH3FXRr+f18WA=",
-									"_parent": {
-										"$ref": "AAAAAAGH3FWOReapIIQ="
-									},
-									"type": "Position",
-									"direction": "return"
-								}
-							]
-						},
 						{
 							"_type": "UMLOperation",
 							"_id": "AAAAAAGH+qAzBm5mP44=",
@@ -11858,6 +12211,52 @@
 									"direction": "return"
 								}
 							]
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3FSgmd+KRe4=",
+							"_parent": {
+								"$ref": "AAAAAAGH3FRA/NhynDA="
+							},
+							"name": "readSesnors",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3FT4FeDVImY=",
+									"_parent": {
+										"$ref": "AAAAAAGH3FSgmd+KRe4="
+									},
+									"name": "sensorData",
+									"type": ""
+								}
+							]
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3FUGTeL1xTE=",
+							"_parent": {
+								"$ref": "AAAAAAGH3FRA/NhynDA="
+							},
+							"name": "takePicture"
+						},
+						{
+							"_type": "UMLOperation",
+							"_id": "AAAAAAGH3FWOReapIIQ=",
+							"_parent": {
+								"$ref": "AAAAAAGH3FRA/NhynDA="
+							},
+							"name": "readPosition",
+							"parameters": [
+								{
+									"_type": "UMLParameter",
+									"_id": "AAAAAAGH3FXRr+f18WA=",
+									"_parent": {
+										"$ref": "AAAAAAGH3FWOReapIIQ="
+									},
+									"type": "Position",
+									"direction": "return"
+								}
+							]
 						}
 					]
 				}
diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py
index b38806e..267abbb 100644
--- a/software/roboter/raspy/functions.py
+++ b/software/roboter/raspy/functions.py
@@ -249,7 +249,7 @@ def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread.start()
 
 
-def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+def get_position(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for GPS position request
     Function to send actual GPS position via MQTT in form of POSITION
@@ -267,7 +267,7 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
         "Position": ""
     }
 
-    clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
+    client.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
 
 
 def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):