diff --git a/documentation/Definitions.docx b/documentation/Definitions.docx
index 4946448..87e559e 100644
Binary files a/documentation/Definitions.docx and b/documentation/Definitions.docx differ
diff --git a/documentation/Kommunikation.mdj b/documentation/Kommunikation.mdj
index 657e8a6..55dabf5 100644
--- a/documentation/Kommunikation.mdj
+++ b/documentation/Kommunikation.mdj
@@ -3504,7 +3504,8 @@
 					"_parent": {
 						"$ref": "AAAAAAGHMigXUpG7rpw="
 					},
-					"name": "Role1"
+					"name": "Role1",
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 					"_type": "UMLAttribute",
@@ -3512,7 +3513,8 @@
 					"_parent": {
 						"$ref": "AAAAAAGHMigXUpG7rpw="
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-					"name": "Role2"
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@@ -3520,7 +3522,242 @@
 					"_parent": {
 						"$ref": "AAAAAAGHMigXUpG7rpw="
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-					"name": "Role3"
+					"name": "Role3",
+					"type": ""
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+			]
+		},
+		{
+			"_type": "UMLModel",
+			"_id": "AAAAAAGHSvOnT6lLzLI=",
+			"_parent": {
+				"$ref": "AAAAAAFF+h6SjaM2Hec="
+			},
+			"name": "Model1",
+			"ownedElements": [
+				{
+					"_type": "UMLClassDiagram",
+					"_id": "AAAAAAGHSvOnUKlMd1M=",
+					"_parent": {
+						"$ref": "AAAAAAGHSvOnT6lLzLI="
+					},
+					"name": "ClassDiagram1",
+					"ownedViews": [
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+							"_type": "UMLClassView",
+							"_id": "AAAAAAGHSvO0JalSVe0=",
+							"_parent": {
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+											"font": "Arial;13;0",
+											"width": 80.9072265625,
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+					"_parent": {
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+					"name": "RaspySensors",
+					"operations": [
+						{
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+							"_id": "AAAAAAGHSvPxg6l6DOE=",
+							"_parent": {
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+							"name": "measureAll",
+							"parameters": [
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 		}
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index 7122ab7..c835469 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -5,31 +5,86 @@ from raspySensors import RaspySensors
 #region global Varaibles 
 sensors = RaspySensors()
 
+sensorData = {
+    "Air Temperature [°C]" : 0,
+    "Air Humidity [%]" : 0,
+    "Earth Humidity [%]" : 0,
+    "Brightness [Lux]" : 0,
+    "Plant ID": 0,
+    "Action ID": 0
+}
+
+gpsPosition = {
+    "Position": 0,
+    "Action ID": 0
+}
+
+batteryStatus = {
+    "Battery": 0,
+    "Action ID": 0
+}
+
 
 #endregion
 
 #region 
 
-def measureSendData():
-    '''Measure Data via sensor class and send via MQTT'''
+def measureSendData(plantID, actionID):
+    '''Measure data for one plant via sensor class and send via MQTT'''
     sensorData = sensors.readSensors()
-    client.publish("Robot/Data", json.dumps(sensorData, indent=4))
+    sensorData["Plant_ID"] = plantID
+    sensorData["Action_ID"] = actionID
+    client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))
+    
 
 #endregion
 
 #region MQTT callbacks
+
+#Testing
 def send_data_json(client, userdata, message):
     strIn = str(message.payload.decode("UTF-8"))
     dataDict = json.loads(strIn)
     print("Received data: ", json.dumps(dataDict))
 
-#Function for all Plants or one which changes according to request
-def drive_plant_1(clients, userdata, message):
-    #TODO Start drive forward
-    print("Driving to plant 1")
-    measureSendData()
-    #TODO Start Drive Back Function
+
+def drive_plant(clients, userdata, message):
+    '''Function to drive to plant according to request'''
+    
+    #[ ]TODO handle MQTT message
+    print(f"Driving to plant {message}")
+    #[ ]TODO Start drive forward -> Thread
+
+    print(f"Measuring data at Plant {message}")
+    measureSendData()       # With threads not here
+
     print("Driving back to start position")
+    #[ ]TODO Start Drive Back Function in Thread
+
+    print("Back at starting Position")
+    
+
+def get_position(clients, userdata, message):
+    '''Callback function for GPS position request
+    Function to send actual GPS position via MQTT'''
+
+    #[ ]TODO handle MQTT message
+    gpsPosition["Position"] = sensors.readPosition()
+    gpsPosition["Action_ID"] = message 
+    client.publish("Robot/Data/Position", json.dumps(gpsPosition, indent=4))
+
+
+
+def get_BatteryStatus(clients, userdata, message):
+    '''Callback function for battery status request
+    Function to read battery status from ev3 and send via MQTT'''
+
+    #[ ]TODO handle MQTT message
+    batteryStatus["Battery"] = sensors.readBattery()
+    batteryStatus["Action ID"] = message
+    client.publish("Robot/Data/Battery", json.dumps(batteryStatus, indent=4))
+
+    batteryStatus()
 
 
     
@@ -37,15 +92,22 @@ def drive_plant_1(clients, userdata, message):
 
 
 mqttBroker = "mqtt.eclipseprojects.io"
-client = mqtt.Client("Smartphone_temp")
+client = mqtt.Client("Robot")
 
-dataDict = {}
+dataDict = {}       #Testing
 
-client.message_callback_add("Robot/Data", send_data_json)
-client.message_callback_add("Robot/Plant/1", drive_plant_1)
+#Add callbacks
+client.message_callback_add("Robot/Data", send_data_json)       #Testing
+client.message_callback_add("Robot/Action/Drive", drive_plant)
+client.message_callback_add("Robot/Action/GetPosition", get_position)
+client.message_callback_add("Robot/Action/GetBattery", get_BatteryStatus)
 
 client.connect(mqttBroker)
-client.subscribe("Robot/Data")
-client.subscribe("Robot/Plant/1")
+
+#Subscribe to topics
+client.subscribe("Robot/Data")      #Testing
+client.subscribe("Robot/Action/Drive")
+client.subscribe("Robot/Action/GetPosition")
+client.subscribe("Robot/Action/GetBattery")
 
 client.loop_forever()
\ No newline at end of file
diff --git a/software/roboter/raspy/raspySensors.py b/software/roboter/raspy/raspySensors.py
index ecdd333..5da4710 100644
--- a/software/roboter/raspy/raspySensors.py
+++ b/software/roboter/raspy/raspySensors.py
@@ -6,9 +6,10 @@ import json
 
 class RaspySensors:
     '''Class to handle all sensors'''
+
     def __init__(self) -> None:
         '''Init all Sensors'''
-        #Message if Error
+        #[ ]TODO Message if Error
 
         
         #Air Temperature & Humidity
@@ -22,7 +23,9 @@ class RaspySensors:
             "Air Temperature [°C]" : 0,
             "Air Humidity [%]" : 0,
             "Earth Humidity [%]" : 0,
-            "Brightness [Lux]" : 0
+            "Brightness [Lux]" : 0,
+            "Plant ID": 0,
+            "Action ID": 0
         }
 
     def readSensors(self):
@@ -44,13 +47,21 @@ class RaspySensors:
 
         return self.sensorData
     
+    #[ ]TODO - take picture function
     def takePicture(self):
         '''Take picture and return image'''
         return self.image
     
+    #[ ]TODO
     def readPosition(self):
         '''Read and return Position'''
         return self.position
+    
+    #[ ]TODO
+    def readBattery(self):
+        '''Read and return battery of ev3'''
+        return self.battery
+    
 
 
 #for Testing only