diff --git a/documentation/Robot.docx b/documentation/Robot.docx
index ab88e44..2651022 100644
Binary files a/documentation/Robot.docx and b/documentation/Robot.docx differ
diff --git a/documentation/SmartGardeningProjekt.mdj b/documentation/SmartGardeningProjekt.mdj
index 8850ffa..9f48c84 100644
--- a/documentation/SmartGardeningProjekt.mdj
+++ b/documentation/SmartGardeningProjekt.mdj
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+									"_parent": {
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+									"font": "Arial;13;0",
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+								"$ref": "AAAAAAGIcb17M25ZN8E="
+							},
+							"tail": {
+								"$ref": "AAAAAAGIcb2Q025el7c="
+							},
+							"points": "494:496;352:496;352:152;494:152",
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+								"$ref": "AAAAAAGIcb5g927ejlk="
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+							"stereotypeLabel": {
+								"$ref": "AAAAAAGIcb5g927f3Sg="
+							},
+							"propertyLabel": {
+								"$ref": "AAAAAAGIcb5g927gpLU="
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+			],
+			"nodes": [
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+					"_id": "AAAAAAGIcbyI5m25tz8=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "save plantID and actionID"
+				},
+				{
+					"_type": "UMLAction",
+					"_id": "AAAAAAGIcbyyQG3T7FM=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "drive to Plant with color code"
+				},
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+					"_id": "AAAAAAGIcbzfqG3tcdY=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+					"name": "Read Sensors"
+				},
+				{
+					"_type": "UMLAction",
+					"_id": "AAAAAAGIcbz4SW4HACY=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+					"name": "Turn arm to middle"
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+					"_type": "UMLAction",
+					"_id": "AAAAAAGIcb0ZGW4hY84=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "Send Data"
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+				{
+					"_type": "UMLAction",
+					"_id": "AAAAAAGIcb08+W480Pk=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "Drive Home"
+				},
+				{
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+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+					"name": "MergeNode1"
+				},
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+					"_type": "UMLDecisionNode",
+					"_id": "AAAAAAGIcb2Q025csa0=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "DecisionNode1"
+				}
+			],
+			"edges": [
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+					"_id": "AAAAAAGIcb4GO25lVUQ=",
+					"_parent": {
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+						"$ref": "AAAAAAGIcbyI5m25tz8="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcb17M25X5S8="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
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+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+					"source": {
+						"$ref": "AAAAAAGIcbyyQG3T7FM="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcbzfqG3tcdY="
+					}
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+				{
+					"_type": "UMLControlFlow",
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+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+					"source": {
+						"$ref": "AAAAAAGIcb17M25X5S8="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcbyyQG3T7FM="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
+					"_id": "AAAAAAGIcb4qb26Yxo4=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
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+						"$ref": "AAAAAAGIcbzfqG3tcdY="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcbz4SW4HACY="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
+					"_id": "AAAAAAGIcb45Z26p+PE=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"source": {
+						"$ref": "AAAAAAGIcbz4SW4HACY="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcb2Q025csa0="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
+					"_id": "AAAAAAGIcb5D/266OmQ=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"source": {
+						"$ref": "AAAAAAGIcb0ZGW4hY84="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcb08+W480Pk="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
+					"_id": "AAAAAAGIcb5R527L8LI=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "No more Plants",
+					"source": {
+						"$ref": "AAAAAAGIcb2Q025csa0="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcb0ZGW4hY84="
+					}
+				},
+				{
+					"_type": "UMLControlFlow",
+					"_id": "AAAAAAGIcb5g927cLV4=",
+					"_parent": {
+						"$ref": "AAAAAAGIcbxCYW11vPQ="
+					},
+					"name": "More Plants to drive to",
+					"source": {
+						"$ref": "AAAAAAGIcb2Q025csa0="
+					},
+					"target": {
+						"$ref": "AAAAAAGIcb17M25X5S8="
+					}
+				}
+			]
 		}
 	]
 }
\ No newline at end of file
diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py
index 482a02d..6b81cf4 100644
--- a/software/roboter/raspy/functions.py
+++ b/software/roboter/raspy/functions.py
@@ -216,7 +216,7 @@ def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     clients.publish(Topics["ROBOT_DATA_POSITION"], json.dumps(position, indent=4), qos=1)
 
 
-def get_BatteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+def get_batteryStatus(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
     Callback function for battery status request
     Function to read battery status from ev3 and send via MQTT in form of BATTERY
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index b6f3b53..36c0e39 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -30,7 +30,7 @@ def on_connect(client: mqtt.Client, userdata, flags, rc):
         #Add callbacks
         client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], functions.drive_plant)
         client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], functions.get_position)
-        client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], functions.get_BatteryStatus)
+        client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], functions.get_batteryStatus)
         client.message_callback_add(Topics["ROBOT_ACTION_DRIVEALL"], functions.drive_plant_all)
 
         #Subscribe to topics