diff --git a/software/backend/defines.py b/software/backend/defines.py
index ea5ba99..51fe92b 100644
--- a/software/backend/defines.py
+++ b/software/backend/defines.py
@@ -14,6 +14,7 @@ DATABASE_NAME = 'backend_database.db'
 # Topics:
 Topics = {
     "ROBOT_ACTION_DRIVE": "ROBOT/ACTION/DRIVE",
+    "ROBOT_ACTION_DRIVEALL": "ROBOT/ACTION/DRIVEALL",
     "ROBOT_ACTION_GETPOSITION": "ROBOT/ACTION/GETPOSITION",
     "ROBOT_ACTION_GETBATTERY": "ROBOT/ACTION/GETBATTERY",
 
@@ -23,6 +24,8 @@ Topics = {
     "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
     "ROBOT_DATA_ERROR": "ROBOT/DATA/ERROR",
     "ROBOT_DATA_ROBOTREADY": "ROBOT/DATA/ROBOTREADY",
+    "ROBOT_DATA_PICTURE": "ROBOT/DATA/PICTURE",
+    "ROBOT_DATA_ALL": "ROBOT/DATA/ALL",
 
     "BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
     "BACKEND_ACTION_DRIVEALL": "BACKEND/ACTION/DRIVEALL",
@@ -54,7 +57,12 @@ SENSORDATA = {
     "SoilMoisture": 0.0,
     "Brightness": 0,
     "PlantID": 0,
-    "ActionID": 0
+    "ActionID": ""
+}
+
+ALLSENSORDATA = {
+    "SensorData": [],
+    "ActionID": ""
 }
 
 # TODO When sensor is available
diff --git a/software/roboter/raspy/defines.py b/software/roboter/raspy/defines.py
index a002e9a..5e76927 100644
--- a/software/roboter/raspy/defines.py
+++ b/software/roboter/raspy/defines.py
@@ -8,6 +8,8 @@ MQTT_BROKER_LOCAL = "192.168.0.199"
 MQTT_BROKER_GLOBAL = "mqtt.eclipseprojects.io"
 RASPI_CLIENT_ID = "smart_farming_raspi"
 BACKEND_CLIENT_ID = "smart_farming_server"
+MAX_PLANT_COUNT = 6
+DATABASE_NAME = 'backend_database.db'
 
 # Topics:
 Topics = {
@@ -26,7 +28,7 @@ Topics = {
     "ROBOT_DATA_ALL": "ROBOT/DATA/ALL",
 
     "BACKEND_ACTION_DRIVE": "BACKEND/ACTION/DRIVE",
-    "BACKEND_ACTION_DRIVEPALL": "BACKEND/ACTION/DRIVEALL",
+    "BACKEND_ACTION_DRIVEALL": "BACKEND/ACTION/DRIVEALL",
     "BACKEND_ACTION_GETPOSITION": "BACKEND/ACTION/GETPOSITION",
     "BACKEND_ACTION_GETBATTERY": "BACKEND/ACTION/GETBATTERY",
     "BACKEND_ACTION_GETALLDATA": "BACKEND/ACTION/GETALLDATA",
@@ -44,7 +46,6 @@ Topics = {
     "BACKEND_DATA_ERROR": "BACKEND/DATA/ERROR",
     "BACKEND_DATA_ROBOTREADY": "BACKEND/DATA/ROBOTREADY"
 
-
 }
 
 # MQTT Messages:
@@ -83,10 +84,9 @@ DRIVE = {
 }
 
 DRIVEALL = {
-    "PlantIDs": [],
+    "PlantID": [0, 0],  # List containing PlantIDs sorted ascending
     "ActionID": ""
 }
-
 # GETPOSITION -> no message needed
 
 # GETBATTERY -> no message needed
@@ -128,7 +128,7 @@ BATTERY = {
 
 PLANTCOUNT = {
     "CurrenCount": 0,
-    "maxCount": 0
+    "MaxCount": 0
 }
 
 # endregion
@@ -153,6 +153,8 @@ DELETEPLANT = {
 
 # GETBATTERY -> no message needed
 
-# GETALLDATA -> no message needed
+GETALLDATA = {
+    "PlantNames": []
+}
 
 # endregion
diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py
index 6b81cf4..8dea768 100644
--- a/software/roboter/raspy/functions.py
+++ b/software/roboter/raspy/functions.py
@@ -106,7 +106,6 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
             return
     
 
-        # TODO Test error handling
         logging.info("Measuring Sensors")
         try:
             sensordata = {}
@@ -173,7 +172,6 @@ def drive_plant(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     thread.start()
 
 
-# TODO Test Drive all Plants
 # FIXME Only possible with color codes
 def drive_plant_all(client: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     """
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index 36c0e39..054dba7 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -58,13 +58,9 @@ def main():
     client.connect(MQTT_BROKER_GLOBAL)
     # client.connect("192.168.137.197")                                  # Local Broker
 
-
-    # CHECK forever or start
-    client.loop_start()
-
     logging.info("Robot initialised")
-    while True:
-        pass
+
+    client.loop_forever()                   # Loop_start not needed
 
 
 if __name__ == "__main__":
diff --git a/software/roboter/raspy/raspy_sensors.py b/software/roboter/raspy/raspy_sensors.py
index 74d5c25..47e5242 100644
--- a/software/roboter/raspy/raspy_sensors.py
+++ b/software/roboter/raspy/raspy_sensors.py
@@ -89,7 +89,6 @@ def readMCP3008():
     return percentage
 
 
-# TODO Function for all sensors
 def readSensors(sensorData):
     """
     Read DHT22, TSL2561 and Humidity Sensor