diff --git a/software/backend/backend_database.db b/software/backend/backend_database.db
index ac54c93..8880ff8 100644
Binary files a/software/backend/backend_database.db and b/software/backend/backend_database.db differ
diff --git a/software/backend/data_functions.py b/software/backend/data_functions.py
index 69bc018..f5ea2e6 100644
--- a/software/backend/data_functions.py
+++ b/software/backend/data_functions.py
@@ -71,23 +71,23 @@ def action_drive(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydat
         "ActionID": action_id
     }
 
-    if robot.get_order_number() < 5 and robot.get_robot_status() is True:
+    if robot.get_order_number() < 6 and robot.get_robot_status() is True:
         robot.add_order(drive_data)
         client.publish(Topics['ROBOT_ACTION_DRIVE'], json.dumps(drive_data))
         logging.info("BACKEND_ACTION_DRIVE Drive Command published: " + json.dumps(drive_data))
     else:
-        if robot.get_order_number() < 5:
+        if robot.get_order_number() < 6:
             robot.add_order(drive_data)
             logging.info("BACKEND_ACTION_DRIVE New data added to order list: " + str(drive_data))
-        elif robot.get_order_number() >= 5:
+        elif robot.get_order_number() >= 6:
             logging.error("Could not add Order to list. Order discarded")
             client.publish(Topics['BACKEND_DATA_ERROR'], "Could not add Order to list. Order discarded")
 
 
 def action_driveall(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase,
                     robot: Robot):
-    # TODO: Implement here
-    print("HELLO")
+
+    client.publish(Topics['ROBOT_ACTION_DRIVEALL'])
 
 
 def action_getposition(client: mqtt.Client, userdata, message: mqtt.MQTTMessage, mydatabase: PlantDataBase):
diff --git a/software/backend/tests/test_database.db b/software/backend/tests/test_database.db
index a6d863c..40c152c 100644
Binary files a/software/backend/tests/test_database.db and b/software/backend/tests/test_database.db differ
diff --git a/software/defines.py b/software/defines.py
index 2f3786c..6050617 100644
--- a/software/defines.py
+++ b/software/defines.py
@@ -72,9 +72,13 @@ BATTERY = {
 
 DRIVE = {
     "PlantID": 0,
-    "ActionID": 0
+    "ActionID": ""
 }
 
+DRIVEALL = {
+    "PlantID": [0, 0],  # List containing PlantIDs sorted ascending
+    "ActionID": ""
+}
 # GETPOSITION -> no message needed
 
 # GETBATTERY -> no message needed