diff --git a/documentation/Definitions.docx b/documentation/Definitions.docx
index 38a5f32..29d85b1 100644
Binary files a/documentation/Definitions.docx and b/documentation/Definitions.docx differ
diff --git a/documentation/Robot.docx b/documentation/Robot.docx
index 35d38ad..dc6588f 100644
Binary files a/documentation/Robot.docx and b/documentation/Robot.docx differ
diff --git a/software/roboter/ev3/drive_back.py b/software/roboter/ev3/drive_back.py
new file mode 100644
index 0000000..8968f82
--- /dev/null
+++ b/software/roboter/ev3/drive_back.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+from ev3dev2.motor import Motor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor  
+from ev3dev2.sensor import INPUT_1, INPUT_4
+import sys
+
+motorLeft = LargeMotor(OUTPUT_D)
+motorRight = LargeMotor(OUTPUT_A)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+ultraSensor = UltrasonicSensor(INPUT_4)
+touchSensor = TouchSensor(INPUT_1)
+
+motorUpDown.on_for_seconds(SpeedPercent(-50), seconds=2.8)
+motorLeftRight.on_for_degrees(SpeedPercent(int(sys.argv[1])), 400)
+
+motorLeft.on(SpeedPercent(-70), block=False)
+motorRight.on(SpeedPercent(-70))
+
+while True:
+    if ultraSensor.distance_centimeters < 10:
+        motorLeft.on(SpeedPercent(-25), block=False)
+        motorRight.on(SpeedPercent(-25))
+        break
+
+
+    
+touchSensor.wait_for_pressed(timeout_ms=None, sleep_ms=10)
+motorLeft.off()
+motorRight.off()
\ No newline at end of file
diff --git a/software/roboter/ev3/plant_1.py b/software/roboter/ev3/plant_1.py
new file mode 100644
index 0000000..588f371
--- /dev/null
+++ b/software/roboter/ev3/plant_1.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=0.8, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=0.8)
+
+motorLeftRight.on_for_degrees(SpeedPercent(-50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=2.8)
diff --git a/software/roboter/ev3/plant_2.py b/software/roboter/ev3/plant_2.py
new file mode 100644
index 0000000..9b50771
--- /dev/null
+++ b/software/roboter/ev3/plant_2.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=0.8, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=0.8)
+
+motorLeftRight.on_for_degrees(SpeedPercent(50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=2.8)
+
diff --git a/software/roboter/ev3/plant_3.py b/software/roboter/ev3/plant_3.py
new file mode 100644
index 0000000..8810f91
--- /dev/null
+++ b/software/roboter/ev3/plant_3.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=2.2, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=2.2)
+
+motorLeftRight.on_for_degrees(SpeedPercent(-50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=2.8)
+
diff --git a/software/roboter/ev3/plant_4.py b/software/roboter/ev3/plant_4.py
new file mode 100644
index 0000000..d7dd665
--- /dev/null
+++ b/software/roboter/ev3/plant_4.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=2.2, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=2.2)
+
+motorLeftRight.on_for_degrees(SpeedPercent(50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=3)
diff --git a/software/roboter/ev3/plant_5.py b/software/roboter/ev3/plant_5.py
new file mode 100644
index 0000000..bc42413
--- /dev/null
+++ b/software/roboter/ev3/plant_5.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=2.7, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=2.7)
+
+motorLeftRight.on_for_degrees(SpeedPercent(-50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=3)
+
diff --git a/software/roboter/ev3/plant_6.py b/software/roboter/ev3/plant_6.py
new file mode 100644
index 0000000..1d9b6c9
--- /dev/null
+++ b/software/roboter/ev3/plant_6.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env pybricks-micropython
+
+from ev3dev2.motor import Motor, LargeMotor, ServoMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent
+
+motorRight = LargeMotor(OUTPUT_A)
+motorLeft = LargeMotor(OUTPUT_D)
+motorUpDown = Motor(OUTPUT_C)
+motorLeftRight = Motor(OUTPUT_B)
+
+motorRight.on_for_seconds(SpeedPercent(70), seconds=2.7, block=False)
+motorLeft.on_for_seconds(SpeedPercent(70), seconds=2.7)
+
+motorLeftRight.on_for_degrees(SpeedPercent(50), 400)
+
+motorUpDown.on_for_seconds(SpeedPercent(50), seconds=3)
+