diff --git a/documentation/Robot.docx b/documentation/Robot.docx
index 14c964c..35d38ad 100644
Binary files a/documentation/Robot.docx and b/documentation/Robot.docx differ
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index c835469..fe63ed2 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -4,6 +4,7 @@ from raspySensors import RaspySensors
 
 #region global Varaibles 
 sensors = RaspySensors()
+client = mqtt.Client()
 
 sensorData = {
     "Air Temperature [°C]" : 0,
@@ -27,15 +28,35 @@ batteryStatus = {
 
 #endregion
 
-#region 
+#region global functions
 
-def measureSendData(plantID, actionID):
+def measure_send_data(plantID, actionID):
     '''Measure data for one plant via sensor class and send via MQTT'''
     sensorData = sensors.readSensors()
     sensorData["Plant_ID"] = plantID
     sensorData["Action_ID"] = actionID
     client.publish("Robot/Data/SensorData", json.dumps(sensorData, indent=4))
-    
+
+
+def init_mqtt():
+    '''Initialise MQTT client'''
+    mqttBroker = "mqtt.eclipseprojects.io"
+    client = mqtt.Client("Robot")
+
+    #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)
+
+    #Subscribe to topics
+    client.subscribe("Robot/Data")      #Testing
+    client.subscribe("Robot/Action/Drive")
+    client.subscribe("Robot/Action/GetPosition")
+    client.subscribe("Robot/Action/GetBattery")
+
+    client.connect(mqttBroker)
+
 
 #endregion
 
@@ -56,12 +77,12 @@ def drive_plant(clients, userdata, message):
     #[ ]TODO Start drive forward -> Thread
 
     print(f"Measuring data at Plant {message}")
-    measureSendData()       # With threads not here
+    measure_send_data()       # With Signal not here
 
     print("Driving back to start position")
     #[ ]TODO Start Drive Back Function in Thread
 
-    print("Back at starting Position")
+    print("Back at starting Position") #Signal
     
 
 def get_position(clients, userdata, message):
@@ -74,8 +95,8 @@ def get_position(clients, userdata, 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'''
 
@@ -91,23 +112,18 @@ def get_BatteryStatus(clients, userdata, message):
 #endregion
 
 
-mqttBroker = "mqtt.eclipseprojects.io"
-client = mqtt.Client("Robot")
 
-dataDict = {}       #Testing
+def main():
+    init_mqtt()
+    dataDict = {}       #Testing
 
-#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.loop_start()
 
-client.connect(mqttBroker)
+    while True:
+        pass
 
-#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
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file