diff --git a/databaseCreatorv2.py b/databaseCreatorv2.py
index 52b651d..2c6102c 100644
--- a/databaseCreatorv2.py
+++ b/databaseCreatorv2.py
@@ -3,14 +3,25 @@ import math
 
 class Robot:
     class Servo:
-        def __init__(self, angle, geometry):
+        def __init__(self, angle, geometry, previous_servos=None):
             self.deg = angle
-            self.rad = self._get_rad()
+            self.rad = self._get_rad(self.deg)
             self.geometry = geometry
             self.max, self.min = self._get_max_min()
+            self.previous_servos = None
+            self.total_angle_deg = None
+            self.total_angle_rad = None
 
-        def _get_rad(self):
-            rad = self.deg * math.pi / 180
+        def add_previous_servos(self, previous_servos=None):
+            self.previous_servos = previous_servos
+            self.total_angle_deg = self.deg
+            if previous_servos:
+                for servo in self.previous_servos:
+                    self.total_angle_deg += servo.deg
+            self.total_angle_rad = self._get_rad(self.total_angle_deg)
+
+        def _get_rad(self, deg):
+            rad = deg * math.pi / 180
             return rad
 
         def set_angle(self, angle):
@@ -36,6 +47,12 @@ class Robot:
                 self.min = _min
                 self.mid = mid
 
+    class Arm:
+        def __init__(self, attatched_to, length, height=0.0):
+            self.attachted_to = attatched_to
+            self.length = length
+            self.height = height
+
     class CoordinateSystem:
         def __init__(self, x, y):
             self.xmin = x[0]
@@ -51,9 +68,21 @@ class Robot:
         self.servo2 = s2
         self.servo3 = s3
         self.coordinatesystem = coordinatessystem
+        self.arm1 = None
+        self.arm2 = None
+        self.arm3 = None
+
         # get position based on servos
         # get efficency based on servos
 
+    def init_depending(self, a1, a2, a3, s1_prev=None, s2_prev=None, s3_prev=None):
+        self.arm1 = a1
+        self.arm2 = a2
+        self.arm3 = a3
+        self.servo1.add_previous_servos(s1_prev)
+        self.servo2.add_previous_servos(s2_prev)
+        self.servo3.add_previous_servos(s3_prev)
+
     def _get_position(self):
         return x, y
 
@@ -61,6 +90,10 @@ class Robot:
         return effi
 
 
-test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)), Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
-             Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)), Robot.CoordinateSystem([-100, 100], [-100, 100]))
+test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
+             Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
+             Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)),
+             Robot.CoordinateSystem([-100, 100], [-100, 100]))
+test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, 9),
+                    None, [test.servo1], [test.servo1, test.servo2])
 print("finished")