diff --git a/RobotLib.py b/RobotLib.py
index db5b5d8..c0854a2 100644
--- a/RobotLib.py
+++ b/RobotLib.py
@@ -129,7 +129,9 @@ class Robot:
             return None, 0
 
         def get_entry(self, x, y):
-            wanted = self.Entry(x, y, 0, 0, 0, 0)
+            wanted = self.Entry(x, y, 0, Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)),
+                                Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)),
+                                Robot.Servo(0, Robot.Servo.Geometry(0, 0, 0)))
             _return, i = self._is_contained(wanted)
             return _return
 
@@ -153,7 +155,7 @@ class Robot:
             for entry in entries:
                 coordinates = entry.split(":")[0]
                 servos = entry.split(":")[1]
-                new = self.Entry(float(coordinates[0]), float(coordinates[1]), float(servos[0]), float(servos[1]),
+                new = self.Entry(float(coordinates[0]), float(coordinates[1]), -1, float(servos[0]), float(servos[1]),
                                  float(servos[2]))
                 self.database.append(new)
 
diff --git a/databaseCreator.py b/databaseCreator.py
index ccf2ab2..518a3a6 100644
--- a/databaseCreator.py
+++ b/databaseCreator.py
@@ -1,24 +1,23 @@
 import math
 import csv
 
-
 geometry = {
-        "servo0min": 0.5,
-        "servo0max": 2.5,
-        "servo0mid": 1.85,
-        "servo1min": 2.3,
-        "servo1max": 0.55,
-        "servo1mid": 1.4,
-        "servo2min": 0.55,
-        "servo2max": 2.5,
-        "servo2mid": 1.55,
-        "servo3min": 2.25,
-        "servo3max": 0.7,
-        "servo3mid": 2.25,
-        "servo4min": 0.5,
-        "servo4max": 2.5,
-        "servo4mid": 1.5
-    }
+    "servo0min": 0.5,
+    "servo0max": 2.5,
+    "servo0mid": 1.85,
+    "servo1min": 2.3,
+    "servo1max": 0.55,
+    "servo1mid": 1.4,
+    "servo2min": 0.55,
+    "servo2max": 2.5,
+    "servo2mid": 1.55,
+    "servo3min": 2.25,
+    "servo3max": 0.7,
+    "servo3mid": 2.25,
+    "servo4min": 0.5,
+    "servo4max": 2.5,
+    "servo4mid": 1.5
+}
 arms = {
     0: 0.84,
     1: 10.26,
@@ -83,7 +82,7 @@ def get_ms(servo, angle):
     val_min = geometry[minimum]
     val_max = geometry[maximum]
     val_mid = geometry[middle]
-    change = 1/90
+    change = 1 / 90
     if val_min > val_max:
         change *= -1
     ms = (angle * change + val_mid)
@@ -132,12 +131,12 @@ if eff < replace
 """
 db = {}
 for steps in range(1, 0, -0.2):
-        for servo1 in range(pos[1][0], pos[1][1], steps):
-            for servo2 in range(pos[2][0], pos[2][1], steps):
-                for servo3 in range(pos[3][0], pos[3][1], steps):
-                    for servo4 in range(pos[4][0], pos[4][1], steps):
-                        coordinate = []
-                        coordinate.append(get_pos([servo1, servo2, servo3, servo4]))
-                        #coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
-                        if coordinate in db:
-                            if db[coordinate][]
+    for servo1 in range(pos[1][0], pos[1][1], steps):
+        for servo2 in range(pos[2][0], pos[2][1], steps):
+            for servo3 in range(pos[3][0], pos[3][1], steps):
+                for servo4 in range(pos[4][0], pos[4][1], steps):
+                    coordinate = []
+                    coordinate.append(get_pos([servo1, servo2, servo3, servo4]))
+                    # coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
+                    if coordinate in db:
+                        if db[coordinate][]
diff --git a/terminalControl.py b/terminalControl.py
index 62b5f1f..1b6810e 100644
--- a/terminalControl.py
+++ b/terminalControl.py
@@ -223,9 +223,9 @@ class argvReader:
         :param filepath: filepath of the file to which the position should be written to
         :return: The angles of servo0 to servo3 seperated by a ','
         """
-        with open(filepath, 'w') as file:
+        with open(filepath, 'w') as _file:
             string = "{},{},{},{}".format(servo0actual, joy_it.servo1.deg, joy_it.servo2.deg, joy_it.servo3.deg)
-            file.write(string)
+            _file.write(string)
 
     def deserialize(self, filepath):
         """
@@ -235,8 +235,8 @@ class argvReader:
         """
         global servo0actual
         try:
-            with open(filepath, 'r') as file:
-                string = file.readline()
+            with open(filepath, 'r') as _file:
+                string = _file.readline()
                 string = string.split(",")
                 servo0actual = float(string[0])
                 joy_it.servo1.set_angle(float(string[1]))