diff --git a/RobotLib.py b/RobotLib.py
index d290efa..ca8c12a 100644
--- a/RobotLib.py
+++ b/RobotLib.py
@@ -22,6 +22,8 @@ class Robot:
                 self.delta = self.deg + previous_servos[-1].deg
                 if self.delta < 0:
                     self.delta *= -1
+            else:
+                self.delta = self.deg
             self.total_angle_rad = self._get_rad(self.total_angle_deg)
 
         def _get_rad(self, deg):
@@ -144,3 +146,7 @@ class Robot:
         for i, servo in enumerate([self.servo1, self.servo2, self.servo3]):
             effi += servo.delta * multipliers[i]
         return effi
+
+    def calculate(self):
+        self.x, self.y = self._get_position()
+        self.efficency = self._get_efficency()
diff --git a/databaseCreatorv2.py b/databaseCreatorv2.py
index 5a0dc0a..d1bec47 100644
--- a/databaseCreatorv2.py
+++ b/databaseCreatorv2.py
@@ -1,4 +1,26 @@
 from RobotLib import *
+import numpy as npy
+
+
+class Looper:
+    def __init__(self, Robot):
+        self.stepsize = 0.3
+        self.robot = Robot
+
+    def run(self):
+        for ang_servo1 in npy.arange(self.robot.servo1.min, self.robot.servo1.max, self.stepsize):
+            self.robot.servo1.set_angle(ang_servo1)
+            for ang_servo2 in npy.arange(self.robot.servo2.min, self.robot.servo2.max, self.stepsize):
+                self.robot.servo2.set_angle(ang_servo2)
+                for ang_servo3 in npy.arange(self.robot.servo3.min, self.robot.servo3.max, self.stepsize):
+                    self.robot.servo3.set_angle(ang_servo3)
+                    self.robot.calculate()
+                    self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
+                                                                        self.robot.efficency,
+                                                                        self.robot.servo1, self.robot.servo2,
+                                                                        self.robot.servo3))
+        print("A database with {} entries has been created.".format(len(self.robot.data.database)))
+
 
 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)),
@@ -6,5 +28,8 @@ test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
              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])
+
+looper = Looper(test)
+looper.run()
 print("finished")
 print("test")