diff --git a/.gitignore b/.gitignore
index 496ee2c..0a1b6af 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,8 @@
-.DS_Store
\ No newline at end of file
+.DS_Store
+/.idea/.gitignore
+/.idea/dictionaries/lucawarm.xml
+/.idea/material_theme_project_new.xml
+/docs/documentation/assets/math-expression-location-calculation.png
+/.idea/modules.xml
+/.idea/muupooviixee66.iml
+/.idea/vcs.xml
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..c32400b
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/muupooviixee66-3.iml" filepath="$PROJECT_DIR$/.idea/muupooviixee66-3.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/muupooviixee66-3.iml b/.idea/muupooviixee66-3.iml
new file mode 100644
index 0000000..d6ebd48
--- /dev/null
+++ b/.idea/muupooviixee66-3.iml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 1beee62..02ead3a 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -14,6 +14,7 @@
     </configurations>
   </component>
   <component name="ChangeListManager">
+    <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Final update onderzoek-formulier.md" />
     <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Updated onderzoek-voorbeeld.md &amp; motion-tracking-system-analysis.md">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/docs/documentation/research-questions/motion-tracking-system-analysis.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/research-questions/motion-tracking-system-analysis.md" afterDir="false" />
@@ -26,6 +27,7 @@
   <component name="ClangdSettings">
     <option name="formatViaClangd" value="false" />
   </component>
+  <component name="ExecutionTargetManager" SELECTED_TARGET="device_and_snapshot_combo_box_target[C:\Users\Niels\.android\avd\Pepper_1.9_API_29.avd]" />
   <component name="ExternalProjectsData">
     <projectState path="$PROJECT_DIR$">
       <ProjectState />
@@ -73,10 +75,6 @@
   <component name="MarkdownSettingsMigration">
     <option name="stateVersion" value="1" />
   </component>
-  <component name="ProjectColorInfo">{
-  &quot;customColor&quot;: &quot;&quot;,
-  &quot;associatedIndex&quot;: 7
-}</component>
   <component name="ProjectId" id="2fE3N2CwEPDo9wBtexBLxU20tCJ" />
   <component name="ProjectLevelVcsManager">
     <ConfirmationsSetting value="2" id="Add" />
@@ -85,6 +83,13 @@
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
+  <component name="PropertiesComponent">
+    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+    <property name="RunOnceActivity.cidr.known.project.marker" value="true" />
+    <property name="cidr.known.project.marker" value="true" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$/code/src/Fitbot" />
+  </component>
   <component name="PropertiesComponent">{
   &quot;keyToString&quot;: {
     &quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
@@ -101,6 +106,13 @@
     &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
   }
 }</component>
+  <component name="PropertiesComponent">
+    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+    <property name="RunOnceActivity.cidr.known.project.marker" value="true" />
+    <property name="cidr.known.project.marker" value="true" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$/code/src/Fitbot" />
+  </component>
   <component name="RecentsManager">
     <key name="MoveFile.RECENT_KEYS">
       <recent name="$PROJECT_DIR$/code/src/app/src/main/java/com/fitbot" />
@@ -115,16 +127,40 @@
       <option name="PM_INSTALL_OPTIONS" value="" />
       <option name="ALL_USERS" value="false" />
       <option name="ALWAYS_INSTALL_WITH_PM" value="false" />
-      <option name="CLEAR_APP_STORAGE" value="false" />
       <option name="DYNAMIC_FEATURES_DISABLED_LIST" value="" />
       <option name="ACTIVITY_EXTRA_FLAGS" value="" />
       <option name="MODE" value="default_activity" />
       <option name="CLEAR_LOGCAT" value="false" />
       <option name="SHOW_LOGCAT_AUTOMATICALLY" value="false" />
+      <option name="SKIP_NOOP_APK_INSTALLATIONS" value="true" />
+      <option name="FORCE_STOP_RUNNING_APP" value="true" />
       <option name="INSPECTION_WITHOUT_ACTIVITY_RESTART" value="false" />
       <option name="TARGET_SELECTION_MODE" value="SHOW_DIALOG" />
+      <option name="SELECTED_CLOUD_MATRIX_CONFIGURATION_ID" value="-1" />
+      <option name="SELECTED_CLOUD_MATRIX_PROJECT_ID" value="" />
       <option name="DEBUGGER_TYPE" value="Java" />
+      <Auto>
+        <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+        <option name="SHOW_STATIC_VARS" value="true" />
+        <option name="WORKING_DIR" value="" />
+        <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+        <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      </Auto>
+      <Hybrid>
+        <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+        <option name="SHOW_STATIC_VARS" value="true" />
+        <option name="WORKING_DIR" value="" />
+        <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+        <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      </Hybrid>
       <Java />
+      <Native>
+        <option name="USE_JAVA_AWARE_DEBUGGER" value="false" />
+        <option name="SHOW_STATIC_VARS" value="true" />
+        <option name="WORKING_DIR" value="" />
+        <option name="TARGET_LOGGING_CHANNELS" value="lldb process:gdb-remote packets" />
+        <option name="SHOW_OPTIMIZED_WARNING" value="true" />
+      </Native>
       <Profilers>
         <option name="ADVANCED_PROFILING_ENABLED" value="false" />
         <option name="STARTUP_PROFILING_ENABLED" value="false" />
@@ -275,6 +311,7 @@
         </entry>
       </map>
     </option>
+    <option name="oldMeFiltersMigrated" value="true" />
   </component>
   <component name="VcsManagerConfiguration">
     <MESSAGE value="Changes" />
diff --git a/code/src/Fitbot/.gitignore b/code/src/Fitbot/.gitignore
index aa724b7..732c947 100644
--- a/code/src/Fitbot/.gitignore
+++ b/code/src/Fitbot/.gitignore
@@ -13,3 +13,5 @@
 .externalNativeBuild
 .cxx
 local.properties
+.idea
+.vscode
\ No newline at end of file
diff --git a/code/src/Fitbot/.idea/misc.xml b/code/src/Fitbot/.idea/misc.xml
index a67315e..fb7fa9e 100644
--- a/code/src/Fitbot/.idea/misc.xml
+++ b/code/src/Fitbot/.idea/misc.xml
@@ -4,9 +4,17 @@
     <option name="filePathToZoomLevelMap">
       <map>
         <entry key="../../../../../../../../layout/custom_preview.xml" value="0.35989583333333336" />
+        <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/drawable/button_background.xml" value="0.128" />
+        <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/drawable/rectangle.xml" value="0.128" />
         <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml" value="0.2015625" />
+        <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/layout/activity_end_screen.xml" value="0.18" />
         <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/layout/activity_main.xml" value="0.2015625" />
         <entry key="..\:/Users/31687/muupooviixee66-1/code/src/Fitbot/app/src/main/res/layout/activity_main_screen.xml" value="0.358695652173913" />
+        <entry key="..\:/Users/Niels/muupooviixee66-3/code/src/Fitbot/app/src/main/res/drawable/rectangle.xml" value="0.1665" />
+        <entry key="..\:/Users/Niels/muupooviixee66-3/code/src/Fitbot/app/src/main/res/layout/activity_end_screen.xml" value="0.165" />
+        <entry key="..\:/Users/Niels/muupooviixee66-3/code/src/Fitbot/app/src/main/res/layout/activity_endscreen.xml" value="0.1" />
+        <entry key="..\:/Users/Niels/muupooviixee66-3/code/src/Fitbot/app/src/main/res/layout/activity_main.xml" value="0.1" />
+        <entry key="..\:/Users/Niels/muupooviixee66-3/code/src/Fitbot/app/src/main/res/layout/header.xml" value="0.1234375" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable-v24/ic_launcher_foreground.xml" value="0.25" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/darkred_button_gradient.xml" value="0.346" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/ic_baseline_home_48.xml" value="0.25" />
diff --git a/code/src/Fitbot/app/build.gradle b/code/src/Fitbot/app/build.gradle
index f3a2fea..8c66c27 100644
--- a/code/src/Fitbot/app/build.gradle
+++ b/code/src/Fitbot/app/build.gradle
@@ -34,8 +34,13 @@ dependencies {
     implementation 'com.android.support.constraint:constraint-layout:2.0.4'
     implementation 'com.android.support:cardview-v7:28.0.0'
     implementation 'com.android.support:design:28.0.0'
+    implementation 'com.android.support:support-v4:+'
     implementation 'org.joml:joml:1.10.5'
+    implementation 'com.google.code.gson:gson:2.8.6'
     testImplementation 'junit:junit:4.13.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
     androidTestImplementation 'com.android.support.test:runner:1.0.2'
     androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
 	implementation 'com.aldebaran:qisdk:1.7.5'
diff --git a/code/src/Fitbot/app/src/main/AndroidManifest.xml b/code/src/Fitbot/app/src/main/AndroidManifest.xml
index 23755ba..d41d0f1 100644
--- a/code/src/Fitbot/app/src/main/AndroidManifest.xml
+++ b/code/src/Fitbot/app/src/main/AndroidManifest.xml
@@ -15,9 +15,16 @@
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
         android:theme="@style/Theme.Fitbot" >
+        <activity
+            android:name=".EndScreenActivity"
+            android:exported="false" />
+        <activity
+            android:name=".ui.activities.FitnessActivity"
+            android:exported="true" />
         <activity
             android:name=".ui.activities.MainActivity"
             android:exported="true" >
+
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
 
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/EndScreenActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/EndScreenActivity.java
new file mode 100644
index 0000000..a12c853
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/EndScreenActivity.java
@@ -0,0 +1,22 @@
+package com.example.fitbot;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.support.v7.app.AppCompatActivity;
+import android.widget.Button;
+
+public class EndScreenActivity extends AppCompatActivity {
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_end_screen);
+        Button homeButton = findViewById(R.id.homeButton);
+
+        homeButton.setOnClickListener(v -> {
+            Intent intent = new Intent(EndScreenActivity.this, MainActivity.class);
+            startActivity(intent);
+            finish();
+        });
+    }
+}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
new file mode 100644
index 0000000..daf7d8b
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
@@ -0,0 +1,104 @@
+package com.example.fitbot.exercise;
+
+import android.util.Log;
+
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.server.IWebSocketHandler;
+import com.example.fitbot.util.server.WebSocket;
+
+import java.util.Objects;
+
+public abstract class AbstractExercise implements IWebSocketHandler {
+
+    private EMuscleGroup muscleGroup;
+    private GesturePath path;
+
+    // Static fields.
+    private static WebSocket webSocket;
+    private static AbstractExercise currentExercise = null;
+
+
+    /**
+     * Constructor for the AbstractExercise class.
+     *
+     * @param muscleGroup  The muscle group of the exercise.
+     * @param path         The path of the exercise.
+     */
+    public AbstractExercise(EMuscleGroup muscleGroup,  GesturePath path) {
+        this.muscleGroup = muscleGroup;
+        this.path = path;
+    }
+
+    /**
+     * Start the exercise.
+     * This method starts a WebSocket server
+     */
+    public final void startExercise() {
+
+        // Ensure no other exercise is active.
+        if (currentExercise != null && currentExercise != this) {
+            currentExercise.__stopExercise();
+            Log.i("Exercises", "Another exercise was started when another was still running.");
+        }
+
+        // If a WebSocket server is already running, change the event handler to be this class.
+        if (webSocket != null && webSocket.isConnected()) {
+            webSocket.setEventHandler(this);
+        }
+
+        try {
+            webSocket = WebSocket.createServer();
+            Objects.requireNonNull(webSocket, "WebSocket server could not be created.");
+
+            webSocket.startListening();
+            webSocket.setEventHandler(this);
+            currentExercise = this;
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * Method for ending this exercise and returning the grade of the performance
+     * of this activity.
+     */
+    public final double finishExercise() {
+        this.__stopExercise();
+
+        // TODO: Implement grade calculation
+        return 0.0;
+    }
+
+    /**
+     * Stop the exercise.
+     * This method stops the WebSocket server.
+     */
+    private void __stopExercise() {
+        if (webSocket != null && webSocket.isConnected()) {
+            webSocket.stop();
+            webSocket = null;
+        }
+        currentExercise = null;
+    }
+
+    /**
+     * Check if the current exercise is the current activity.
+     */
+    public final boolean isCurrentActivity() {
+        return currentExercise == this;
+    }
+
+    /**
+     * Get the muscle group of the exercise.
+     */
+    public EMuscleGroup getMuscleGroup() {
+        return muscleGroup;
+    }
+
+    /**
+     * Get the path of the exercise.
+     */
+    public GesturePath getPath() {
+        return path;
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
new file mode 100644
index 0000000..27ff244
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
@@ -0,0 +1,30 @@
+package com.example.fitbot.exercise;
+
+public enum EMuscleGroup {
+    // TODO: Implement
+
+    TORSO(0),
+    ARMS(1),
+    LEGS(2),
+    BALANCE(3);
+
+    int muscleGroupIdentifier;
+
+    EMuscleGroup(int identifier) {
+        this.muscleGroupIdentifier = identifier;
+    }
+
+    public int getIdentifier() {
+        return this.muscleGroupIdentifier;
+    }
+
+    public static EMuscleGroup parse(int identifier) {
+        for (EMuscleGroup muscleGroup : EMuscleGroup.values()) {
+            if (muscleGroup.getIdentifier() == identifier) {
+                return muscleGroup;
+            }
+        }
+        return null;
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java
new file mode 100644
index 0000000..bcf3320
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java
@@ -0,0 +1,53 @@
+package com.example.fitbot.exercise;
+
+
+/**
+ * The ExerciseUser class represents a user of the exercise application.
+ * This contains all necessary information of the current user.
+ */
+public class ExerciseUser {
+
+    public float upperArmLength;
+    public float lowerArmLength;
+    public float upperLegLength;
+    public float lowerLegLength;
+    public float height;
+
+    /**
+     * Constructor for the ExerciseUser class.
+     * @param upperArmLength The length of the upper arm.
+     * @param lowerArmLength The length of the lower arm.
+     * @param height The height of the user.
+     * @param upperLegLength The length of the upper leg.
+     * @param lowerLegLength The length of the lower leg.
+     */
+    public ExerciseUser(float upperArmLength, float lowerArmLength, float height, float upperLegLength, float lowerLegLength) {
+        this.upperArmLength = upperArmLength;
+        this.lowerArmLength = lowerArmLength;
+        this.upperLegLength = upperLegLength;
+        this.lowerLegLength = lowerLegLength;
+        this.height = height;
+    }
+
+    /**
+     * Constructor for the ExerciseUser class.
+     * @param height The height of the user.
+     */
+    public ExerciseUser(float height) {
+        this.height = height;
+        this.upperArmLength = height * 0.2f;
+        this.lowerArmLength = height * 0.2f;
+        this.upperLegLength = height * 0.3f;
+        this.lowerLegLength = height * 0.3f;
+    }
+
+    /**
+     * Default constructor for the ExerciseUser class.
+     * This sets the default height to 180.0f. (1.80m)
+     */
+    public ExerciseUser() {
+        this(180.0f);
+    }
+
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
new file mode 100644
index 0000000..ada8292
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
@@ -0,0 +1,113 @@
+package com.example.fitbot.exercise;
+
+import com.example.fitbot.util.path.GesturePath;
+import com.google.gson.JsonObject;
+import com.google.gson.JsonParser;
+
+import org.joml.Vector3f;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.lang.reflect.Constructor;
+import java.net.URL;
+import java.net.URLConnection;
+
+public class FitnessManager {
+
+    private static final String HOST_ADDRESS = "http://145.92.8.132";
+
+    private static final String PROPERTY_DESC = "description";
+    private static final String PROPERTY_VECTORS = "vector_data";
+    private static final String PROPERTY_NAME = "name";
+    private static final String PROPERTY_MUSCLE_GROUP = "muscle_group";
+
+    private static String sendHTTP(String url, String method, String contentType, String body) {
+        try {
+            URLConnection connection = new URL(url).openConnection();
+            connection.addRequestProperty("Content-Type", contentType);
+            connection.addRequestProperty("Request-Method", method);
+            connection.getOutputStream().write(body.getBytes());
+            connection.connect();
+            InputStream stream = connection.getInputStream();
+            BufferedReader reader = new BufferedReader(new InputStreamReader(stream));
+            StringBuilder builder = new StringBuilder();
+            String line;
+            while ((line = reader.readLine()) != null) {
+                builder.append(line);
+            }
+            return builder.toString();
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    /**
+     * Function for retrieving an exercise from the Raspberry Pi Database.
+     *
+     * @param uniqueIdentifier The unique identifier of the exercise
+     * @return The exercise, if it exists on the server. Otherwise null.
+     */
+    public static <T extends AbstractExercise> AbstractExercise acquireExercise(String uniqueIdentifier, Class<T> referenceClass) {
+        String response = sendHTTP(
+                HOST_ADDRESS + "/acquire", "GET", "application/json", "{\"kind\":\"" + uniqueIdentifier + "\"}"
+        );
+        // Validate the response
+        if (response != null) {
+            try {
+                JsonObject content = JsonParser.parseString(response).getAsJsonObject();
+                Constructor<T> constructor = referenceClass.getConstructor(referenceClass);
+                T instance = null;
+                try {
+                    instance = constructor.newInstance(
+                            EMuscleGroup.parse(content.get(PROPERTY_MUSCLE_GROUP).getAsInt()),
+                            gesturePathFromString(content.get(PROPERTY_VECTORS).getAsString())
+                    );
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                return instance;
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+        return null;
+    }
+
+    /**
+     * Function for converting a string to a GesturePath object.
+     * The input string bytes will be directly converted into 3d vectors.
+     * Every coordinate is composed of 32 bits, so four characters per coordinate.
+     *
+     * @param input The string to convert
+     * @return The GesturePath object
+     */
+    private static GesturePath gesturePathFromString(String input) {
+        byte[] bytes = input.getBytes();
+
+        // Check if the input string contains a valid amount of bytes (12 bytes per vector)
+        if (input.length() % 12 != 0) {
+            throw new IllegalArgumentException("Invalid input string length");
+        }
+        GesturePath.Builder builder = new GesturePath.Builder();
+
+        float[] xyz = new float[3];
+        for (int i = 0; i < bytes.length; i += 12) {
+            for (int j = 0; j < 3; j++) {
+                xyz[j] = Float.intBitsToFloat(
+                                (bytes[i + j * 4] & 0xFF) << 24 |
+                                (bytes[i + j * 4 + 1] & 0xFF) << 16 |
+                                (bytes[i + j * 4 + 2] & 0xFF) << 8 |
+                                (bytes[i + j * 4 + 3] & 0xFF)
+                );
+            }
+            builder.addVector(new Vector3f(
+                    xyz[0], xyz[1], xyz[2]
+            ));
+        }
+        return builder.build();
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java
deleted file mode 100644
index 4ea7606..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package com.example.fitbot.sports;
-
-public enum ESportType {
-
-    FITNESS("Fitness"),
-    POWER("Krachttrening");
-
-    private final String name;
-
-    ESportType(String name) {
-        this.name = name;
-    }
-
-    public String getName() {
-        return name;
-    }
-
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
index 949e2b0..82c916d 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
@@ -1,6 +1,7 @@
 package com.example.fitbot.ui.activities;
 
 import android.annotation.SuppressLint;
+import android.content.Intent;
 import android.os.Bundle;
 import android.support.design.widget.NavigationView;
 import android.support.v4.view.GravityCompat;
@@ -8,6 +9,8 @@ import android.support.v4.widget.DrawerLayout;
 import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
+import android.util.Log;
+import android.widget.Button;
 
 import com.example.fitbot.R;
 
@@ -17,17 +20,26 @@ public class MainActivity extends AppCompatActivity {
     DrawerLayout drawerLayout;
     NavigationView navigationView;
     Toolbar toolbar;
+    Button startButton;
 
     @SuppressLint("WrongViewCast")
     @Override
     protected void onCreate (Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_main);
+        setContentView(R.layout.activity_main );
 
         /*---Hooks---*/
         drawerLayout = findViewById(R.id.drawer_layout);
         navigationView = findViewById(R.id.nav_view);
         toolbar = findViewById(R.id.toolbar);
+        startButton = findViewById(R.id.startButton);
+
+        startButton.setOnClickListener(v -> {
+            // Switch to fitness activity
+            Log.i("MainActivity", "Switching to FitnessActivity");
+            Intent intent = new Intent(MainActivity.this, FitnessActivity.class);
+            startActivity(intent);
+        });
 
         /*---Tool Bar---*/
 //      setSupportActionBar(toolbar);
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
index 32631ee..ef111ad 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
@@ -4,6 +4,7 @@ import android.content.Context;
 import android.graphics.Canvas;
 import android.graphics.Paint;
 import android.graphics.Path;
+import android.util.Log;
 import android.view.View;
 
 import com.example.fitbot.util.path.GesturePath;
@@ -24,6 +25,8 @@ public class PersonalMotionPreviewElement extends View {
     private Path referencePath, performingPath;
     private Paint referencePaint, performingPaint;
 
+    private Paint backgroundColor = new Paint();
+
     /**
      * Constants for the preview path projection.
      */
@@ -42,6 +45,9 @@ public class PersonalMotionPreviewElement extends View {
      */
     public PersonalMotionPreviewElement(Context context, GesturePath path) {
         super(context);
+        Log.i("PersonalMotionPreviewElement", "Creating new PersonalMotionPreviewElement.");
+        this.backgroundColor = new Paint();
+        this.backgroundColor.setColor(0xFF000000); // Black
         this.path = path;
         this.motionProcessor = new MotionProcessor();
         this.motionProcessor.startListening();
@@ -158,6 +164,7 @@ public class PersonalMotionPreviewElement extends View {
 
     @Override
     public void onDraw(Canvas canvas) {
+        canvas.drawRect(0, 0, getWidth(), getHeight(), backgroundColor);
         // Draw the sport preview canvas
         canvas.drawPath(referencePath, referencePaint);
         canvas.drawPath(performingPath, performingPaint);
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
index 5507c71..88c41ad 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
@@ -10,7 +10,6 @@ public class GesturePath {
 
     // The vectors that make up the path.
     private final PathSegment[] segments;
-    private double curvature;
 
     public GesturePath(Vector3f[] vectors) {
         this(vectors, 0.0D);
@@ -27,7 +26,6 @@ public class GesturePath {
         if ( vectors.length < 2)
             throw new IllegalArgumentException("A path must have at least two points.");
 
-        this.curvature = curvature;
         this.segments = new PathSegment[vectors.length - 1];
         for ( int i = 0; i < vectors.length - 1; i++)
             segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
@@ -39,7 +37,6 @@ public class GesturePath {
      */
     public GesturePath(PathSegment... segments) {
         this.segments = segments;
-        this.curvature = 0.0d;
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
index 9f0c361..11183ca 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -25,10 +25,9 @@ public class PathSegment {
      * depending on the curvature of the curve. If the curvature is unset, or set to 0
      * then this method will use linear interpolation. Otherwise, it will use a curve.
      *
-     * @param dst The destination vector to interpolate to.
      * @param t   The interpolation value between 0 and 1.
      */
-    public Vector3f interpolate(Vector3f dst, double t) {
+    public Vector3f interpolate(double t) {
         return new Vector3f(this.start)
                 .lerp(this.end, (float) Math.min(1.0F, Math.max(0.0F, t)));
     }
diff --git a/code/src/Fitbot/app/src/main/res/drawable/button_background.xml b/code/src/Fitbot/app/src/main/res/drawable/button_background.xml
new file mode 100644
index 0000000..bfd00b0
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/res/drawable/button_background.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#F0E4E4" />
+    <corners android:radius="15dp" />
+
+</shape>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/drawable/rectangle.xml b/code/src/Fitbot/app/src/main/res/drawable/rectangle.xml
new file mode 100644
index 0000000..20ab824
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/res/drawable/rectangle.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:id="@+id/listview_background_shape">
+    <stroke android:width="2dp" android:color="#ff207d94" />
+    <padding android:left="2dp"
+        android:top="2dp"
+        android:right="2dp"
+        android:bottom="2dp" />
+    <corners android:radius="45dp" />
+    <solid android:color="#F0F0F0" />
+</shape>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_end_screen.xml b/code/src/Fitbot/app/src/main/res/layout/activity_end_screen.xml
new file mode 100644
index 0000000..3ae57cc
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/res/layout/activity_end_screen.xml
@@ -0,0 +1,79 @@
+<?xml version="1.0" encoding="utf-8"?>
+<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:background="@color/red"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:context=".EndScreenActivity">
+
+    <View
+        android:id="@+id/myRectangleView"
+        android:layout_width="720dp"
+        android:layout_height="270dp"
+        android:layout_marginStart="320dp"
+        android:layout_marginTop="25dp"
+        android:layout_marginEnd="320dp"
+        android:layout_marginBottom="25dp"
+        android:background="@drawable/rectangle"
+        app:layout_constraintBottom_toTopOf="@+id/homeButton"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Button
+        android:id="@+id/homeButton"
+        style="@style/ButtonStyle"
+        android:layout_width="278dp"
+        android:layout_height="117dp"
+        android:layout_marginStart="501dp"
+        android:layout_marginTop="25dp"
+        android:layout_marginEnd="501dp"
+        android:layout_marginBottom="50dp"
+        android:text="Home"
+        app:layout_constraintBottom_toTopOf="@+id/continueButton"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/myRectangleView" />
+
+    <Button
+        android:id="@+id/continueButton"
+        style="@style/ButtonStyle"
+        android:layout_width="280dp"
+        android:layout_height="120dp"
+        android:layout_marginStart="500dp"
+        android:layout_marginTop="25dp"
+        android:layout_marginEnd="500dp"
+        android:layout_marginBottom="140dp"
+        android:text="Continue"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/homeButton" />
+
+    <TextView
+        android:id="@+id/gefeliciteerdText"
+        style="@style/TextStyle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="539dp"
+        android:layout_marginEnd="533dp"
+        android:text="Gefeliciteerd"
+        app:layout_constraintBottom_toTopOf="@+id/workoutText"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintHorizontal_bias="0.0"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/myRectangleView" />
+
+    <TextView
+        android:id="@+id/workoutText"
+        style="@style/TextStyle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="u heeft de work out voltooid"
+        app:layout_constraintBottom_toBottomOf="@+id/myRectangleView"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/myRectangleView" />
+
+</android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
index 35990c8..38aa5c9 100644
--- a/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
+++ b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
@@ -1,10 +1,25 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+<android.support.v4.widget.DrawerLayout xmlns:android="http://schemas.android.com/apk/res/android"
+xmlns:app="http://schemas.android.com/apk/res-auto"
+xmlns:tools="http://schemas.android.com/tools"
+android:id="@+id/drawer_layout"
+android:layout_width="match_parent"
+android:layout_height="match_parent"
+android:background="#232323"
+android:fitsSystemWindows="true"
+tools:context=".ui.activities.FitnessActivity"
+tools:openDrawer="start">
+
+<LinearLayout
     android:layout_width="match_parent"
-    android:layout_height="match_parent">
+    android:layout_height="match_parent"
+    android:orientation="vertical">
 
     <com.example.fitbot.ui.components.PersonalMotionPreviewElement
+        android:id="@+id/personalMotionPreviewElement"
+        android:visibility="visible"
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
-</android.support.constraint.ConstraintLayout>
\ No newline at end of file
+</LinearLayout>
+
+</android.support.v4.widget.DrawerLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/values/strings.xml b/code/src/Fitbot/app/src/main/res/values/strings.xml
index 1d35c5a..88b866c 100644
--- a/code/src/Fitbot/app/src/main/res/values/strings.xml
+++ b/code/src/Fitbot/app/src/main/res/values/strings.xml
@@ -9,4 +9,6 @@
     <string name="start">Start</string>
     <string name="help">Help</string>
     <string name="todo">TODO</string>
+    <color name="red">#f22b1d</color>
+
 </resources>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/values/styles.xml b/code/src/Fitbot/app/src/main/res/values/styles.xml
index da6988e..9511376 100644
--- a/code/src/Fitbot/app/src/main/res/values/styles.xml
+++ b/code/src/Fitbot/app/src/main/res/values/styles.xml
@@ -5,5 +5,24 @@
         <item name="android:statusBarColor">#00000000</item>
         <item name="windowActionBar">false</item>
         <item name="windowNoTitle">true</item>
+
+
     </style>
+
+    <style name="ButtonStyle">
+        <item name="android:textSize">24sp</item>
+        <item name="android:textColor">#000000</item>
+        <item name="android:background">@drawable/button_background</item>
+        <item name= "android:textStyle">bold</item>
+        <item name="android:padding">16dp</item>
+        <item name="android:layout_margin">8dp</item>
+    </style>
+
+    <style name="TextStyle">
+        <item name="android:textSize">36sp</item>
+        <item name="android:textColor">#000000</item>
+        <item name= "android:textStyle">bold</item>
+    </style>
+
+
 </resources>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/values/themes.xml b/code/src/Fitbot/app/src/main/res/values/themes.xml
index e2327fb..14f6b4a 100644
--- a/code/src/Fitbot/app/src/main/res/values/themes.xml
+++ b/code/src/Fitbot/app/src/main/res/values/themes.xml
@@ -6,5 +6,9 @@
         <item name="colorPrimaryDark">@color/purple_700</item>
         <item name="colorAccent">@color/teal_200</item>
         <!-- Customize your theme here. -->
+        <?xml version="1.0" encoding="utf-8"?>
+        <resources>
+            <!-- Style for general buttons -->
+        </resources>
     </style>
 </resources>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java b/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
new file mode 100644
index 0000000..0ab0f1d
--- /dev/null
+++ b/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
@@ -0,0 +1,37 @@
+package com.example.fitbot;
+
+import static org.junit.Assert.assertEquals;
+
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.PathSegment;
+
+import org.joml.Vector3f;
+import org.junit.Test;
+
+public class PathSegmentTest {
+
+    @Test
+    public void testPathSegment() {
+        // Test the PathSegment class
+        Vector3f[] vectors = new Vector3f[2];
+        vectors[0] = new Vector3f(0, 0, 0);
+        vectors[1] = new Vector3f(1, 1, 1);
+        GesturePath path = new GesturePath(vectors);
+        PathSegment[] segments = path.getSegments();
+        assertEquals(1, segments.length);
+        assertEquals(new Vector3f(0, 0, 0), segments[0].getStart());
+        assertEquals(new Vector3f(1, 1, 1), segments[0].getEnd());
+        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segments[0].interpolate(0.5));
+    }
+
+
+    @Test
+    public void test_pathSegmentInterpolation() {
+        Vector3f start = new Vector3f(0, 0, 0);
+        Vector3f end = new Vector3f(1, 1, 1);
+        PathSegment segment = new PathSegment(start, end);
+        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segment.interpolate(0.5));
+    }
+
+
+}
diff --git a/docs/documentation/android/code_documentation/AndroidStyles.md b/docs/documentation/android/code_documentation/AndroidStyles.md
new file mode 100644
index 0000000..f8c27ad
--- /dev/null
+++ b/docs/documentation/android/code_documentation/AndroidStyles.md
@@ -0,0 +1,35 @@
+# Creating Styles in android
+
+Styles and themes on Android make it possible for you to separate the details of our app design from the UI structure and behavior, identical to stylesheets in web design. We will use this in our project to maintain a consistent style, so that we won't have to hardcode it to each element. A style is a set of attributes that determine the appearance of a single View. A style can define features like font color, font size, background color, and a lot more.
+
+To make a style you want to navigate to res/values/styles.xml in this file you can make styles. Fot this example we will make a buttonstyle that we can implement across multiple buttons. To make a style you need to add this code to your style.xml file
+
+```xml
+
+<resources>
+    <style name="ButtonStyle">
+
+    </style>
+</resources>
+
+```
+After that, you may add your styling items in the code. 
+
+
+```xml
+    <style name="ButtonStyle">
+        <item name="android:textSize">24sp</item>
+        <item name="android:textColor">#000000</item>
+        <item name="android:background">#F0F0F0</item>
+        <item name= "android:textStyle">bold</item>
+        <item name="android:padding">16dp</item>
+        <item name="android:layout_margin">8dp</item>
+    </style>
+```
+If you have done this, return to your activity.xml file and add the style element to your object. You will need to connect your style to the element. 
+```xml
+    <Button
+        android:id="@+id/homeButton"
+        style="@style/ButtonStyle"/>
+```
+You can now add this to multiple buttons to keep the same style and avoid copying and pasting the same feature 
\ No newline at end of file
diff --git a/docs/documentation/android/javaClasses.md b/docs/documentation/android/javaClasses.md
index 0ff6895..dba5fbd 100644
--- a/docs/documentation/android/javaClasses.md
+++ b/docs/documentation/android/javaClasses.md
@@ -15,8 +15,9 @@ public class MyClass {
 Then in a class you can have Methods or Atributes where the actual code is.
 
 ```mermaid
-flowchart
-a[Access Modifiers] --> b[class] --> c[Class name]
+flowchart LR
+0[~] --> a([Access Modifiers]) --> b([class]) --> c([Class name])
+0 --> b
 ```
 
 ## Constructor
@@ -29,8 +30,11 @@ A method is a block of code which only runs when it is called. You can pass data
 
 Methods are build like this
 ```mermaid
-flowchart
-A[Access Modifiers] --> B[Method Modifier] --> C[Return Type] --> D[Method Name] --> E[Parameters] --> F[Method Body]
+flowchart LR
+0([~]) --> A([Access Modifiers]) --> B([Method Modifier]) --> C([Return Type]) --> D([Method Name]) --> E([Parameters]) --> F([Method Body])
+A --> C
+0 --> C
+D --> F
 ```
 
 
diff --git a/docs/documentation/hardware/sensors.md b/docs/documentation/hardware/sensors.md
index 8b30728..66d52cf 100644
--- a/docs/documentation/hardware/sensors.md
+++ b/docs/documentation/hardware/sensors.md
@@ -3,11 +3,11 @@
 Which sensor are we gonna use for this project and why?
 
 
-### What do we wanna measure?
+### What do we want to measure?
 
 We wanna measure the movement of the people doing our exercises. We want to know how many times they have done the exercise and how many times they have done it correctly.
 
-### What sensor are we gonna use?
+### What sensor are we going to use?
 To measure these movements we are gonna use gyroscopes. With gyroscopes we can measure the rotation of the body. With some math we can also measure the speed of the rotation. So we know how fast the person is doing the exercise.
 
 ### Which gyroscopes are there?