```text

feat: Update DeviceScanner to include ESP UUID characteristic

The DeviceScanner class in the Fitbot app is updated to include the ESP UUID characteristic for Bluetooth communication. This change adds the UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8" to the CORRECT_CHARACTERISTIC_UUID constant. The purpose of this change is to enable communication with ESP32 devices.

.gitignore

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+      <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" />
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@@ -0,0 +1,5 @@
+{
+    "port": "COM3",
+    "board": "esp32:esp32:esp32s3",
+    "sketch": "code\\arduino\\Position-tracking\\Position-tracking.ino"
+}

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+                "__FLT_MIN_10_EXP__=(-37)",
+                "__FLT64_MIN__=2.2250738585072014e-308F64",
+                "__INT_LEAST32_WIDTH__=32",
+                "__INTMAX_TYPE__=long long int",
+                "__DEC128_MAX_EXP__=6145",
+                "__FLT32X_HAS_QUIET_NAN__=1",
+                "__ATOMIC_CONSUME=1",
+                "__GNUC_MINOR__=4",
+                "__INT_FAST16_WIDTH__=32",
+                "__UINTMAX_MAX__=0xffffffffffffffffULL",
+                "__DEC32_MANT_DIG__=7",
+                "__FLT32X_DENORM_MIN__=4.9406564584124654e-324F32x",
+                "__DBL_MAX_10_EXP__=308",
+                "__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
+                "__INT16_C(c)=c",
+                "__cpp_generic_lambdas=201304",
+                "__STDC__=1",
+                "__FLT32X_DIG__=15",
+                "__PTRDIFF_TYPE__=int",
+                "__ATOMIC_SEQ_CST=5",
+                "__UINT32_TYPE__=unsigned int",
+                "__FLT32X_MIN_10_EXP__=(-307)",
+                "__UINTPTR_TYPE__=unsigned int",
+                "__DEC64_SUBNORMAL_MIN__=0.000000000000001E-383DD",
+                "__DEC128_MANT_DIG__=34",
+                "__LDBL_MIN_10_EXP__=(-307)",
+                "__SIZEOF_LONG_LONG__=8",
+                "__cpp_user_defined_literals=200809",
+                "__GCC_ATOMIC_LLONG_LOCK_FREE=1",
+                "__FLT32X_MIN__=2.2250738585072014e-308F32x",
+                "__LDBL_DIG__=15",
+                "__FLT_DECIMAL_DIG__=9",
+                "__UINT_FAST16_MAX__=0xffffffffU",
+                "__GCC_ATOMIC_SHORT_LOCK_FREE=2",
+                "__INT_LEAST64_WIDTH__=64",
+                "__UINT_FAST8_TYPE__=unsigned int",
+                "__cpp_init_captures=201304",
+                "__ATOMIC_ACQ_REL=4",
+                "__ATOMIC_RELEASE=3",
+                "USBCON"
+            ]
+        }
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}

code/arduino/Movement-sensor-code/Connectivity.cpp

@@ -0,0 +1,23 @@
+#include "Connectivity.h"
+
+void Connectivity::connectWiFi(char* ssid, char* pass){
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(ssid, pass);
+  while (WiFi.status() != WL_CONNECTED) {
+    Serial.println("connecting to wifi");
+    delay(1000);
+  }
+  Serial.println(WiFi.localIP());
+}
+
+void Connectivity::websocketSetup(char* ip, uint16_t port, char* adress){
+	//ws server address, port and URL
+	webSocket.begin(ip , port, adress);
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
+}
+
+void Connectivity::sendData(float roll, float pitch, float yaw){
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
+  webSocket.sendTXT(message);
+}

code/arduino/Movement-sensor-code/Connectivity.h

@@ -0,0 +1,30 @@
+#ifndef Connectivity_h
+#define Connectivity_h
+
+#include "Arduino.h"
+#include <WebSocketsClient.h>
+#include <ArduinoWiFiServer.h>
+#include <ESP8266WiFi.h>
+#include <ESP8266WiFiGeneric.h>
+#include <ESP8266WiFiGratuitous.h>
+#include <ESP8266WiFiMulti.h>
+#include <ESP8266WiFiSTA.h>
+#include <ESP8266WiFiScan.h>
+#include <ESP8266WiFiType.h>
+#include <WiFiClient.h>
+#include <WiFiServer.h>
+#include <WiFiServerSecure.h>
+#include <WiFiUdp.h>
+
+class Connectivity {
+public:
+  void connectWiFi(char* ssid, char* pass);
+  void websocketSetup(char* ip, uint16_t port, char* adress);
+  void sendData(float roll, float pitch, float yaw);
+
+private:
+  ESP8266WiFiMulti wifi;
+  WebSocketsClient webSocket;
+};
+
+#endif

code/arduino/Movement-sensor-code/Movement-sensor-code.ino

@@ -0,0 +1,62 @@
+#include "headerFile.h"
+
+SensorManager::Rotation offset;
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("startup");
+  
+  connectivity.connectWiFi(ssid, pass);
+  sensorManager.sensorSetup();
+
+	//ws server address, port and URL
+	webSocket.begin("145.3.245.22", 8001, "");
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
+}
+
+void loop() {
+  SensorManager::Rotation rotation = sensorManager.readLoop();
+
+  // Subtract offset
+  rotation.i -= offset.i;
+  rotation.j -= offset.j;
+  rotation.k -= offset.k;
+  rotation.w -= offset.w;
+
+  // Convert quaternion to Euler angles in radians
+  float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
+  float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
+  float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
+
+  // Convert to degrees
+  float rollDegrees = roll * 180.0f / PI;
+  float pitchDegrees = pitch * 180.0f / PI;
+  float yawDegrees = yaw * 180.0f / PI;
+
+  Serial.print(roll);
+  Serial.print(" ");
+  Serial.print(pitch);
+  Serial.print(" ");
+  Serial.print(yaw);
+  sendData(roll, pitch, yaw);
+
+  Serial.println();
+  webSocket.loop();
+
+  if (Serial.available()) {
+    String command = Serial.readStringUntil('\n');
+    command.trim(); // remove any trailing whitespace
+    if (command == "setZeroPoint") {
+      setZeroPoint();
+    }
+  }
+}
+void setZeroPoint() {
+  offset = sensorManager.readLoop();
+}
+
+void sendData(float roll, float pitch, float yaw){
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
+  webSocket.sendTXT(message);
+}

code/arduino/Movement-sensor-code/SensorManager.cpp

@@ -0,0 +1,51 @@
+#include "SensorManager.h"
+#include <Wire.h>
+
+
+SensorManager::SensorManager() {}
+
+void SensorManager::sensorSetup() {
+  Wire.setClockStretchLimit(150000L);  // Default stretch limit 150mS
+  Wire.begin();
+  //wait for the sensor to start before continue
+  if (myIMU.begin() == false) {
+    delay(1000);
+    Serial.println(".");
+  }
+  //start sensorfunction and start autocalibration
+  //once calibration is enabled it attempts to every 5 min
+
+  Wire.setClock(400000);  //Increase I2C data rate to 400kHz
+  myIMU.calibrateAll();   //Turn on cal for Accel, Gyro, and Mag
+  myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
+  myIMU.enableMagnetometer(100);     //Send data update every 100ms
+  myIMU.saveCalibration();           //Saves the current dynamic calibration data (DCD) to memory
+  myIMU.requestCalibrationStatus();  //Sends command to get the latest calibration status
+
+  if (myIMU.calibrationComplete() == true) {
+    Serial.println("Calibration data successfully stored");
+  }
+
+  Serial.println(F("magnetometer rotation enabled"));
+}
+
+SensorManager::Rotation SensorManager::readLoop() {
+  if (myIMU.dataAvailable() == true) {
+    float i = myIMU.getQuatI();
+    float j = myIMU.getQuatJ();
+    float k = myIMU.getQuatK();
+    float w = myIMU.getQuatReal();
+
+    Rotation rotation = { i, j, k, w };
+    return rotation;
+  }
+  else {
+    float i = myIMU.getQuatI();
+    float j = myIMU.getQuatJ();
+    float k = myIMU.getQuatK();
+    float w = myIMU.getQuatReal();
+
+    Rotation rotation = { i, j, k, w };
+    return rotation;
+  }
+}

code/arduino/Movement-sensor-code/SensorManager.h

@@ -0,0 +1,22 @@
+#ifndef SensorManager_h
+#define SensorManager_h
+
+#include "Arduino.h"
+#include "SparkFun_BNO080_Arduino_Library.h"
+
+class SensorManager {
+  public:
+    SensorManager();
+    void sensorSetup();
+    struct Rotation {
+      float i;
+      float j;
+      float k;
+      float w;
+    };
+    Rotation readLoop();
+  private:
+    BNO080 myIMU;
+};
+
+#endif

code/arduino/Movement-sensor-code/headerFIle.h

@@ -0,0 +1,13 @@
+//classes
+#include "SensorManager.h"
+#include "Connectivity.h"
+
+//define
+SensorManager sensorManager;
+Connectivity connectivity;
+WebSocketsClient webSocket;
+#define USE_SERIAL Serial
+
+
+#define ssid "1235678i"
+#define pass "12345678"

code/arduino/Position-tracking/Position-tracking.ino

@@ -0,0 +1,12 @@
+#include "PositionSensor.h"
+
+PositionSensor sensor(15); // Sensor Pin
+
+void setup() {
+  sensor.begin();
+}
+
+void loop() {
+    sensor.Measure();
+    delay(1000);
+}

code/arduino/Position-tracking/PositionSensor.cpp

@@ -0,0 +1,13 @@
+#include "PositionSensor.h"
+
+PositionSensor::PositionSensor(int pin) : _pin(pin) {}
+
+void PositionSensor::begin() {
+  Serial.begin(115200);
+  pinMode(_pin, INPUT);
+}
+
+void PositionSensor::Measure() {
+  int value = analogRead(_pin);
+  Serial.println(value);
+}

code/arduino/Position-tracking/PositionSensor.h

@@ -0,0 +1,15 @@
+#ifndef PositionSensor_h
+#define PositionSensor_h
+
+#include "Arduino.h"
+
+class PositionSensor {
+  public:
+    PositionSensor(int pin);
+    void begin();
+    void Measure();
+  private:
+    int _pin;
+};
+
+#endif

code/arduino/Position-tracking/test/test.ino

@@ -0,0 +1,46 @@
+#include <BLEDevice.h>
+#include <BLEUtils.h>
+#include <BLEServer.h>
+
+#define SERVICE_UUID        "4fafc201-1fb5-459e-8fcc-c5c9c331914b"
+#define CHARACTERISTIC_UUID "beb5483e-36e1-4688-b7f5-ea07361b26a8"
+
+#define LDR 15
+
+BLECharacteristic *pCharacteristic;
+
+void setup() {
+  Serial.begin(115200);
+
+  pinMode(LDR, INPUT);
+  
+  Serial.println("Starting BLE work!");
+
+  BLEDevice::init("ESP32-Pepper");
+  BLEServer *pServer = BLEDevice::createServer();
+  BLEService *pService = pServer->createService(SERVICE_UUID);
+  pCharacteristic = pService->createCharacteristic(
+                                         CHARACTERISTIC_UUID,
+                                         BLECharacteristic::PROPERTY_READ |
+                                         BLECharacteristic::PROPERTY_WRITE
+                                       );
+
+  pCharacteristic->setValue("Hello World");
+  pService->start();
+  BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
+  pAdvertising->addServiceUUID(SERVICE_UUID);
+  pAdvertising->setScanResponse(true);
+  pAdvertising->setMinPreferred(0x06);  
+  pAdvertising->setMinPreferred(0x12);
+  BLEDevice::startAdvertising();
+  Serial.println("Waiting a client connection to notify...");
+}
+
+void loop() {
+  int ldrValue = analogRead(LDR);
+  Serial.println(ldrValue);
+  char ldrValueChar[50];
+  sprintf(ldrValueChar, "%d", ldrValue);
+  pCharacteristic->setValue(ldrValueChar);
+  delay(2000);
+}

code/server/Websocketserver.py

@@ -0,0 +1,28 @@
+# testscript for websocket server 
+# stolen from Sam's last project
+import websockets
+import asyncio
+
+connected = set()
+
+async def handler(websocket):
+    # Register.
+    connected.add(websocket)
+    try:
+        while True:
+            message = await websocket.recv()
+            print(message)
+    except websockets.ConnectionClosedOK:
+        print("Client disconnected")
+    finally:
+        connected.remove(websocket)
+
+
+async def main():
+    async with websockets.serve(handler, "0.0.0.0", 8001):
+        await asyncio.Future()  # run forever
+
+if __name__ == "__main__":
+    asyncio.run(main())    
+
+#https://websockets.readthedocs.io/en/stable/reference/sync/server.html#websockets.sync.server.serve

code/src/Fitbot/.gitignore

@@ -13,3 +13,5 @@
 .externalNativeBuild
 .cxx
 local.properties
+.idea
+.vscode

code/src/Fitbot/.idea/deploymentTargetDropDown.xml

@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="deploymentTargetDropDown">
-    <targetSelectedWithDropDown>
-      <Target>
-        <type value="QUICK_BOOT_TARGET" />
-        <deviceKey>
-          <Key>
-            <type value="VIRTUAL_DEVICE_PATH" />
-            <value value="C:\Users\sebas\.android\avd\Pepper_1.9_API_29.avd" />
-          </Key>
-        </deviceKey>
-      </Target>
-    </targetSelectedWithDropDown>
-    <timeTargetWasSelectedWithDropDown value="2024-04-26T10:10:48.222593700Z" />
-  </component>
-</project>

code/src/Fitbot/.idea/misc.xml

@@ -4,12 +4,34 @@
     <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_fitness.xml" value="0.1234375" />
+        <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" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/ic_baseline_settings_48.xml" value="0.25" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/ic_baseline_star_rate_48.xml" value="0.25" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/ic_launcher_background.xml" value="0.25" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/drawable/red_button_gradient.xml" value="0.346" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml" value="0.22826086956521738" />
-        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_main.xml" value="0.1" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_main.xml" value="0.176" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_main_screen.xml" value="0.1" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml" value="0.1" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml" value="0.1" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml" value="0.1" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/header.xml" value="0.125" />
+        <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/toolbar.xml" value="0.125" />
+        <entry key="app/src/main/res/layout/activity_fitness.xml" value="0.23550724637681159" />
         <entry key="app/src/main/res/layout/activity_main.xml" value="0.1" />
         <entry key="app/src/main/res/layout/activity_sport_item.xml" value="0.2341485507246377" />
         <entry key="app/src/main/res/layout/activity_sport_menu.xml" value="0.22056159420289856" />

code/src/Fitbot/app/build.gradle

@@ -34,7 +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'

code/src/Fitbot/app/src/main/AndroidManifest.xml

@@ -4,6 +4,16 @@
 
     <uses-feature android:name="com.softbank.hardware.pepper" />
 
+    <uses-permission android:name="android.permission.BLUETOOTH"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN"/>
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_SCAN"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
+    <uses-feature android:name="android.hardware.bluetooth" android:required="true" />
+    <uses-permission android:name="android.permission.INTERNET"/>
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
+
     <application
         android:allowBackup="true"
         android:icon="@mipmap/ic_launcher"
@@ -12,24 +22,15 @@
         android:supportsRtl="true"
         android:theme="@style/Theme.Fitbot" >
         <activity
-            android:name=".Completion_Screen"
+            android:name=".EndScreenActivity"
             android:exported="false" />
         <activity
-            android:name=".ui.SportMenuActivity"
-            android:exported="true">
-        </activity>
-        <activity
-            android:name=".BicepVideo"
-            android:exported="false" />
-        <activity
-            android:name=".PowerScreen"
-            android:exported="false" />
-        <activity
-            android:name=".MainActivity"
+            android:name=".ui.activities.FitnessActivity"
             android:exported="true" />
         <activity
-            android:name=".MainScreen"
+            android:name=".ui.activities.MainActivity"
             android:exported="true" >
+
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
 

code/src/Fitbot/app/src/main/java/com/example/fitbot/Animations.java

@@ -1,6 +1,7 @@
 package com.example.fitbot;
 
 import android.support.v7.app.AppCompatActivity;
+
 import com.aldebaran.qi.sdk.QiContext;
 import com.aldebaran.qi.sdk.builder.AnimateBuilder;
 import com.aldebaran.qi.sdk.builder.AnimationBuilder;

code/src/Fitbot/app/src/main/java/com/example/fitbot/BicepVideo.java

@@ -1,59 +0,0 @@
-package com.example.fitbot;
-
-import android.content.Intent;
-import android.net.Uri;
-import android.os.Bundle;
-import android.support.v7.app.AppCompatActivity;
-import android.widget.Button;
-import android.widget.MediaController;
-import android.widget.VideoView;
-
-import com.aldebaran.qi.sdk.QiContext;
-import com.aldebaran.qi.sdk.builder.AnimateBuilder;
-import com.aldebaran.qi.sdk.builder.AnimationBuilder;
-import com.aldebaran.qi.sdk.object.actuation.Animate;
-import com.aldebaran.qi.sdk.object.actuation.Animation;
-
-public class BicepVideo extends AppCompatActivity {
-
-//    private QiContext qiContext;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_bicepvideo);
-        setupButtons();
-    }
-
-    public void Video(QiContext qiContext) {
-        VideoView videoView = findViewById(R.id.videoView);
-        videoView.setVideoURI(Uri.parse("android.resource://" + getPackageName() + "/" + R.raw.bicepvideo));
-
-        MediaController mediaController = new MediaController(this);
-        videoView.setMediaController(mediaController);
-        videoView.setOnCompletionListener(mp -> videoView.start());
-        videoView.start();
-
-        Animation animation = AnimationBuilder.with(qiContext)
-                .withResources(R.raw.bicepcurl)
-                .build();
-
-        Animate animate = AnimateBuilder.with(qiContext)
-                .withAnimation(animation)
-                .build();
-
-
-        animate.async().run();
-
-    }
-    private void setupButtons() {
-        Button backButton = findViewById(R.id.buttonback);
-        backButton.setOnClickListener(v -> finish());
-
-        Button completeButton = findViewById(R.id.buttoncomplete);
-        completeButton.setOnClickListener(v -> {
-            Intent intent = new Intent(BicepVideo.this, Completion_Screen.class);
-            startActivity(intent);
-        });
-    }
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/Completion_Screen.java

@@ -1,13 +0,0 @@
-package com.example.fitbot;
-
-import android.support.v7.app.AppCompatActivity;
-import android.os.Bundle;
-
-public class Completion_Screen extends AppCompatActivity {
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_completion_screen);
-    }
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/EndScreenActivity.java

@@ -0,0 +1,24 @@
+package com.example.fitbot;
+
+import android.content.Intent;
+import android.os.Bundle;
+import android.support.v7.app.AppCompatActivity;
+import android.widget.Button;
+
+import com.example.fitbot.ui.activities.MainActivity;
+
+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();
+        });
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java

@@ -1,80 +0,0 @@
-package com.example.fitbot;
-
-import android.os.Bundle;
-
-import com.aldebaran.qi.sdk.QiContext;
-import com.aldebaran.qi.sdk.QiSDK;
-import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
-import com.aldebaran.qi.sdk.builder.SayBuilder;
-import com.aldebaran.qi.sdk.design.activity.RobotActivity;
-import com.aldebaran.qi.sdk.object.conversation.Phrase;
-import com.aldebaran.qi.sdk.object.conversation.Say;
-import com.aldebaran.qi.sdk.object.locale.Language;
-import com.aldebaran.qi.sdk.object.locale.Locale;
-import com.aldebaran.qi.sdk.object.locale.Region;
-
-public class MainActivity extends RobotActivity implements RobotLifecycleCallbacks {
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        // Register the RobotLifecycleCallbacks to this Activity.
-
-        QiSDK.register(this, this);
-    }
-
-    @Override
-    protected void onDestroy() {
-        // Unregister the RobotLifecycleCallbacks for this Activity.
-        QiSDK.unregister(this, this);
-        super.onDestroy();
-    }
-
-    @Override
-    public void onRobotFocusGained(QiContext qiContext) {
-        Locale locale = new Locale(Language.DUTCH, Region.NETHERLANDS);
-
-        // Create a new say action.
-        Say say = SayBuilder.with(qiContext) // Create the builder with the context.
-                .withText("Hallo hoe gaat het?") // Set the text to say.
-                .build(); // Build the say action.
-
-        String locationName = ("de hogeschool van amsterdam");
-        String locationDescription = ("0 bitches");
-
-        Phrase namePhrase = new Phrase("Deze locatie is " + locationName);
-        Say sayName = SayBuilder.with(qiContext)
-                .withPhrase(namePhrase)
-                .withLocale(locale)
-                .build();
-
-        Phrase descriptionPhrase  = new Phrase(locationDescription);
-        Say sayDescription = SayBuilder.with(qiContext)
-                .withPhrase(descriptionPhrase)
-                .withLocale(locale)
-                .build();
-
-        sayName.run();
-        sayDescription.run();
-
-        // Create a new BicepVideo with the qiContext
-//        BicepVideo BicepVideo = new BicepVideo();
-//
-//        // Call the videoPlayer method
-//        BicepVideo.Video(qiContext);
-
-        // Execute the action.
-        say.run();
-    }
-
-
-    @Override
-    public void onRobotFocusLost() {
-        // Nothing here.
-    }
-
-    @Override
-    public void onRobotFocusRefused(String reason) {
-        // The robot focus is refused.
-    }
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java

@@ -1,83 +0,0 @@
-package com.example.fitbot;
-
-import android.annotation.SuppressLint;
-import android.os.Bundle;
-import android.support.design.widget.NavigationView;
-import android.support.v4.view.GravityCompat;
-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 com.example.fitbot.util.processing.GesturePath;
-import com.example.fitbot.util.processing.MotionData;
-import com.example.fitbot.util.processing.MotionProcessor;
-import com.example.fitbot.util.processing.Vector3;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.function.Function;
-
-public class MainScreen extends AppCompatActivity {
-
-    //Variables
-    DrawerLayout drawerLayout;
-    NavigationView navigationView;
-    Toolbar toolbar;
-
-    @SuppressLint("WrongViewCast")
-    @Override
-    protected void onCreate (Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_main);
-
-        /*---Hooks---*/
-        drawerLayout = findViewById(R.id.drawer_layout);
-        navigationView = findViewById(R.id.nav_view);
-        toolbar = findViewById(R.id.toolbar);
-
-        MotionProcessor motionProcessor = new MotionProcessor();
-        GesturePath.Builder builder = new GesturePath.Builder();
-
-        motionProcessor.setMotionDataEventHandler((data -> {
-            Log.i("MotionProcessor", "Current position: " + data.toString());
-        }));
-
-        List<Vector3> relativePath = new ArrayList<>();
-
-        double y, dy;
-
-        Function<Double, Double> F = (x) -> 4.0 + 0.125D * x * x;
-        Function<Double, Double> d2F = (x) -> 0.25D;
-
-        for ( double x = -50; x < 10; x += 0.125D ) {
-
-            builder.addVector(new Vector3(0, F.apply(x), 0));
-            motionProcessor.addMotionData(new MotionData(new Vector3(0, d2F.apply(x), 0), Vector3.zero()));
-        }
-
-        motionProcessor.logStatistics(builder.build());
-
-        /*---Tool Bar---*/
-//      setSupportActionBar(toolbar);
-
-        /*---Navigation Drawer Menu---*/
-        navigationView.bringToFront();
-
-        ActionBarDrawerToggle toggle=new
-                ActionBarDrawerToggle(this,drawerLayout,toolbar,R.string.navigation_drawer_open,R.string.navigation_drawer_close);
-        drawerLayout.addDrawerListener(toggle);
-        toggle.syncState();
-    }
-
-    @Override
-    public void onBackPressed(){
-        if(drawerLayout.isDrawerOpen(GravityCompat.START)){
-            drawerLayout.closeDrawer(GravityCompat.START);
-        }
-        else
-        {super.onBackPressed();
-        }
-    }
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/PowerScreen.java

@@ -1,43 +0,0 @@
-package com.example.fitbot;
-
-import android.content.Intent;
-import android.os.Bundle;
-import android.support.v7.app.AppCompatActivity;
-import android.widget.ImageButton;
-
-public class PowerScreen extends AppCompatActivity {
-    ImageButton openBicepVideo;
-    ImageButton openSquatVideo;
-    ImageButton openTricepVideo;
-    ImageButton goToHome;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_power_screen);
-
-        openBicepVideo = findViewById(R.id.open_BicepVideo);
-        openSquatVideo = findViewById(R.id.open_SquatVideo);
-        openTricepVideo = findViewById(R.id.open_TricepVideo);
-        goToHome = findViewById(R.id.GoToHome);
-
-        openBicepVideo.setOnClickListener(v -> {
-            Intent intent = new Intent(PowerScreen.this, BicepVideo.class);
-            startActivity(intent);
-        });
-//        openSquatVideo.setOnClickListener(v -> {
-//            Intent intent = new Intent(PowerScreen.this, SquatVideo.class);
-//            startActivity(intent);
-//        });
-//
-//        openTricepVideo.setOnClickListener(v -> {
-//            Intent intent = new Intent(PowerScreen.this, TricepVideo.class);
-//            startActivity(intent);
-//        });
-
-        goToHome.setOnClickListener(v -> {
-            Intent intent = new Intent(PowerScreen.this, MainActivity.class);
-            startActivity(intent);
-        });
-    }
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/bluetooth/DeviceScanner.java

@@ -0,0 +1,139 @@
+package com.example.fitbot.bluetooth;
+
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothGatt;
+import android.bluetooth.BluetoothGattCallback;
+import android.bluetooth.BluetoothGattCharacteristic;
+import android.bluetooth.BluetoothGattService;
+import android.bluetooth.BluetoothProfile;
+import android.bluetooth.le.BluetoothLeScanner;
+import android.bluetooth.le.ScanCallback;
+import android.bluetooth.le.ScanResult;
+import android.content.Context;
+import android.os.Handler;
+import android.util.Log;
+
+import java.nio.charset.StandardCharsets;
+import java.util.UUID;
+
+public class DeviceScanner {
+    private Context context; 
+    private static final UUID CORRECT_CHARACTERISTIC_UUID = UUID.fromString("beb5483e-36e1-4688-b7f5-ea07361b26a8"); // ESP UUID characteristic
+    private BluetoothAdapter bluetoothAdapter;
+    private BluetoothLeScanner bluetoothLeScanner;
+    private boolean scanning;
+    private Handler handler = new Handler();
+
+    // Stops scanning after 10 seconds.
+    private static final long SCAN_PERIOD = 10000;
+
+    public DeviceScanner(Context context) {
+        this.context = context;
+        bluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+        bluetoothLeScanner = bluetoothAdapter.getBluetoothLeScanner();
+    }
+
+    public void scanLeDevice() {
+        if (!scanning) {
+            handler.postDelayed(new Runnable() {
+                @Override
+                public void run() {
+                    scanning = false;
+                    bluetoothLeScanner.stopScan(leScanCallback);
+                    Log.i("DeviceScanner", "Stopped scanning after scan period");
+                }
+            }, SCAN_PERIOD);
+            scanning = true;
+            bluetoothLeScanner.startScan(leScanCallback);
+            Log.i("DeviceScanner", "Started scanning");
+        } else {
+            scanning = false;
+            bluetoothLeScanner.stopScan(leScanCallback);
+            Log.i("DeviceScanner", "Stopped scanning");
+        }
+    }
+
+    // Stops scanning for devices.
+    public void stopScan() {
+        if (scanning) {
+            scanning = false;
+            bluetoothLeScanner.stopScan(leScanCallback);
+            Log.i("DeviceScanner", "Stopped scanning");
+        }
+    }
+
+    // Device scan callback to find the ESP32
+    private ScanCallback leScanCallback =
+        new ScanCallback() {
+            @Override
+            public void onScanResult(int callbackType, ScanResult result) {
+                super.onScanResult(callbackType, result);
+                BluetoothDevice device = result.getDevice();
+                if (device.getName() != null && device.getName().equals("ESP32-Pepper")) {
+                    Log.i("DeviceScanner", "Device found: " + device.getName() + " (" + device.getAddress() + ")");
+                    connectToDevice(device);
+                }
+        };
+    };
+
+    // GATT callback to connect to the ESP32 and read the characteristic
+    private final BluetoothGattCallback gattCallback = new BluetoothGattCallback() {
+        @Override
+        public void onConnectionStateChange(BluetoothGatt gatt, int status, int newState) {
+            if (newState == BluetoothProfile.STATE_CONNECTED) {
+                Log.i("DeviceScanner", "Connected to GATT server");
+                gatt.discoverServices();
+            } else if (newState == BluetoothProfile.STATE_DISCONNECTED) {
+                Log.i("DeviceScanner", "Disconnected from GATT server");
+            }
+        }
+
+        // Discover services and characteristics
+        @Override
+        public void onServicesDiscovered(BluetoothGatt gatt, int status) {
+            if (status == BluetoothGatt.GATT_SUCCESS) {
+                for (BluetoothGattService service : gatt.getServices()) {
+                    for (BluetoothGattCharacteristic characteristic : service.getCharacteristics()) {
+                        if (isCorrectCharacteristic(characteristic)) {
+                            gatt.setCharacteristicNotification(characteristic, true);
+                            gatt.readCharacteristic(characteristic);
+                        }
+                    }
+                }
+            }
+        }
+
+        // Read the characteristic
+        @Override
+        public void onCharacteristicRead(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic, int status) {
+            if (status == BluetoothGatt.GATT_SUCCESS) {
+                Log.i("DeviceScanner", "Characteristic read: " + new String(characteristic.getValue(), StandardCharsets.UTF_8));
+            }
+        }
+
+        // Characteristic changed
+        @Override
+        public void onCharacteristicChanged(BluetoothGatt gatt, BluetoothGattCharacteristic characteristic) {
+            Log.i("DeviceScanner", "Characteristic changed: " + new String(characteristic.getValue(), StandardCharsets.UTF_8));
+        }
+    };
+    
+    // Connect to the ESP32 
+    public void connectToDevice(BluetoothDevice device) {
+        BluetoothGatt gatt = device.connectGatt(context, false, gattCallback);
+    }
+
+    // Check if the characteristic has the correct UUID
+    private boolean isCorrectCharacteristic(BluetoothGattCharacteristic characteristic) {
+        // Log the UUID of the characteristic
+        Log.i("DeviceScanner", String.valueOf(characteristic.getUuid()));
+    
+        // Check if the characteristic has the correct UUID
+        if (characteristic.getUuid().equals(CORRECT_CHARACTERISTIC_UUID)) {
+            Log.i("DeviceScanner", "Correct characteristic found");
+            return true;
+        }
+        return false;
+    }
+}

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;
+    }
+}

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;
+    }
+
+}

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);
+    }
+
+
+}

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();
+    }
+
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java

@@ -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;
-    }
-
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/CompletionActivity.java

@@ -0,0 +1,4 @@
+package com.example.fitbot.ui.activities;
+
+public class CompletionActivity {
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java

@@ -0,0 +1,29 @@
+package com.example.fitbot.ui.activities;
+
+import android.os.Bundle;
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
+import com.aldebaran.qi.sdk.design.activity.RobotActivity;
+
+public class FitnessActivity extends RobotActivity implements RobotLifecycleCallbacks {
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+    }
+
+    @Override
+    public void onRobotFocusGained(QiContext qiContext) {
+        // Implement your logic when the robot focus is gained
+    }
+
+    @Override
+    public void onRobotFocusLost() {
+        // Implement your logic when the robot focus is lost
+    }
+
+    @Override
+    public void onRobotFocusRefused(String reason) {
+        // Implement your logic when the robot focus is refused
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java

@@ -0,0 +1,88 @@
+package com.example.fitbot.ui.activities;
+
+import android.annotation.SuppressLint;
+import android.content.Intent;
+import android.bluetooth.BluetoothAdapter;
+import android.os.Bundle;
+import android.support.design.widget.NavigationView;
+import android.support.v4.app.ActivityCompat;
+import android.support.v4.content.ContextCompat;
+import android.support.v4.view.GravityCompat;
+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 android.Manifest;
+import android.content.pm.PackageManager;
+import android.os.Bundle;
+import android.util.Log;
+
+
+import com.example.fitbot.R;
+import com.example.fitbot.bluetooth.DeviceScanner;
+
+public class MainActivity extends AppCompatActivity {
+
+    //Variables
+    DrawerLayout drawerLayout;
+    NavigationView navigationView;
+    Toolbar toolbar;
+    Button startButton;
+
+    private DeviceScanner deviceScanner;
+
+    @SuppressLint("WrongViewCast")
+    @Override
+    protected void onCreate (Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_main );
+
+        // Check if we have the necessary permissions, if not, request them
+        if (ContextCompat.checkSelfPermission(this, Manifest.permission.ACCESS_FINE_LOCATION) != PackageManager.PERMISSION_GRANTED) {
+            ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.ACCESS_FINE_LOCATION}, 1);
+        }
+
+        deviceScanner = new DeviceScanner(this);
+        deviceScanner.scanLeDevice();
+
+        setUpUi();
+    }
+
+    private void setUpUi() {
+        /*---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);
+
+        /*---Navigation Drawer Menu---*/
+        navigationView.bringToFront();
+
+        ActionBarDrawerToggle toggle=new
+                ActionBarDrawerToggle(this,drawerLayout,toolbar, R.string.navigation_drawer_open, R.string.navigation_drawer_close);
+        drawerLayout.addDrawerListener(toggle);
+        toggle.syncState();
+    }
+
+    @Override
+    public void onBackPressed(){
+        if(drawerLayout.isDrawerOpen(GravityCompat.START)){
+            drawerLayout.closeDrawer(GravityCompat.START);
+        }
+        else
+        {super.onBackPressed();
+        }
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java

@@ -0,0 +1,172 @@
+package com.example.fitbot.ui.components;
+
+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;
+import com.example.fitbot.util.path.PathSegment;
+import com.example.fitbot.util.processing.MotionData;
+import com.example.fitbot.util.processing.MotionProcessor;
+
+import org.joml.Matrix4f;
+import org.joml.Vector2f;
+import org.joml.Vector3f;
+import org.joml.Vector4f;
+
+public class PersonalMotionPreviewElement extends View {
+
+    private GesturePath path;
+    private double pathTime = 0.0D; // The timestamp at which the path is currently at.
+    private MotionProcessor motionProcessor;
+    private Path referencePath, performingPath;
+    private Paint referencePaint, performingPaint;
+
+    private Paint backgroundColor = new Paint();
+
+    /**
+     * Constants for the preview path projection.
+     */
+    private final float FOV = 70.0f;     // The field of view of the preview path
+    private final float Z_NEAR = 0.1f;   // The near clipping plane
+    private final float Z_FAR = 1000.0f; // The far clipping plane
+    private Vector3f cameraPosition = new Vector3f(0.0f, 0.0f, 0.0f); // The position of the camera
+    private Vector2f screenDimensions = new Vector2f(); // Width and height dimensions of the screen
+    private Vector2f rotation = new Vector2f(); // Rotation vector (yaw, pitch)
+
+    /**
+     * Constructor for the PersonalMotionPreviewElement class.
+     *
+     * @param context The context in which this element is created.
+     * @param path    The gesture path that will be drawn on the canvas.
+     */
+    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();
+        this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate) -> {
+            // TODO: Implement the calculation of the `performingPath` based on the motion data
+        });
+
+        this.referencePath = getDrawablePath(path.getSegments());
+        this.performingPath = new Path();
+
+        this.referencePaint = new Paint();
+        this.referencePaint.setColor(-1); // White
+        this.referencePaint.setStyle(Paint.Style.STROKE);
+        this.referencePaint.setStrokeWidth(5.0f);
+        this.performingPaint = new Paint();
+        this.performingPaint.setColor(0xFF0000FF); // Blue
+        this.performingPaint.setStyle(Paint.Style.STROKE);
+        this.performingPaint.setStrokeWidth(5.0f);
+    }
+
+    /**
+     * Method that calculates the path that will be drawn on the
+     * canvas. This method will be called every time new motion data is received.
+     */
+    private void calculateDrawingPath(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
+        // Recalculate the personal path based on the new motion data
+
+    }
+
+    /**
+     * Method for setting the gesture path that will be drawn on the canvas.
+     *
+     * @param path The gesture path to draw.
+     */
+    public void setGesturePath(GesturePath path) {
+        this.path = path;
+        this.referencePath = getDrawablePath(path.getSegments());
+    }
+
+    /**
+     * Method for setting the rotation of the preview path.
+     *
+     * @param yaw The yaw rotation of the preview path.
+     * @param pitch The pitch rotation of the preview path.
+     */
+    public void setRotation(float yaw, float pitch) {
+        this.rotation.set(Math.toRadians(yaw), Math.toRadians(pitch));
+    }
+
+    /**
+     *  Method for projecting a 3D point onto the screen.
+     *  This method converts the 3D point to 2D space using a Model-View-Projection matrix transformation.
+     *
+     * @param point The point to cast to the screen.
+     * @param virtualWidth The width of the virtual screen.
+     *                     This is used to normalize the screen coordinates.
+     * @param virtualHeight The height of the virtual screen.
+     * @return The transformed vector in screen coordinates ranging from (0, 0) to (virtualWidth, virtualHeight).
+     */
+    private Vector2f projectVertex(Vector3f point, int virtualWidth, int virtualHeight) {
+
+        Matrix4f modelViewMatrix = new Matrix4f()
+                .rotateX((float) Math.toRadians(rotation.x))
+                .rotateY((float) Math.toRadians(rotation.y))
+                .translate(cameraPosition);
+
+        Matrix4f projectionMatrix = new Matrix4f()
+                .perspective((float) Math.toRadians(FOV), (float) virtualWidth / virtualHeight, Z_NEAR, Z_FAR);
+
+        // Calculate Model-View-Projection matrix
+        Matrix4f MVP = new Matrix4f()
+                .set(projectionMatrix)
+                .mul(modelViewMatrix);
+
+        // Convert to screen coordinates
+        Vector4f screenCoordinates = new Vector4f(point, 1.0f)
+                .mul(MVP);
+
+        // Normalize screen coordinates from (-1, 1) to (0, virtualWidth) and (0, virtualHeight)
+        float normalizedX = (screenCoordinates.x / screenCoordinates.w + 1.0f) * 0.5f * virtualWidth;
+        float normalizedY = (1.0f - screenCoordinates.y / screenCoordinates.w) * 0.5f * virtualHeight;
+
+        return new Vector2f(normalizedX, normalizedY);
+    }
+
+    /**
+     * Method that converts a sequence of vectors to a Path object.
+     * This path is a set of bezier curves that will be drawn on the canvas.
+     *
+     * @param segments  The path segments in the path.
+     *                  These segments will be connected by bezier curves, which
+     *                  all have unique curvature values.
+     * @return The generated path object.
+     */
+    private Path getDrawablePath(PathSegment... segments) {
+
+        Path calculatedPath = new Path();
+
+        // Starting point
+        Vector2f origin = projectVertex(segments[0].getStart(), getWidth(), getHeight());
+        calculatedPath.moveTo(origin.x, origin.y);
+
+        // Draw the path segments
+        for (PathSegment segment : segments) {
+            Vector2f startProjected = projectVertex(segment.getStart(), getWidth()/2, getHeight());
+            Vector2f endProjected = projectVertex(segment.getEnd(), getWidth()/2, getHeight());
+            calculatedPath.lineTo(startProjected.x, startProjected.y);
+            calculatedPath.lineTo(endProjected.x, endProjected.y);
+        }
+
+        return calculatedPath;
+    }
+
+
+    @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);
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java

@@ -0,0 +1,121 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+public class GesturePath {
+
+    // The vectors that make up the path.
+    private final PathSegment[] segments;
+
+    public GesturePath(Vector3f[] vectors) {
+        this(vectors, 0.0D);
+    }
+
+    /**
+     * Create a new gesture path with a given set of vectors and curvature.
+     *
+     * @param vectors The vectors that make up the path.
+     * @param curvature The curvature of the path.
+     */
+    public GesturePath(Vector3f[] vectors, double curvature)
+    {
+        if ( vectors.length < 2)
+            throw new IllegalArgumentException("A path must have at least two points.");
+
+        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]);
+    }
+
+    /**
+     * Constructor for a GesturePath with provided PathSegments.
+     * @param segments The PathSegments to initialize the path with.
+     */
+    public GesturePath(PathSegment... segments) {
+        this.segments = segments;
+    }
+
+    /**
+     * Getter method for retrieving the path segments of this GesturePath.
+     *
+     * @return The path segments.
+     */
+    public PathSegment[] getSegments() {
+        return segments;
+    }
+
+    /**
+     * Method for retrieving the closest path segment to a reference point.
+     *
+     * @param reference The reference point to find the closest path segment to.
+     * @return The closest path segment to the reference point.
+     */
+    public PathSegment closest(Vector3f reference) {
+        // If there's only one segment, return that one.
+        if ( segments.length == 1)
+            return segments[0];
+
+        return Arrays
+                .stream(segments)
+                .reduce(segments[0], (a, b) -> PathSegment.closer(a, b, reference));
+    }
+
+    /**
+     * Get the error between an arbitrary path segment and the reference point.
+     *
+     * @param referencePoint The reference point to calculate the error of.
+     * @return The error offset between the path and the reference point.
+     */
+    public double getError(Vector3f referencePoint) {
+        return closest(referencePoint).difference(referencePoint); // Get the closest segment and calculate the error.
+    }
+
+    // Builder class for the GesturePath object.
+    public static class Builder {
+
+        // List of vectors to add to the GesturePath object.
+        private final List<Vector3f> vectors;
+
+        /**
+         * Constructor for the Builder object.
+         *
+         * @param vectors The list of vectors to add.
+         */
+        public Builder(List<Vector3f> vectors) {
+            this.vectors = vectors;
+        }
+
+        /**
+         * Default constructor for the Builder object.
+         */
+        public Builder() {
+            this.vectors = new ArrayList<>();
+        }
+
+        /**
+         * Adds a vector to the GesturePath object.
+         *
+         * @param vector The vector to add.
+         * @return The Builder object.
+         */
+        public Builder addVector(Vector3f vector) {
+            vectors.add(vector);
+            return this;
+        }
+
+        /**
+         * Builds the GesturePath object.
+         *
+         * @return The GesturePath object.
+         */
+        public GesturePath build() {
+            return new GesturePath(vectors.toArray(new Vector3f[0]));
+        }
+
+    }
+
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java

@@ -0,0 +1,105 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+public class PathSegment {
+
+    private final Vector3f start, end;
+    private final double distance;
+
+    /**
+     * Constructor for creating a PathSegment of two lines, with the normal vector
+     * pointing straight upwards relative to the line, with a curvature of 0.0.
+     *
+     * @param start The starting point of the line segment
+     * @param end The end point of the line segment.
+     */
+    public PathSegment(Vector3f start, Vector3f end) {
+        this.start = start;
+        this.end = end;
+        this.distance = start.distance(end);
+    }
+
+    /**
+     * Method that interpolates between the start and end points of the path segment,
+     * 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 t   The interpolation value between 0 and 1.
+     */
+    public Vector3f interpolate(double t) {
+        return new Vector3f(this.start)
+                .lerp(this.end, (float) Math.min(1.0F, Math.max(0.0F, t)));
+    }
+
+    /**
+     * Method for calculating the difference between the provided vector and the
+     * path segment, depending on the normal vector and the curvature.
+     * If the provided vector does not lie on the path segment, this method will return
+     * the linear distance to the path.
+     *
+     * @param other The vector to calculate the difference to.
+     * @return The difference between the vector and the path segment.
+     */
+    public double difference(Vector3f other) {
+
+        if (this.distance == 0)
+            return this.start.distance(other);
+
+        double t = ((other.x - this.start.x) * (this.end.x - this.start.x) +
+                (other.y - this.start.y) * (this.end.y - this.start.y) +
+                (other.z - this.start.z) * (this.end.z - this.start.z)) / distance;
+
+        t = Math.max(0, Math.min(1, t));
+
+        return other.distance(new Vector3f(
+                (float) (this.start.x + t * (this.end.x - this.start.x)),
+                (float) (this.start.y + t * (this.end.y - this.start.y)),
+                (float) (this.start.z + t * (this.end.z - this.start.z))
+                ));
+    }
+
+    /**
+     * Get the normal vector of the path segment.
+     *
+     * @return The normal vector of the path segment.
+     */
+    public Vector3f getStart() {
+        return start;
+    }
+
+    /**
+     * Get the end point of the path segment.
+     *
+     * @return The end point of the path segment.
+     */
+    public Vector3f getEnd() {
+        return end;
+    }
+
+    /**
+     * Method for returning the distance to the closest point on the path segment.
+     *
+     * @param reference The reference point to calculate the distance to.
+     * @return The distance to the closest point on the path segment.
+     */
+    public double distance(Vector3f reference) {
+        if ( this.start.distanceSquared(reference) > this.end.distanceSquared(reference))
+            return this.end.distance(reference);
+        return this.start.distance(reference);
+    }
+
+    /**
+     * Function for returning the closest path segment to a reference point.
+     *
+     * @param first The first path segment to compare.
+     * @param second The second path segment to compare.
+     * @param referencePoint The reference point to compare to.
+     * @return The closest path segment to the reference point.
+     */
+    public static PathSegment closer(PathSegment first, PathSegment second, Vector3f referencePoint) {
+        if (first.distance(referencePoint) < second.distance(referencePoint))
+            return first;
+        return second;
+    }
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java

@@ -1,104 +0,0 @@
-package com.example.fitbot.util.processing;
-
-import java.util.ArrayList;
-import java.util.List;
-
-public class GesturePath {
-
-    // The vectors that make up the path.
-    private final Vector3[] vectors;
-
-    public GesturePath(Vector3[] vectors) {
-        this.vectors = vectors;
-    }
-
-    /**
-     * Get the error between an arbitrary path segment and the reference point.
-     *
-     * @param referencePoint The reference point to calculate the error of.
-     * @return The error offset between the path and the reference point.
-     */
-    public double getError(Vector3 referencePoint) {
-        // If there are no vectors, return 0.
-        if ( vectors.length == 0)
-            return 0;
-
-        // If there's only one vector, return the distance to that vector.
-        if ( vectors.length == 1)
-            return vectors[0].distance(referencePoint);
-
-        double distance = Double.MAX_VALUE;
-        double currentDistSq, nextDistSq;
-        int closestVectorIdx = 0;
-
-        // Acquire two closest points to the reference point.
-        for ( int i = 0; i < vectors.length - 1; i++) {
-            currentDistSq = vectors[i].distanceSq(referencePoint);
-            nextDistSq = vectors[i + 1].distanceSq(referencePoint);
-
-            if ( currentDistSq < distance) {
-                distance = currentDistSq;
-                closestVectorIdx = i;
-            } else if ( nextDistSq < distance) {
-                distance = nextDistSq;
-                closestVectorIdx = i + 1;
-                i++; // Skip the next iteration; this point is already closer.
-            }
-        }
-
-        // Calculate the error between the two closest points.
-        Vector3 pointB = (closestVectorIdx == vectors.length - 1) ?
-                vectors[closestVectorIdx - 1] : // If the closest point is the last point, use the 1 to last one
-                (closestVectorIdx > 0 && // Find the closer point between the surrounding points.
-                        (vectors[closestVectorIdx - 1].distanceSq(referencePoint) < vectors[closestVectorIdx + 1].distanceSq(referencePoint))) ?
-                        vectors[closestVectorIdx - 1] :
-                        vectors[closestVectorIdx + 1];
-
-        return referencePoint.distanceToLine(vectors[closestVectorIdx], pointB);
-    }
-
-    // Builder class for the GesturePath object.
-    public static class Builder {
-
-        // List of vectors to add to the GesturePath object.
-        private final List<Vector3> vectors;
-
-        /**
-         * Constructor for the Builder object.
-         *
-         * @param vectors The list of vectors to add.
-         */
-        public Builder(List<Vector3> vectors) {
-            this.vectors = vectors;
-        }
-
-        /**
-         * Default constructor for the Builder object.
-         */
-        public Builder() {
-            this.vectors = new ArrayList<>();
-        }
-
-        /**
-         * Adds a vector to the GesturePath object.
-         *
-         * @param vector The vector to add.
-         * @return The Builder object.
-         */
-        public Builder addVector(Vector3 vector) {
-            vectors.add(vector);
-            return this;
-        }
-
-        /**
-         * Builds the GesturePath object.
-         *
-         * @return The GesturePath object.
-         */
-        public GesturePath build() {
-            return new GesturePath(vectors.toArray(new Vector3[0]));
-        }
-
-    }
-
-}

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java

@@ -0,0 +1,16 @@
+package com.example.fitbot.util.processing;
+
+import org.joml.Vector3f;
+
+public interface IMotionDataConsumer {
+
+        /**
+         * Function for accepting motion data and the transformed vector.
+         * @param transformedVector The transformed vector.
+         * @param motionData The input motion data.
+         * @param sampleIndex The index of the current sample
+         * @param sampleRate The sample rate.
+         */
+        void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
+
+}

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java

@@ -1,11 +1,13 @@
 package com.example.fitbot.util.processing;
 
+import org.joml.Vector3f;
+
 import java.util.Objects;
 
 public class MotionData {
 
     // Data of the motion sensor
-    public Vector3 acceleration, rotation;
+    public Vector3f acceleration, rotation;
 
     // Delimiter for the data received from the motion sensor
     private static final String DATA_DELIMITER = ";";
@@ -20,9 +22,9 @@ public class MotionData {
      * @param rotationY     The rotation in the Y axis in degrees.
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
-    public MotionData(double accelerationX, double accelerationY, double accelerationZ, double rotationX, double rotationY, double rotationZ) {
-        this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
-        this.rotation = new Vector3(rotationX, rotationY, rotationZ);
+    public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
+        this.acceleration = new Vector3f(accelerationX, accelerationY, accelerationZ);
+        this.rotation = new Vector3f(rotationX, rotationY, rotationZ);
     }
 
     /**
@@ -31,7 +33,7 @@ public class MotionData {
      * @param acceleration The acceleration vector in m/s^2.
      * @param rotation     The rotation vector in degrees.
      */
-    public MotionData(Vector3 acceleration, Vector3 rotation) {
+    public MotionData(Vector3f acceleration, Vector3f rotation) {
         this.acceleration = acceleration;
         this.rotation = rotation;
     }
@@ -52,12 +54,12 @@ public class MotionData {
             return null;
 
         return new MotionData(
-                Double.parseDouble(parts[0]),
-                Double.parseDouble(parts[1]),
-                Double.parseDouble(parts[2]),
-                Double.parseDouble(parts[3]),
-                Double.parseDouble(parts[4]),
-                Double.parseDouble(parts[5])
+                Float.parseFloat(parts[0]),
+                Float.parseFloat(parts[1]),
+                Float.parseFloat(parts[2]),
+                Float.parseFloat(parts[3]),
+                Float.parseFloat(parts[4]),
+                Float.parseFloat(parts[5])
         );
     }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java

@@ -2,14 +2,15 @@ package com.example.fitbot.util.processing;
 
 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 org.jetbrains.annotations.NotNull;
+import org.joml.Vector3f;
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.function.Consumer;
 import java.util.stream.Collectors;
 
 public class MotionProcessor {
@@ -17,10 +18,11 @@ public class MotionProcessor {
     public static final String DELIMITER = ";";
 
     private final List<MotionData> preprocessedData = new ArrayList<>(); // Preprocessed motion data
-    private final List<Vector3> relativePath = new ArrayList<>(); // Relative path of the motion data
-    private Vector3 ZERO = new Vector3(0, 0, 0);
-    private double sampleRate = 1.0D; // samples/second
-    private Consumer<Vector3> motionDataConsumer = (data) -> {};
+    private final List<Vector3f> relativePath = new ArrayList<>(); // Relative path of the motion data
+    private Vector3f ZERO = new Vector3f(0, 0, 0);
+
+    private float sampleRate = 1.0F; // samples/second
+    private IMotionDataConsumer motionDataConsumer = (p1, p2, p3, p4) -> {};
     private GesturePath path;
     private WebSocket socket;
 
@@ -78,14 +80,14 @@ public class MotionProcessor {
             // Otherwise check if it starts with 'calibrate', this is the ZERO point.
         } else if ( data.startsWith("zero")) { // message to calibrate device
             String[] vectorData = data.split(" ")[1].split(DELIMITER);
-            ZERO = new Vector3(
+            ZERO = new Vector3f(
                     Float.parseFloat(vectorData[0]),
                     Float.parseFloat(vectorData[1]),
                     Float.parseFloat(vectorData[2])
             );
             Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
         } else if ( data.startsWith("sampleRate")) {
-            this.sampleRate = Double.parseDouble(data.split(" ")[1]);
+            this.sampleRate = Float.parseFloat(data.split(" ")[1]);
         }
     }
 
@@ -105,10 +107,10 @@ public class MotionProcessor {
      */
     public void addMotionData(MotionData data) {
         preprocessedData.add(data);
-        Vector3 previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
-        Vector3 relativeVector = getRelativeVector(data).add(previous);
+        Vector3f previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
+        Vector3f relativeVector = getRelativeVector(data).add(previous);
         this.relativePath.add(relativeVector);
-        motionDataConsumer.accept(relativeVector);
+        motionDataConsumer.accept(relativeVector, data, this.relativePath.size(), this.sampleRate);
     }
 
     /**
@@ -116,7 +118,7 @@ public class MotionProcessor {
      *
      * @param relativePath The new relative path.
      */
-    public void setRelativePath(List<Vector3> relativePath) {
+    public void setRelativePath(List<Vector3f> relativePath) {
         this.relativePath.clear();
         this.relativePath.addAll(relativePath);
     }
@@ -125,7 +127,7 @@ public class MotionProcessor {
      * Function for setting the motion data receiver.
      * @param consumer The consumer to set.
      */
-    public void setMotionDataEventHandler(Consumer<Vector3> consumer) {
+    public void setMotionDataEventHandler(IMotionDataConsumer consumer) {
         if ( consumer != null)
             this.motionDataConsumer = consumer;
     }
@@ -139,15 +141,17 @@ public class MotionProcessor {
      * @param motionData The motion data to calculate the relative vector for.
      * @return The relative vector of the motion data.
      */
-    public Vector3 getRelativeVector(MotionData motionData) {
+    public Vector3f getRelativeVector(MotionData motionData) {
 
         // Rotate the acceleration vector back by the rotation vector to make it
         // perpendicular to the gravity vector, then apply double integration to get the relative position.
         // s = 1/2 * a * t^2
         return motionData.acceleration
-                .rotate(motionData.rotation.negate())
-                .divide(2)
-                .multiply(sampleRate * sampleRate);
+                .rotateX(-motionData.rotation.x)
+                .rotateY(-motionData.rotation.y)
+                .rotateZ(-motionData.rotation.z)
+                .div(2)
+                .mul(sampleRate * sampleRate);
     }
 
     /**
@@ -186,7 +190,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the motion data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(GesturePath path, Vector3 referencePoint)
+    public double getError(GesturePath path, Vector3f referencePoint)
     {
         return path.getError(referencePoint);
     }
@@ -198,7 +202,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the path data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(Vector3 referencePoint) {
+    public double getError(Vector3f referencePoint) {
         if ( path == null)
             return 0;
         return path.getError(referencePoint);
@@ -241,6 +245,5 @@ public class MotionProcessor {
         Log.i("MotionProcessor", "Path length: " + relativePath.size());
         Log.i("MotionProcessor", "Sample rate: " + sampleRate);
         Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
-
     }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java

@@ -1,258 +0,0 @@
-package com.example.fitbot.util.processing;
-
-import java.util.Arrays;
-import java.util.Comparator;
-
-public class Vector3 {
-
-    public double x, y, z;
-
-    /**
-     * Constructor for creating a new vector.
-     *
-     * @param x The X component of the vector.
-     * @param y The Y component of the vector.
-     * @param z The Z component of the vector.
-     */
-    public Vector3(double x, double y, double z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-
-    /**
-     * Copy the vector.
-     *
-     * @return A new vector with the same values.
-     */
-    public Vector3 copy() {
-        return new Vector3(this.x, this.y, this.z);
-    }
-    
-    /**
-     * Get the zero vector.
-     * 
-     * @return The zero vector.
-     */
-    public static Vector3 zero() {
-        return new Vector3(0, 0, 0);
-    }
-
-    /**
-     * Get the magnitude of the vector.
-     *
-     * @return The magnitude of the vector.
-     */
-    public double magnitude() {
-        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
-    }
-
-    /**
-     * Normalize the vector.
-     *
-     * @return The normalized vector.
-     */
-    public Vector3 normalize() {
-        double mag = this.magnitude();
-        if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Vector3(this.x / mag, this.y / mag, this.z / mag);
-    }
-
-    /**
-     * Subtract the vector from another vector.
-     *
-     * @param other The other vector to subtract.
-     * @return The new vector.
-     */
-    public Vector3 subtract(Vector3 other) {
-        return new Vector3(this.x - other.x, this.y - other.y, this.z - other.z);
-    }
-
-    /**
-     * Add the vector to another vector.
-     *
-     * @param other The other vector to add.
-     * @return The new vector.
-     */
-    public Vector3 add(Vector3 other) {
-        return new Vector3(this.x + other.x, this.y + other.y, this.z + other.z);
-    }
-
-    /**
-     * Multiply the vector by a scalar.
-     *
-     * @param scalar The scalar to multiply by.
-     * @return The multiplied vector.
-     */
-    public Vector3 multiply(double scalar) {
-        return new Vector3(this.x * scalar, this.y * scalar, this.z * scalar);
-    }
-
-    /**
-     * Divide the vector by a scalar.
-     *
-     * @param scalar The scalar to divide by.
-     * @return The divided vector.
-     */
-    public Vector3 divide(double scalar) {
-        if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Vector3(this.x / scalar, this.y / scalar, this.z / scalar);
-    }
-
-    /**
-     * Negate the vector.
-     *
-     * @return The negated vector.
-     */
-    public Vector3 negate() {
-        return new Vector3(-this.x, -this.y, -this.z);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param radX Rotation around the X axis in radians.
-     * @param radY Rotation around the Y axis in radians.
-     * @param radZ Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Vector3 rotate(double radX, double radY, double radZ) {
-        double cosX = Math.cos(radX);
-        double cosY = Math.cos(radY);
-        double cosZ = Math.cos(radZ);
-        double sinX = Math.sin(radX);
-        double sinY = Math.sin(radY);
-        double sinZ = Math.sin(radZ);
-        double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
-        double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
-        double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Vector3(newX, newY, newZ);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param rotation The rotation vector.
-     * @return The rotated vector.
-     */
-    public Vector3 rotate(Vector3 rotation) {
-        return rotate(rotation.x, rotation.y, rotation.z);
-    }
-
-    /**
-     * Rotate the vector around the X axis.
-     *
-     * @param angle Rotation around the X axis in radians.
-     * @return The rotated vector.
-     */
-    public Vector3 rotateX(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Vector3(
-                x,
-                y * cosTheta - z * sinTheta,
-                y * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Y axis.
-     *
-     * @param angle Rotation around the Y axis in radians.
-     * @return The rotated vector.
-     */
-    public Vector3 rotateY(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Vector3(
-                x * cosTheta + z * sinTheta,
-                y,
-                -x * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Z axis.
-     *
-     * @param angle Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Vector3 rotateZ(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Vector3(
-                x * cosTheta - y * sinTheta,
-                x * sinTheta + y * cosTheta,
-                z
-        );
-    }
-
-    /**
-     * Get the squared distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The squared distance between the two vectors.
-     */
-    public double distanceSq(Vector3 compare) {
-        return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
-    }
-
-    /**
-     * Get the distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The distance between the two vectors.
-     */
-    public double distance(Vector3 compare) {
-        return Math.sqrt(distanceSq(compare));
-    }
-
-    /**
-     * Calculate the distance to a line defined by two points.
-     *
-     * @param lineStart The starting point of the line.
-     * @param lineEnd The ending point of the line.
-     * @return The distance to the line.
-     */
-    public double distanceToLine(Vector3 lineStart, Vector3 lineEnd) {
-        double lineDistance = lineStart.distanceSq(lineEnd);
-        if (lineDistance == 0)
-            return this.distanceSq(lineStart);
-
-        double t = ((this.x - lineStart.x) * (lineEnd.x - lineStart.x) +
-                (this.y - lineStart.y) * (lineEnd.y - lineStart.y) +
-                (this.z - lineStart.z) * (lineEnd.z - lineStart.z)) / lineDistance;
-
-        t = Math.max(0, Math.min(1, t));
-
-        return this.distanceSq(new Vector3(
-                lineStart.x + t * (lineEnd.x - lineStart.x),
-                lineStart.y + t * (lineEnd.y - lineStart.y),
-                lineStart.z + t * (lineEnd.z - lineStart.z))
-        );
-    }
-
-    /**
-     * Retrieve the closest vector to this one given a list of vectors.
-     *
-     * @param vectors The list of vectors to compare.
-     * @return The closest vector.
-     */
-    public Vector3 closest(Vector3 ... vectors) {
-        return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
-    }
-
-    public Vector3 map(VectorMapFunction function) {
-        return function.apply(this);
-    }
-
-    public interface VectorMapFunction {
-        Vector3 apply(Vector3 vector);
-    }
-
-    @Override
-    public String toString()
-    {
-        return "Vector3(" + this.x + ", " + this.y + ", " + this.z + ")";
-    }
-}

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>

code/src/Fitbot/app/src/main/res/drawable/darkred_button_gradient.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners
+        android:radius="20dp"
+        />
+
+    <gradient
+        android:startColor="#660000"
+        android:endColor="#990000"
+        android:angle="90"/>
+</shape>

code/src/Fitbot/app/src/main/res/drawable/ic_launcher_background.xml

@@ -5,8 +5,8 @@
     android:viewportWidth="108"
     android:viewportHeight="108">
     <path
-        android:fillColor="#3DDC84"
-        android:pathData="M0,0h108v108h-108z" />
+        android:fillColor="#FF0000"
+    android:pathData="M0,0h108v108h-108z" />
     <path
         android:fillColor="#00000000"
         android:pathData="M9,0L9,108"

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>

code/src/Fitbot/app/src/main/res/drawable/red_button_gradient.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <corners
+        android:radius="30dp"
+        />
+
+    <gradient
+        android:startColor="#990000"
+        android:endColor="#FF0000"
+        android:angle="90"/>
+</shape>

code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml

@@ -1,58 +0,0 @@
-<?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"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".BicepVideo">
-
-    <VideoView
-        android:id="@+id/videoView"
-        android:layout_width="1142dp"
-        android:layout_height="515dp"
-        android:layout_marginTop="64dp"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintVertical_bias="0.0" />
-
-    <Button
-        android:id="@+id/buttonback"
-        android:layout_width="88dp"
-        android:layout_height="wrap_content"
-        android:layout_marginStart="16dp"
-        android:layout_marginTop="10dp"
-        android:text="back"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-    <Button
-        android:id="@+id/buttoncomplete"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="10dp"
-        android:layout_marginEnd="16dp"
-        android:layout_marginBottom="6dp"
-        android:text="complete"
-        app:layout_constraintBottom_toTopOf="@+id/videoView"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintVertical_bias="0.093" />
-
-    <TextView
-        android:id="@+id/textView"
-        android:layout_width="1074dp"
-        android:layout_height="197dp"
-        android:layout_marginStart="122dp"
-        android:layout_marginTop="7dp"
-        android:layout_marginEnd="122dp"
-        android:layout_marginBottom="16dp"
-        android:text="Uitleg text"
-        android:textSize="32sp"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/videoView" />
-
-</android.support.constraint.ConstraintLayout>

code/src/Fitbot/app/src/main/res/layout/activity_completion_screen.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".Completion_Screen">
-
-  </android.support.constraint.ConstraintLayout>

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>

code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml

@@ -0,0 +1,25 @@
+<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: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"/>
+
+</LinearLayout>
+
+</android.support.v4.widget.DrawerLayout>

code/src/Fitbot/app/src/main/res/layout/activity_main.xml

@@ -1,17 +1,87 @@
-<?xml version="1.0" encoding="utf-8"?>
 <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=".MainActivity"
+    tools:context=".ui.activities.MainActivity"
     tools:openDrawer="start">
 
-    <include
-        android:id="@+id/toolbar"
-        layout="@layout/toolbar" />
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:orientation="vertical">
+
+        <include
+            android:id="@+id/toolbar"
+            layout="@layout/toolbar" />
+
+        <TextView
+            android:id="@+id/textView2"
+            android:layout_width="524dp"
+            android:layout_height="77dp"
+            android:layout_marginStart="378dp"
+            android:layout_marginTop="80dp"
+            android:text="@string/welkom_bij_fitbot"
+            android:textColor="@color/white"
+            android:textSize="64sp" />
+
+        <TextView
+            android:id="@+id/textView3"
+            android:layout_width="510dp"
+            android:layout_height="39dp"
+            android:layout_marginStart="385dp"
+            android:layout_marginTop="0dp"
+            android:text="@string/robot_helpt"
+            android:textColor="@color/white"
+            android:textSize="32sp" />
+
+        <Button
+            android:id="@+id/startButton"
+            android:layout_width="300dp"
+            android:layout_height="150dp"
+            android:layout_marginStart="490dp"
+            android:layout_marginTop="100dp"
+            android:text="@string/start"
+            android:textColor="@color/white"
+            android:textSize="80sp"
+            android:textAllCaps="false"
+            android:background="@drawable/red_button_gradient"/>
+
+        <Button
+            android:id="@+id/helpButton"
+            android:layout_width="160dp"
+            android:layout_height="80dp"
+            android:layout_marginStart="560dp"
+            android:layout_marginTop="20dp"
+            android:text="@string/help"
+            android:textColor="@color/white"
+            android:textSize="40sp"
+            android:textAllCaps="false"
+            android:background="@drawable/darkred_button_gradient"/>
+
+        <ImageView
+            android:id="@+id/imageView2"
+            android:layout_width="375dp"
+            android:layout_height="375dp"
+            android:layout_marginStart="0dp"
+            android:layout_marginTop="-180dp"
+            app:srcCompat="@drawable/robot_logo_inverted"
+            android:contentDescription="@string/todo" />
+
+        <!--    <Button-->
+        <!--        android:id="@+id/menu_switch_btn"-->
+        <!--        android:layout_width="200dp"-->
+        <!--        android:layout_height="50dp"-->
+        <!--        android:clickable="true"-->
+        <!--        android:text="Go to Sport Menu"-->
+        <!--        app:layout_constraintBottom_toBottomOf="parent"-->
+        <!--        app:layout_constraintLeft_toLeftOf="parent"-->
+        <!--        android:focusable="true" />-->
+
+    </LinearLayout>
 
     <android.support.design.widget.NavigationView
         android:id="@+id/nav_view"
@@ -19,17 +89,6 @@
         android:layout_height="match_parent"
         android:layout_gravity="start"
         app:headerLayout="@layout/header"
-
         app:menu="@menu/main_menu" />
 
-    <Button
-        android:id="@+id/menu_switch_btn"
-        android:layout_width="200dp"
-        android:layout_height="50dp"
-        android:clickable="true"
-        android:text="Go to Sport Menu"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"
-        android:focusable="true" />
-
 </android.support.v4.widget.DrawerLayout>

code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml

@@ -1,84 +0,0 @@
-<?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"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".PowerScreen">
-
-<!--  <Button-->
-<!--      android:id="@+id/open_BicepVideo"-->
-<!--      android:layout_width="215dp"-->
-<!--      android:layout_height="64dp"-->
-<!--      android:layout_marginStart="108dp"-->
-<!--      android:layout_marginTop="341dp"-->
-<!--      android:layout_marginEnd="108dp"-->
-<!--      android:layout_marginBottom="342dp"-->
-<!--      android:text="Bicep Oefening"-->
-<!--      app:layout_constraintBottom_toBottomOf="parent"-->
-<!--      app:layout_constraintEnd_toEndOf="parent"-->
-<!--      app:layout_constraintStart_toStartOf="parent"-->
-<!--      app:layout_constraintTop_toTopOf="parent"-->
-<!--      app:layout_constraintVertical_bias="1.0" />-->
-
-
-  <ImageButton
-      android:id="@+id/open_BicepVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="120dp"
-      android:layout_marginTop="60dp"
-      android:layout_marginEnd="190dp"
-      android:layout_marginBottom="40dp"
-      app:layout_constraintBottom_toTopOf="@+id/open_SquatVideo"
-      app:layout_constraintEnd_toStartOf="@+id/open_TricepVideo"
-      app:layout_constraintStart_toStartOf="parent"
-      app:layout_constraintTop_toTopOf="parent"
-      app:srcCompat="@drawable/noun_bicep_499185"
-      android:contentDescription="Open bicep exercise video" />
-
-  <ImageButton
-      android:id="@+id/open_SquatVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="120dp"
-      android:layout_marginTop="40dp"
-      android:layout_marginEnd="190dp"
-      android:layout_marginBottom="60dp"
-      app:layout_constraintBottom_toBottomOf="parent"
-      app:layout_constraintEnd_toStartOf="@+id/GoToHome"
-      app:layout_constraintStart_toStartOf="parent"
-      app:layout_constraintTop_toBottomOf="@+id/open_BicepVideo"
-      app:srcCompat="@drawable/squatlogo"
-      android:contentDescription="Open squad exercise video" />
-
-  <ImageButton
-      android:id="@+id/open_TricepVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="190dp"
-      android:layout_marginTop="60dp"
-      android:layout_marginEnd="120dp"
-      android:layout_marginBottom="40dp"
-      app:layout_constraintBottom_toTopOf="@+id/GoToHome"
-      app:layout_constraintEnd_toEndOf="parent"
-      app:layout_constraintStart_toEndOf="@+id/open_BicepVideo"
-      app:layout_constraintTop_toTopOf="parent"
-      app:srcCompat="@drawable/triceplogo"
-      android:contentDescription="Open tricep exercise video" />
-
-  <ImageButton
-      android:id="@+id/GoToHome"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="190dp"
-      android:layout_marginTop="40dp"
-      android:layout_marginEnd="120dp"
-      android:layout_marginBottom="60dp"
-      app:layout_constraintBottom_toBottomOf="parent"
-      app:layout_constraintEnd_toEndOf="parent"
-      app:layout_constraintStart_toEndOf="@+id/open_SquatVideo"
-      app:layout_constraintTop_toBottomOf="@+id/open_TricepVideo"
-      app:srcCompat="@drawable/house_3"
-      android:contentDescription="Go to Home Screen" />
-</android.support.constraint.ConstraintLayout>

code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-</android.support.constraint.ConstraintLayout>

code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml

@@ -1,16 +0,0 @@
-<?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"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="wrap_content"
-    android:layout_height="wrap_content"
-    tools:context=".ui.SportMenuActivity">
-
-    <com.example.fitbot.ui.SportMenuItem
-        android:id="@+id/sportMenuItem1"
-        android:layout_width="300dp"
-        android:layout_height="300dp"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-</android.support.constraint.ConstraintLayout>

code/src/Fitbot/app/src/main/res/values/strings.xml

@@ -4,4 +4,11 @@
 
     <string name="navigation_drawer_open">Open navigation drawer</string>
     <string name="navigation_drawer_close">Open navigation close</string>
+    <string name="welkom_bij_fitbot">Welkom bij FitBot</string>
+    <string name="robot_helpt">de robot die helpt om fit te blijven</string>
+    <string name="start">Start</string>
+    <string name="help">Help</string>
+    <string name="todo">TODO</string>
+    <color name="red">#f22b1d</color>
+
 </resources>

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>

code/src/Fitbot/app/src/main/res/values/themes.xml

@@ -7,4 +7,7 @@
         <item name="colorAccent">@color/teal_200</item>
         <!-- Customize your theme here. -->
     </style>
+
+    <!-- Style for general buttons -->
+    <!-- Add button styles here, if needed -->
 </resources>

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));
+    }
+
+
+}

code/web/incoming_request_handlers.js

@@ -0,0 +1,11 @@
+
+
+
+
+
+
+// Om iets met de database te doen, is het handig om een functie te maken
+// die een `app` parameter en een `pool` parameter accepteert.
+// Deze moet dan geëxporteerd worden om deze te kunnen gebruiken in `server.js`.
+// Dit is een voorbeeld van hoe je dat zou kunnen doen:
+// module.exports = function(app, pool) { ... }

code/web/server.js

@@ -0,0 +1,25 @@
+const mariadb = require('mariadb');
+const express = require('express');
+const app = express();
+
+const serverPort = 3000;
+
+const databaseCredentials = {
+    host: 'localhost',
+    user: 'fitbot',
+    password: 'fitbot123',
+    database: 'fitbot',
+    connectionLimit: 5,
+    allowUnauthorized: true
+}
+
+// Create connection pool
+const pool = mariadb.createPool(databaseCredentials);
+
+// Register incoming HTTP request handlers
+require('incoming_request_handlers')(app, pool);
+
+// Start server
+app.listen(port, () => {
+    console.log(`Server running on port ${serverPort}`);
+})

docs/.pages

@@ -14,15 +14,34 @@ nav:
       - Pepper: documentation/robots/pepper
       - Little Endian: documentation/robots/little-endian
   - 📚 Documentation:
-    - 🧠 Brianstorm:
-      - Ideas: documentation/brainstorm/ideas
     - 📱 Android:
       - Android Studio: documentation/android/androidStudio
       - app setup: documentation/android/appSetup
       - video view: documentation/android/Videoview
+    - 🧠 Brianstorm:
+      - Ideas: documentation/brainstorm/ideas
+    - 🗄️ Database:
+      - EERD: documentation/database/EERD
+      - ERD: documentation/database/ERD
+      - Infrastructure: documentation/database/infrastructure
+    - 📦 Hardware:
+      - Hardware: documentation/hardware/sensors
     - 🤖 Pepper:
       - Pepper Setup: documentation/pepper/pepperSetup
       - Pepper movement: documentation/android/robotmovement
-    - 👷‍♀️ Hardware:
-      - Hardware: documentation/hardware/sensors
-
+    - 🍓 Raspberry Pi:
+      - Raspberry Pi: documentation/raspberryPi/raspberryPiSetup
+      - Apache:
+        - Apache: documentation/raspberryPi/apache/apache
+        - Apache Setup: documentation/raspberryPi/apache/apacheSetup
+      - MariaDB:
+        - MariaDB: documentation/raspberryPi/mariaDB/mariaDB
+        - MariaDB Setup: documentation/raspberryPi/mariaDB/mariaDBSetup
+      - NodeJs:
+        - NodeJs: documentation/raspberryPi/nodeJs/nodeJs
+        - NodeJs Setup: documentation/raspberryPi/nodeJs/nodeJsSetup
+      - phpMyAdmin:
+        - phpMyAdmin: documentation/raspberryPi/phpMyAdmin/phpMyAdmin
+        - phpMyAdmin Setup: documentation/raspberryPi/phpMyAdmin/phpMyAdminSetup
+      
+      

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 

docs/documentation/android/code_documentation/MotionProcessor.md

@@ -0,0 +1,86 @@
+## Class Implementation - MotionProcessor
+
+---
+
+#### Methods
+
+Creates a WebSocket server and starts listening for incoming MotionData messages
+```java
+public void startListening() { ... }
+```
+
+Stops the WebSocket server and stops listening for incoming MotionData messages
+```java
+public void stopListening() { ... }
+```
+
+Parses an incoming WebSocket message packet and processes the data.
+The data that is accepted is a string that can be of the following formats:
+```java
+// Sending data
+"data accelerationX;accelerationY;accelerationZ;rotationX;rotationY;rotationZ" // all values are floats
+
+// Changing the sample rate
+"sampleRate rate" // rate is an integer
+
+// Calibrating the zero point
+"zero x;y;z" // x, y, z are floats
+``` 
+```java
+public void parsePacket(@NotNull String message) { ... }
+```
+
+Processes the provided MotionData object, uses it as a relative path point, and calls the  
+motionDataEventHandler with the calculated vector.
+```java
+public void addMotionData(MotionData data) { ... }
+```
+
+Sets the gesture path to the provided path.
+```java
+public void setGesturePath(GesturePath gesturePath) { ... }
+```
+
+Updates the relative path to the provided path.
+```java
+public void setRelativePath(List<Vector3> relativePath) { ... }
+```
+
+Sets the motionDataEventHandler to the provided handler.
+```java
+public void setMotionDataEventHandler(Consumer<Vector3> consumer) { ... }
+```
+
+Calculate the relative vector given a MotionData object.
+This converts relative acceleration and rotation to a vector, taking the
+sample rate into account.
+```java
+public Vector3 getRelativeVector(MotionData motionData) { ... }
+```
+
+Get a list of error values given the provided GesturePath.
+This compares the relative path (calibrated) to the provided path segments,
+and returns the offsets.
+```java
+public List<Double> getErrors(GesturePath referencePath) { ... }
+public List<Double> getErrors() { ... } // Using pre-set path
+```
+
+Get the error offset of the provided vector to the provided path, or with the
+set path.
+This compares a given vector to the provided GesturePath object.
+```java
+public double getError(GesturePath path, Vector3 referencePoint) { ... } 
+public double getError(Vector3 referencePoint) { ... } // Using pre-set path
+```
+
+Get the average error offset of the relative path and the provided GesturePath object.
+```java
+public double getAverageError(GesturePath referencePath) { ... }
+public double getAverageError() { ... } // Using pre-set path
+```
+
+Logs statistics to the console
+```java
+public void logStatistics(GesturePath referencePath) { ... }
+```

docs/documentation/android/code_documentation/Vector3.md

@@ -0,0 +1,87 @@
+# Vector3
+
+This class represents a 3D vector with x, y, and z components.
+
+## public Vector3(double x, double y, double z)
+
+Constructor for creating a new vector.
+
+## public Vector3 copy()
+
+This method returns a new vector with the same values as the current vector.
+
+## public static Vector3 zero()
+
+This static method returns a new vector with all components set to zero.
+
+## public double magnitude(): double
+
+This method returns the magnitude of the vector.
+
+## public Vector3 normalize()
+
+This method returns the normalized vector. It throws an `IllegalArgumentException` if the vector is the zero vector.
+
+## public Vector3 subtract(Vector3 other)
+
+This method subtracts another vector from the current vector and returns the result as a new vector.
+
+## public Vector3 add(Vector3 other)
+
+This method adds another vector to the current vector and returns the result as a new vector.
+
+## public Vector3 multiply(double scalar)
+
+This method multiplies the vector by a scalar and returns the result as a new vector.
+
+## public Vector3 divide(double scalar)
+
+This method divides the vector by a scalar and returns the result as a new vector. It throws an `IllegalArgumentException` if the scalar is zero.
+
+## public Vector3 negate()
+
+This method negates the vector and returns the result as a new vector.
+
+## public Vector3 rotate(double radX, double radY, double radZ)
+
+This method rotates the vector around the X, Y, and Z axes by the specified angles in radians and returns the result as a new vector.
+
+## public Vector3 rotate(Vector3 rotation)
+
+This method rotates the vector around the X, Y, and Z axes.
+
+## public Vector3 rotateX(double angle)
+
+This method rotates the vector around the X axis by the specified angle in radians and returns the result as a new vector.
+
+## public Vector3 rotateY(double angle)
+
+This method rotates the vector around the Y axis by the specified angle in radians and returns the result as a new vector.
+
+## public Vector3 rotateZ(double angle)
+
+This method rotates the vector around the Z axis by the specified angle in radians and returns the result as a new vector.
+
+## public double distanceSq(Vector3 compare)
+
+This method returns the squared distance between the current vector and another vector.
+
+## public double distance(Vector3 compare)
+
+This method returns the distance between the current vector and another vector.
+
+## public double distanceToLine(Vector3 lineStart, Vector3 lineEnd)
+
+This method calculates the distance from the current vector to a line defined by two points and returns the result.
+
+## public Vector3 closest(Vector3 ... vectors)
+
+This method returns the closest vector to the current vector from a list of vectors.
+
+## public Vector3 map(VectorMapFunction function)
+
+This method applies a `VectorMapFunction` to the current vector and returns the result.
+
+## public String toString()
+
+This method returns a string representation of the vector.

docs/documentation/android/code_documentation/WebSocket.md

@@ -0,0 +1,64 @@
+# WebSocket
+
+This class represents a WebSocket server.
+
+## private WebSocket()
+
+Constructor for creating a new WebSocket server.
+
+## public static WebSocket createServer()
+
+Function for creating a new WebSocket server. Due to Android security restrictions,
+the server must be created both in a separate thread and with a non-predefined port.
+The port will be selected by the system.
+
+## public void startListening()
+
+Method for listening for incoming connections.
+This creates a new thread for the server.
+
+## public void stop()
+
+Method for stopping the WebSocket server.
+
+## public void setEventHandler(IWebSocketHandler handler)
+
+Method for setting the event handler for this WebSocket server.
+This event handler accepts all WebSocket events, such as:
+- onConnected(Socket socket)
+- onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier)
+- onDisconnected(Socket socket)
+- onError(Socket socket, String error)
+
+## public ServerSocket getSocket()
+
+Method for getting the ServerSocket connection.
+
+## public boolean isConnected()
+
+Method for checking whether this WebSocket connection is connected.
+
+---
+
+# WebSocket.Message
+
+Class representing a message received from a WebSocket connection.
+
+### Fields
+
+- `WebSocketConnection connection`: The connection from which the message was received.
+- `String message`: The message content.
+
+## Opcode decode(byte opcode)
+
+Method for decoding the opcode of a message.
+
+## public Message(WebSocketConnection connection, String message)
+
+Constructor for a WebSocket message.
+
+# MessageReply
+
+Interface for a message reply.
+This can be used for sending back a response to the client, by calling
+`reply(String message)`.

docs/documentation/android/javaClasses.md

@@ -0,0 +1,114 @@
+# Java class modifiers
+
+## How are classes build in java?
+There are a lot of classes with a lot of parameters 
+
+A class always begins with either the public or default or abstract access modifier. Then comes the class name
+
+Example: 
+```java
+public class MyClass {
+    //methods and atributes
+}
+
+```
+Then in a class you can have Methods or Atributes where the actual code is.
+
+```mermaid
+flowchart LR
+0[~] --> a([Access Modifiers]) --> b([class]) --> c([Class name])
+0 --> b
+```
+
+## Constructor
+A constructor in Java is a special method that is used to initialize objects. The constructor is called when an object of a class is created. It can be used to set initial values for object attributes.
+
+The constructor Method is the first method that is called when a class is created. It has the same name as the class and no return type. It is automaticly called when a class is created.
+
+### Methods
+A method is a block of code which only runs when it is called. You can pass data, known as parameters, into a method. Methods are used to perform certain actions, and they are also known as functions.
+
+Methods are build like this
+```mermaid
+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
+```
+
+
+Example:
+```java
+public class MyClass {
+    // Method
+  static void myMethod() {
+    // print Hello World!
+    System.out.println("Hello World!");
+  }
+  // Main method
+  //access modifier, Method Modifier, return type, method name, parameters, method body
+  public static void main(String[] args) {
+    // Call the method
+    myMethod();
+  }
+}
+```
+
+
+### Atributes
+Attributes are variables within a class. When an object is created from a class, the object will have these attributes.
+
+Example:
+```java
+public class MyClass {
+  int x = 5;
+}
+```
+
+## Classes
+### Class modifiers
+
+#### Non-access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| final | The class cannot be inherited by other classes (You will learn more about inheritance in the Inheritance chapter) |  |  |  |
+| abstract | The class cannot be used to create objects (To access an abstract class, it must be inherited from another class. You will learn more about inheritance and abstraction in the Inheritance and Abstraction chapters) |  |  |  |
+||||
+
+#### Access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| public | The code is accessible for all classes |  |  |  |
+| private | The code is only accessible within the declared class |  |  |  |
+| default | The code is only accessible in the same package. This is used when you don't specify a modifier. You will learn more about packages in the Packages chapter |  |  |  |
+| protected | The code is accessible in the same package and subclasses. You will learn more about subclasses and superclasses in the Inheritance chapter |  |  |  |
+|  |  |  |  |  |
+
+
+## Methods and attributes
+#### non access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| final | Attributes and methods cannot be overridden/modified |  |  |  |
+| static | Attributes and methods belongs to the class, rather than an object. You don't really wanna use this one. |  |  |  |
+| abstract | Can only be used in an abstract class, and can only be used on methods. The method does not have a body, for example abstract void run();. The body is provided by the subclass (inherited from). You will learn more about inheritance and abstraction in the Inheritance and Abstraction chapters |  |  |  |
+| transient | Attributes and methods are skipped when serializing the object containing them |  |  |  |
+| synchronized | Methods can only be accessed by one thread at a time |  |  |  |
+| volatile | The value of an attribute is not cached thread-locally, and is always read from the "main memory" |  |  |  |
+||||
+
+#### Access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| public | The code is accessible for all classes |  |  |  |
+| private | The code is only accessible within the declared class |  |  |  |
+| default | The code is only accessible in the same package. This is used when you don't specify a modifier. You will learn more about packages in the Packages chapter |  |  |  |
+| protected | The code is accessible in the same package and subclasses. You will learn more about subclasses and superclasses in the Inheritance chapter |  |  |  |
+|  |  |  |  |  |
+
+
+## Sources 
+
+* https://www.w3schools.com/java/java_modifiers.asp explanation of modifiers
+* https://en.wikipedia.org/wiki/Syntax_diagram For syntax diagram

docs/documentation/android/robot_motion_tracking_system.md

@@ -0,0 +1,108 @@
+## Motion Tracking System
+
+---
+
+To capture the user's motion with the sensing devices, we'll need to use a tracking system that calculates the
+path the user makes to be able to determine the user's position and orientation, and therefore whether the movement
+that was made correlates to the provided path.
+This is done by some calculations in the `MotionProcessor` class. To get started, create an instance of the `MotionProcessor` class and call the `processMotion` method with the `MotionData` object as a parameter. This will return a `MotionResult` object that contains the calculated path.
+
+```java
+// create the motion processor
+MotionProcessor motionProcessor = new MotionProcessor();
+```
+
+To start listening for input, one must call the following method:
+
+```java
+// start listening for input
+motionProcessor.startListening();
+```
+
+Calling this function creates a WebSocket server, which the sensing devices can connect to.
+The `MotionProcessor` class will then start listening for a set of messages that start with specified kind of keywords.
+The messages always start with the keyword, separated by a space, and then the data is sent.
+The default data separator is `;`.
+An example of the message format is shown below:
+```java
+// Sending data
+"data accelerationX;accelerationY;accelerationZ;rotationX;rotationY;rotationZ" // all values are floats
+
+// Changing the sample rate
+"sampleRate rate" // rate is an integer
+
+// Calibrating the zero point
+"zero x;y;z" // x, y, z are floats
+``` 
+
+To add a custom message received handler, one can simply call the following method:
+
+```java
+// Add a custom message handler
+motionProcessor.setMotionDataEventHandler((Vector3 vector) -> { ... });
+```
+*Note: The message handler provides a vector as a parameter; this vector is already converted from relative acceleration and rotation.* 
+
+### Error checking
+
+To check whether the made movements correlate with a given path, one must check for their differences.
+This can be done by a few implemented methods:
+ 
+***Get the error of a vector compared to a path***
+```java
+GesturePath path = new GesturePath.Builder()
+                    .addVector(...)
+                    .build();
+                    
+Vector3 referencePoint = new Vector3(...);
+double error = motionProcessor.getError(path, referencePoint);
+```
+
+***Get the average error of a computed path to a `GesturePath`***
+```java
+GesturePath path = new GesturePath.Builder()
+                    .addVector(...)
+                    .build();
+
+double error = motionProcessor.getAverageError(path);
+```
+
+***Get a list of error values from a computed path to a `GesturePath`***
+```java
+GesturePath path = new GesturePath.Builder()
+                    .addVector(...)
+                    .build();
+
+List<Double> errorList = motionProcessor.getErrors(path);
+```
+
+### Example
+
+An example of how to use a motion tracking system is shown below:
+
+```java
+
+// create the motion processor
+MotionProcessor motionProcessor = new MotionProcessor();
+
+// Create a gesture path
+GesturePath.Builder pathBuilder = new GesturePath.Builder();
+
+for ( int i = 0; i < 100; i++ ) 
+    pathBuilder.addVector(new Vector3(i, i, i));
+
+GesturePath path = pathBuilder.build();
+
+// Set the path
+for ( int i = 0; i < 100; i++ ) {
+    motionProcessor.addMotionData(new MotionData(i, i, i, i, i, i));
+}
+
+// Get error values
+List<Double> errorList = motionProcessor.getErrors(path);
+
+// Get average error
+double averageError = motionProcessor.getAverageError(path);
+
+// Now you can do whatever you want with these results.
+```

docs/documentation/brainstorm/colorsforlayout.md

@@ -5,14 +5,69 @@ As we become older, our vision worsens. We need to keep this in mind because our
 ![contrast](contrastcolors.png)
 This image shows what elderly people may experience while reading or using an app. We must keep this in mind as we design our app.
 ### color psychology
+Colors can be an effective way to influence emotions and feelings. They may influence you without your knowledge. We can use this to influence those who use our app. Colors have a powerful ability to influence emotions. Every color has a unique effect on our minds. For example, blue has a calming and trustworthy effect on our minds. While blue may not be appropriate for our project, it may prove useful when using a more serious app. We can see PayPal using this trend because it is a banking app that must be trusted. Because blue influences those who use PayPal, it will have a positive impact on their customers. We also want to positively influence our people.
+
+ Here are some examples of how colors can be used in a fitness app for elderly people. First we need to sort out what kind of emotions we want to stimulate. For starting and doing the excersize we need to boost excitement, energy and strenght. We need to boost these emotions to get the most out of people. We hope by using these colors we are stimulating people to get more out of there work out. The reason of boosting emotions trough color is that is is seamless and that makes it powerfull. If you dont know that you are being influenced it has the best effect. Lets discuss some colors 
+
+<span style="color:red">
+<strong> RED: </strong>
+</span>
+
+Red is an interesting color because it increases excitement, activity, aggression, bravery, and youthfulness. People associate the color red with boldness, fire, competition, love, energy, speed, power, youth, and so much more. These emotions are useful when developing a fitness app, but even a different shade of red affects emotions and effectiveness. Lighter shades highlight the energetic qualities of red. Darker shades emphasize power. This makes red a powerful color and for us and an interesting option because Strava, a fitness app focused on running, uses the same colors.
+
+![palettes of red](redpalette.png)
+
+<span style="color:ORANGE">
+<strong> ORANGE: </strong>
+</span>
+
+Orange is a warm color that is a combination of red and yellow, making it a good middle ground between the two. Orange is an interesting color for our project because it promotes emotions like playful, warm, friendly, social, gregarious, cheerful, vibrant, confident, and successful. As we can see, there is a good balance of red and yellow emotions. People associate the color orange with extroversion, adventure, celebration, courage, confidence, good health, friendship, and success. This makes it a suitable choice for our project because it triggers most of the emotions we wanted. It is not as aggressive as red, but it basically has the same effect. Deeper oranges are warmer, while lighter tints make it feel more like yellow. We should consider orange for our app because it stimulates the desired emotions.
+![palettes of orange](orangepalette.png)
+
+<span style="color:yellow">
+<strong> YELLOW: </strong>
+</span>
+
+Yellow belongs in the same park as red because they are both warm colors. Yellow boosts emotions such as warmth, cheerfulness, happiness, energy, clarity, and attention, making it a good choice for us to look at. People associate the color or yellow with. Sunshine, creativity, imagination, hope, joy, the future, and spirituality. The various shades affect yellow in different ways, and bright sharp yellows can be tiring and cause headaches. Lighter shades appeal to the happiness aspect, reminding users of summer and the sun. Darker shades, such as gold, add weight. This makes yellow an interesting color option for our app.
+
+![palettes of yellow](yellowpalette.png)
+
+<span style="color:green">
+<strong> GREEN: </strong>
+</span>
+
+Green is on the opposite side of the spectrum from red and yellow. Green is a colder color, which gives it a different effect. Green enhances emotions such as restful, natural, stable, healthy, and prosperity. This can make it a viable option, especially because it gives people a sense of good health. People associate color green with. Freshness, ecology, nature, health, balance, fertility, growth, renewal, healing, money, and good luck. This is interesting because it not only provides people with the feeling of being healthy, but also of being outside in nature, which may help elderly people feel less isolated. However, the shades of green also make people feel different. Pale greens are soothing. Dark greens can improve concentration. However, because we do not rely on concetration, it will have little impact on our project.
 
 
+![palletes of green](greenpalette.png)
+<span style="color:BLUE">
+<strong> BLUE: </strong>
+</span>
 
+Blue is also a colder color, so it takes the same path as green, giving it a more calming effect. However, it is not comparable to green because they influnce other emotions. Blue enhances emotions like calm, security, peace, patience, loyalty, trust, and sadness. It has the same soothing effect as green, but it does not give people the feeling of being healthy. It gives people trust and peace, which are interesting emotions, but they are not beneficial to us. People associate the color blue with stability, protection, trust, loyalty, patience, perseverance, security, peace, loyalty, sadness and depression, and masculinity. This further confirms that blue gives people a sense of security, which is not important for us because we want people to start exercising. Pale blue is cooling and relaxing, but it should not be used inappropriately because it can make people feel sad and depressed. Indigo is useful in situations where fear prevents activity. Indigo may be useful for a cool-down exercise or if someone is afraid of exercising.
+
+![palletes of blue](bluepalette.png)
+
+<span style="color:Black">
+<strong> BLACK: </strong>
+</span>
+Black is not a color but we can use this as the main tone for our app. However since old people tend to have issues when there isnt much light and black is the absence of light we are not very likely to sue it. Black boost emotions like Mysterious, elegant, sophisticated, worldly, powerful, strength, and intelligence. This makes black not that interesting for us since we want to make a simple app that everyone can understand. People associate the color black with Authority, sophistication, simplicity, protection, formality, elegance, night, power, and mystery. This is very intersting but not for our project since we do not desire people to associate our project with these emotions. If we tone the color black we get gray and white of which i will discuss the color white seperatly. Too much black can be frightening. Depressing unless used with other colors.
+
+![palletes of black](blackpalette.png)
+
+<span style="color:White">
+<strong> WHITE: </strong>
+</span>
+White is not a color so it has the same purpose as black being a main tone to our app. White is a light tone which may cause it to glare. This means that you do not what to use the brightest types of screen with white. We do not have this issue so we can use white as much as wel like. White gives people the emotions of: fresh, pure, clear, easy, receptive, modern, neat, and precise. Since we are designing a simple app white is a nice main tone for our app. People associate white with Goodness, innocence, purity, cleanliness, calmness, freshness, healthiness, and precision. This further confirms that white is a good option for our app. However as i said Too bright white can produce eyestrain and headaches. Escpecially elderdly people are extra sensetive for this. So if we use white we need to be a little bit carefull whit it
+
+![palletes of white](whitepalette.png)
 ### Conclusion
-
+We decided to go for 
 
 
 
 # Source
 
-https://eldertech.org/color-in-designing-technology-for-seniors/
+https://eldertech.org/color-in-designing-technology-for-seniors/
+
+https://decode.agency/article/choose-color-palette-for-apps/

docs/documentation/database/EERD.md

@@ -0,0 +1,15 @@
+# EERD
+
+EERD stands for Extended Entity Relationship Diagram, which is an extended version of the Entity Relationship Diagram (ERD). An EERD is often used to visualize the structure and relationships between entities in a database.
+
+In an EERD, different symbols are used to represent the different elements of a database. Two important symbols are the Primary Key (PK) and the Foreign Key (FK).
+
+Primary Key (PK): A Primary Key is a unique identifier for an entity in a database. It is used to identify and distinguish rows in a table. In an EERD, a PK is usually indicated with an underscored attribute or a special symbol, such as a Key icon.
+
+Foreign Key (FK): A Foreign Key is an attribute in a table that refers to the Primary Key of another table. It is used to define relationships between tables. In an EERD, an FK is usually indicated with a dotted line pointing to the PK of another entity.
+
+Here is an example to clarify the concept of PK and FK:
+
+Suppose we have a database with two tables: "Orders" and "Customers". The "Orders" table has a PK called "order_id", while the "Customers" table has a PK called "customer_id". To define the relationship between these two tables, we can add an FK called "customer_id" to the "Orders" table, which refers to the PK "customer_id" in the "Customers" table. This allows us to link the orders of each customer to the correct customer information.
+
+![EERD](../assets/EERD.png)

docs/documentation/database/ERD.md

@@ -0,0 +1,16 @@
+# ERD
+
+Entity Relationship Diagram (ERD)
+
+To design a relational database, you first create an Entity Relationship Diagram. In this, you model the data that the user wants to store, without looking at the technical implementation. The following concepts play a role in an ERD:
+
+* Entity: a type of "thing" about which the user wants to store data, for example a user, an order, or a student.
+* Attribute: properties of an entity. For a user, this could be: username, email, and password.
+* Relationships: connection between entities, for example the fact that one customer can place multiple orders.
+* Instances: an example of an entity, for example the order with order number 239741.
+
+* 1-to-many (1: N): one instance can belong to multiple instances of another entity. For example: a customer can place multiple orders, but an order belongs to only one customer.
+* many-to-many (N: M): one instance can belong to multiple instances of another entity, but the reverse is also true. For example: an order can contain multiple products and conversely a product can appear on multiple orders.
+* 1-to-1 (1:1): one instance belongs to a maximum of one instance of another entity. For example: an employee can have one lease car and a lease car is from one employee.
+
+![ERD](../assets/ERD.png)

docs/documentation/database/infrastructure.md

@@ -0,0 +1,19 @@
+# Infrastructure
+
+The infrastructure of the database is composed of the following components:
+
+- User 
+- Pepper
+    - Interface
+    - Robot
+- Raspberry Pi
+    - Database
+        - MariaDB
+    - Server
+        - Apache
+        - phpMyAdmin
+        - Node.js
+
+User interacts with Pepper through the interface. The interface sends the user input to the robot. The robot processes the input (java) and sends the output (xml) back to the interface. The interface displays the output to the user. The Raspberry Pi hosts the server and database. The database stores the data and the server hosts the website. The server runs Apache, phpMyAdmin, and Node.js. The interface makes a request to the server (HTTP GET) to retrieve the data in the database. The server processes the request (HTTP GET) and retrieves (SQL) the data from the database. The interface displays the data to the user.
+
+![Application Architecture Diagram](../diagrams/assets/appDiagram.png)