diff --git a/media/Server/Notules toetsing.norg b/media/Server/Notules toetsing.norg
new file mode 100644
index 0000000..ab1b5b8
--- /dev/null
+++ b/media/Server/Notules toetsing.norg	
@@ -0,0 +1,22 @@
+@document.meta
+title: Notules toetsing
+description:
+authors: wessel
+categories:
+created: 2024-06-21T16:55:21+0100
+updated: 2024-06-21T17:07:13+0100
+version: 1.1.1
+@end
+
+* Meer om het onderzoeksvraag,
+
+* Geen subsecties in probleemstelling, hoofdvraag komt uit, uit de deelvragen komt oo-model
+* eerst oude oo-model, dan de nieuwe
+* methode; structuur maken van de api bijv.
+  realiseren van het maken
+
+* conclusie veel kleiner
+* bastiaan mailen om artikel
+* geen referenties in vragen
+  *
+  bastiaan vergouw
diff --git a/src/Client/API/Console/bin/Debug/net8.0/Console.dll b/src/Client/API/Console/bin/Debug/net8.0/Console.dll
index 4bc0029..7c7bd11 100755
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diff --git a/src/Client/API/Console/bin/Debug/net8.0/Console.pdb b/src/Client/API/Console/bin/Debug/net8.0/Console.pdb
index b46fe52..109ab60 100755
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diff --git a/src/Client/API/Console/bin/Debug/net8.0/LibParse.dll b/src/Client/API/Console/bin/Debug/net8.0/LibParse.dll
index 9eacaa5..95d9adf 100644
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diff --git a/src/Client/API/Console/bin/Debug/net8.0/LibParse.pdb b/src/Client/API/Console/bin/Debug/net8.0/LibParse.pdb
index 172844f..a322d48 100644
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diff --git a/src/Client/API/Console/bin/Debug/net8.0/LibServer.dll b/src/Client/API/Console/bin/Debug/net8.0/LibServer.dll
index 2eff5dc..f8feb5f 100644
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diff --git a/src/Client/API/Console/bin/Debug/net8.0/LibServer.pdb b/src/Client/API/Console/bin/Debug/net8.0/LibServer.pdb
index 4d283a7..d9f47a2 100644
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diff --git a/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.dll b/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.dll
index 75647fd..1a7fc26 100644
Binary files a/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.dll and b/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.dll differ
diff --git a/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.pdb b/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.pdb
index 8899191..3797f4a 100644
Binary files a/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.pdb and b/src/CoveragePathPlanner/bin/Debug/net8.0/CoveragePathPlanner.pdb differ
diff --git a/src/Server/LibParse/bin/Debug/net8.0/LibParse-Helix.pdb b/src/Server/LibParse/bin/Debug/net8.0/LibParse-Helix.pdb
deleted file mode 100755
index 2a3d02f..0000000
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diff --git a/src/Server/LibParse/bin/Debug/net8.0/LibParse.deps.json b/src/Server/LibParse/bin/Debug/net8.0/LibParse.deps.json
old mode 100755
new mode 100644
diff --git a/src/Server/LibParse/bin/Debug/net8.0/LibParse.dll b/src/Server/LibParse/bin/Debug/net8.0/LibParse.dll
index 1bb8d71..100785a 100644
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diff --git a/src/Server/LibParse/bin/Debug/net8.0/LibParse.pdb b/src/Server/LibParse/bin/Debug/net8.0/LibParse.pdb
index 4ae2c3e..b1fb6a6 100644
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diff --git a/src/Server/LibServer/bin/Debug/net8.0/LibServer.deps.json b/src/Server/LibServer/bin/Debug/net8.0/LibServer.deps.json
old mode 100755
new mode 100644
diff --git a/src/Server/LibServer/bin/Debug/net8.0/LibServer.dll b/src/Server/LibServer/bin/Debug/net8.0/LibServer.dll
index f6108bc..03c17a3 100644
Binary files a/src/Server/LibServer/bin/Debug/net8.0/LibServer.dll and b/src/Server/LibServer/bin/Debug/net8.0/LibServer.dll differ
diff --git a/src/Server/LibServer/bin/Debug/net8.0/LibServer.pdb b/src/Server/LibServer/bin/Debug/net8.0/LibServer.pdb
index 319fc77..74620fc 100644
Binary files a/src/Server/LibServer/bin/Debug/net8.0/LibServer.pdb and b/src/Server/LibServer/bin/Debug/net8.0/LibServer.pdb differ
diff --git a/src/Server/LibServer/bin/Debug/net8.0/ServerLib.deps.json b/src/Server/LibServer/bin/Debug/net8.0/ServerLib.deps.json
deleted file mode 100755
index 559bf1e..0000000
--- a/src/Server/LibServer/bin/Debug/net8.0/ServerLib.deps.json
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-  "runtimeTarget": {
-    "name": ".NETCoreApp,Version=v8.0",
-    "signature": ""
-  },
-  "compilationOptions": {},
-  "targets": {
-    ".NETCoreApp,Version=v8.0": {
-      "LibServer/1.0.0": {
-        "dependencies": {
-          "LibHttp": "1.0.0"
-        },
-        "runtime": {
-          "LibServer.dll": {}
-        }
-      },
-      "LibHttp/1.0.0": {
-        "runtime": {
-          "LibHttp.dll": {}
-        }
-      }
-    }
-  },
-  "libraries": {
-    "LibServer/1.0.0": {
-      "type": "project",
-      "serviceable": false,
-      "sha512": ""
-    },
-    "LibHttp/1.0.0": {
-      "type": "project",
-      "serviceable": false,
-      "sha512": ""
-    }
-  }
-}
diff --git a/src/Server/LibServer/bin/Debug/net8.0/ServerLib.dll b/src/Server/LibServer/bin/Debug/net8.0/ServerLib.dll
deleted file mode 100755
index c8c5000..0000000
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diff --git a/src/Server/LibServer/bin/Debug/net8.0/ServerLib.pdb b/src/Server/LibServer/bin/Debug/net8.0/ServerLib.pdb
deleted file mode 100755
index cac5a1b..0000000
Binary files a/src/Server/LibServer/bin/Debug/net8.0/ServerLib.pdb and /dev/null differ
diff --git a/src/Server/RobotControlServer/Routes/RoutePlan.cs b/src/Server/RobotControlServer/Routes/RoutePlan.cs
index b2e5acd..6417979 100644
--- a/src/Server/RobotControlServer/Routes/RoutePlan.cs
+++ b/src/Server/RobotControlServer/Routes/RoutePlan.cs
@@ -2,8 +2,6 @@ using Cassandra;
 using LibParse.Json;
 using LibServer.Http;
 using LibServer.Router;
-using Newtonsoft.Json;
-using RobotControlServer.JsonClasses;
 using System.Drawing;
 
 namespace RobotControlServer.Routes;
@@ -17,8 +15,7 @@ public class RoutePlan(ISession cassandraSession): IRoute {
     try {
       // Parse request body to Data object, give error if non-nullable fields
       // are null.
-      string id;
-      var parsedBody = request.Body?.FromJson<Data>();
+      string? id;
       if (!request.QueryString.TryGetValue("id", out id)) {
         throw new Exception("id is null");
       }
@@ -41,8 +38,7 @@ public class RoutePlan(ISession cassandraSession): IRoute {
       List<Point> obstacles = new List<Point>();
 
       // Add obstacle cells
-      foreach (var obj in $"[{map.GetValue<string>("objects")}]".FromJson<int[][]>()) // $"[{parsedBody?.objects}]".FromJson<int[][]>()
-      {
+      foreach (var obj in $"[{map.GetValue<string>("objects")}]".FromJson<int[][]>()) {
         obstacles.Add(new Point(obj[0], obj[1])); // Get x and y for every coordinate in the parsedbody array
       }
 
diff --git a/src/Web/src/components/mapCanvas.jsx b/src/Web/src/components/mapCanvas.jsx
index 2f65f7a..206d8ea 100644
--- a/src/Web/src/components/mapCanvas.jsx
+++ b/src/Web/src/components/mapCanvas.jsx
@@ -82,7 +82,8 @@ export default class MapCanvas extends React.Component {
       return;
     }
 
-    if (route || route.points.length > 0) {
+    console.log(route);
+    if (route && route.points.length > 0) {
       ctx.fillStyle = "#800000";
       route.points.forEach(point => {
         ctx.beginPath();
@@ -104,8 +105,7 @@ export default class MapCanvas extends React.Component {
   async HandlePlan() {
     if (this.state.currentMap.length < 1) return;
     const url = `${API_ENDPOINT}/database/path/plan?id=${this.state.currentMapId}`;
-    const data = await (await fetch(url)).json();
-    console.log(data);
+    await await fetch(url);
   }
 
   render() {