diff --git a/.github/workflows/shellcheck.yml b/.github/workflows/shellcheck.yml
new file mode 100644
index 0000000..c6be2b3
--- /dev/null
+++ b/.github/workflows/shellcheck.yml
@@ -0,0 +1,17 @@
+on:
+  - push
+  - pull_request
+
+name: "Shellcheck"
+permissions: {}
+
+jobs:
+  shellcheck:
+    name: Shellcheck
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Run ShellCheck
+        uses: ludeeus/action-shellcheck@master
+        with:
+            severity: warning
diff --git a/.github/workflows/shfmt.yml b/.github/workflows/shfmt.yml
new file mode 100644
index 0000000..59ca713
--- /dev/null
+++ b/.github/workflows/shfmt.yml
@@ -0,0 +1,16 @@
+name: shfmt
+on:
+  - pull_request
+  - push
+jobs:
+  sh-checker:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Run the sh-checker
+        uses: luizm/action-sh-checker@master
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          sh_checker_shellcheck_disable: true
+          sh_checker_comment: true
diff --git a/Blink.ino b/Blink.ino
deleted file mode 100644
index 13b0271..0000000
--- a/Blink.ino
+++ /dev/null
@@ -1,33 +0,0 @@
-/* Mirte by default has the following pin connections:
- *
- * B3, A15  - PWM pins for motor A
- * B14, B15 - PWM pins for motor B
- * A0       - analog input intensity sensor left
- * A1       - analog input intensity sensor right
- * A9       - trigger for ultrasonic sensor front
- * B8       - echo for ultrasonic sensor front
- * A10      - trigger for ultrasnoic sensor side
- * B9       - echo for ultrasonic sensor side
- * B12      - left encoder 
- * B13      - right encoder
- *
- * Mirte does not use LEDs by default. For CSE2425 we connected
- * the leds to the following pins:
- *
- * B10     - left LED
- * B11     - right LED
- */
-
-// This is a standard blink setup (NOTE: you need to add P to the pin number)
-int led = PB10;
-
-void setup() {                
-  pinMode(led, OUTPUT);     
-}
-
-void loop() {
-  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
-  delay(1000);               // wait for a second
-  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
-  delay(1000);               // wait for a second
-}
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..a7c1e50
--- /dev/null
+++ b/README.md
@@ -0,0 +1,8 @@
+# Mirte Install Scripts
+Scripts that are ran during creation of the image and on the Mirte itself.
+
+## Stylecheck
+- [shfmt](https://github.com/mvdan/sh): styling (whitespace) of all shell scripts
+- [ShellCheck](https://github.com/koalaman/shellcheck): static analysis to find (possible) bugs. Only errors and warnings are enabled
+
+Check & format using their command line tools or vscode plugins. Or check the GitHub workflows with (act)[https://github.com/nektos/act].
\ No newline at end of file
diff --git a/blink.sh b/blink.sh
index 5b1cb9d..e287d8e 100755
--- a/blink.sh
+++ b/blink.sh
@@ -7,103 +7,102 @@ OPI2=$(grep "Orange Pi Zero 2" /proc/device-tree/model)
 RPI=$(grep -a "Raspberry" /proc/device-tree/model)
 
 if [ "$RPI" ]; then
-   echo none > /sys/class/leds/ACT/trigger
-   echo none > /sys/class/leds/PWR/trigger
+	echo none >/sys/class/leds/ACT/trigger
+	echo none >/sys/class/leds/PWR/trigger
 fi
 
 red_on() {
-   if [ "$OPI" ]; then
-      echo 'default-on' > /sys/class/leds/orangepi\:red\:status/trigger
-   elif [ "$OPI2" ]; then
-      echo '255' > /sys/class/leds/orangepi\:red\:power/brightness
-   elif [ "$RPI" ]; then
-      echo 1 > /sys/class/leds/PWR/brightness
-   fi
+	if [ "$OPI" ]; then
+		echo 'default-on' >/sys/class/leds/orangepi\:red\:status/trigger
+	elif [ "$OPI2" ]; then
+		echo '255' >/sys/class/leds/orangepi\:red\:power/brightness
+	elif [ "$RPI" ]; then
+		echo 1 >/sys/class/leds/PWR/brightness
+	fi
 }
 red_off() {
-   if [  "$OPI" ]; then
-      echo 'none' > /sys/class/leds/orangepi\:red\:status/trigger
-   elif [ "$OPI2" ]; then
-      echo '0' > /sys/class/leds/orangepi\:red\:power/brightness
-   elif [ "$RPI" ]; then
-      echo '0' > /sys/class/leds/PWR/brightness
-   fi
+	if [ "$OPI" ]; then
+		echo 'none' >/sys/class/leds/orangepi\:red\:status/trigger
+	elif [ "$OPI2" ]; then
+		echo '0' >/sys/class/leds/orangepi\:red\:power/brightness
+	elif [ "$RPI" ]; then
+		echo '0' >/sys/class/leds/PWR/brightness
+	fi
 }
 
 green_on() {
-   if [ "$OPI" ]; then
-      echo 'default-on' > /sys/class/leds/orangepi\:green\:pwr/trigger
-   elif [ "$OPI2" ]; then
-      echo '255' > /sys/class/leds/orangepi\:green\:status/brightness
-   elif [ "$RPI" ]; then
-      echo 1 > /sys/class/leds/ACT/brightness
-   fi
+	if [ "$OPI" ]; then
+		echo 'default-on' >/sys/class/leds/orangepi\:green\:pwr/trigger
+	elif [ "$OPI2" ]; then
+		echo '255' >/sys/class/leds/orangepi\:green\:status/brightness
+	elif [ "$RPI" ]; then
+		echo 1 >/sys/class/leds/ACT/brightness
+	fi
 }
 
 green_off() {
-   if [ "$OPI" ]; then
-      echo 'none' > /sys/class/leds/orangepi\:green\:pwr/trigger
-   elif [ "$OPI2" ]; then
-      echo '0' > /sys/class/leds/orangepi\:green\:status/brightness
-   elif [ "$RPI" ]; then
-      echo 0 > /sys/class/leds/ACT/brightness
-   fi
+	if [ "$OPI" ]; then
+		echo 'none' >/sys/class/leds/orangepi\:green\:pwr/trigger
+	elif [ "$OPI2" ]; then
+		echo '0' >/sys/class/leds/orangepi\:green\:status/brightness
+	elif [ "$RPI" ]; then
+		echo 0 >/sys/class/leds/ACT/brightness
+	fi
 }
 
 if ! [ "$OPI" ]; then
 
-  echo "Blinking"
-  echo "$VALUE"
+	echo "Blinking"
+	echo "$VALUE"
 
-  for (( repeat=0; repeat<5; repeat++ )); do
-    # Start sequence with fast blinking both
-    for (( i=0; i<10; i++ )); do
-      FAST=$(echo "scale=2; $BLINK_SPEED/20" | bc)
-      green_on
-      red_on
-      sleep "$FAST"
-      green_off
-      red_off
-      sleep "$FAST"
-    done
-    sleep $BLINK_SPEED
+	for ((repeat = 0; repeat < 5; repeat++)); do
+		# Start sequence with fast blinking both
+		for ((i = 0; i < 10; i++)); do
+			FAST=$(echo "scale=2; $BLINK_SPEED/20" | bc)
+			green_on
+			red_on
+			sleep "$FAST"
+			green_off
+			red_off
+			sleep "$FAST"
+		done
+		sleep $BLINK_SPEED
 
-    for (( i=0; i<${#VALUE}; i++ )); do
-      # Next character
-      green_on
-      sleep $BLINK_SPEED
-      green_off
-      sleep $BLINK_SPEED
+		for ((i = 0; i < ${#VALUE}; i++)); do
+			# Next character
+			green_on
+			sleep $BLINK_SPEED
+			green_off
+			sleep $BLINK_SPEED
 
+			if [ "${VALUE:i:1}" == "." ]; then
+				green_on
+				red_on
+				sleep $BLINK_SPEED
+				green_off
+				red_off
+				sleep $BLINK_SPEED
+			else
+				if [ "${VALUE:i:1}" == "0" ]; then
+					TWICE=$(echo "scale=2; $BLINK_SPEED*2" | bc)
+					sleep "$TWICE"
+				else
+					# Convert hex to decimal number
+					DEC_VAL=$(echo "obase=10; ibase=16; ${VALUE:i:1}" | bc)
 
-      if [ "${VALUE:$i:1}" == "." ]; then
-         green_on
-         red_on
-         sleep $BLINK_SPEED
-         green_off
-         red_off
-         sleep $BLINK_SPEED
-      else
-         if [ "${VALUE:$i:1}" == "0" ]; then
-            TWICE=$(echo "scale=2; $BLINK_SPEED*2" | bc)
-            sleep "$TWICE"
-         else
-            # Convert hex to decimal number
-            DEC_VAL=$(echo "obase=10; ibase=16; ${VALUE:$i:1}" | bc)
+					# Blink decimal number
+					for ((j = 0; j < DEC_VAL; j++)); do
+						red_on
+						sleep $BLINK_SPEED
+						red_off
+						sleep $BLINK_SPEED
+					done
+				fi
+			fi
+		done
+	done
 
-            # Blink decimal number
-            for (( j=0; j<${DEC_VAL}; j++ )); do
-               red_on
-               sleep $BLINK_SPEED
-               red_off
-               sleep $BLINK_SPEED
-            done
-         fi
-      fi
-    done
-  done
-
-  # Reset to defaults
-  green_on
-  red_off
+	# Reset to defaults
+	green_on
+	red_off
 fi
diff --git a/download_repos.sh b/download_repos.sh
index 302a7cb..7be575d 100755
--- a/download_repos.sh
+++ b/download_repos.sh
@@ -7,6 +7,6 @@ sudo apt-get update
 sudo apt-get install -y python3-vcstool
 
 # Download all Mirte repositories
-vcs import < repos.yaml --workers 1  #TODO: get yaml file as parameter
+vcs import --workers 1 <repos.yaml #TODO: get yaml file as parameter
 
 # TODO: set remote to gitlab when checkout from local
diff --git a/install_ROS.sh b/install_ROS.sh
index 2be0849..518078d 100755
--- a/install_ROS.sh
+++ b/install_ROS.sh
@@ -20,7 +20,7 @@ sudo sh -c 'echo "deb http://ftp.tudelft.nl/ros/ubuntu $(lsb_release -sc) main"
 sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 sudo apt update
 sudo apt install -y ros-noetic-ros-base python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools python3-osrf-pycommon
-grep -qxF "source /opt/ros/noetic/setup.bash" /home/mirte/.bashrc || echo "source /opt/ros/noetic/setup.bash" >> /home/mirte/.bashrc
+grep -qxF "source /opt/ros/noetic/setup.bash" /home/mirte/.bashrc || echo "source /opt/ros/noetic/setup.bash" >>/home/mirte/.bashrc
 source /opt/ros/noetic/setup.bash
 sudo rosdep init
 rosdep update
@@ -37,12 +37,12 @@ sudo pip3 install pyzbar
 
 # Install Mirte ROS package
 mkdir -p /home/mirte/mirte_ws/src
-cd /home/mirte/mirte_ws/src
+cd /home/mirte/mirte_ws/src || exit
 ln -s $MIRTE_SRC_DIR/mirte-ros-packages .
 cd ..
 rosdep install -y --from-paths src/ --ignore-src --rosdistro noetic
 catkin build
-grep -qxF "source /home/mirte/mirte_ws/devel/setup.bash" /home/mirte/.bashrc || echo "source /home/mirte/mirte_ws/devel/setup.bash" >> /home/mirte/.bashrc
+grep -qxF "source /home/mirte/mirte_ws/devel/setup.bash" /home/mirte/.bashrc || echo "source /home/mirte/mirte_ws/devel/setup.bash" >>/home/mirte/.bashrc
 source /home/mirte/mirte_ws/devel/setup.bash
 
 # install missing python dependencies rosbridge
@@ -68,7 +68,7 @@ sudo pip3 install pillow adafruit-circuitpython-ssd1306==2.12.1
 # Install aio dependencies
 sudo pip3 install janus async-generator nest-asyncio
 git clone https://github.com/locusrobotics/aiorospy.git
-cd aiorospy/aiorospy
+cd aiorospy/aiorospy || exit
 sudo pip3 install .
 cd ../..
 rm -rf aiorospy
diff --git a/install_arduino.sh b/install_arduino.sh
index 7deba3d..3ace341 100755
--- a/install_arduino.sh
+++ b/install_arduino.sh
@@ -50,7 +50,7 @@ sudo adduser mirte dialout
 
 # By default, armbian has ssh login for root enabled with password 1234.
 # The password need to be set to mirte_mirte so users can use the
-# Arduino IDE remotely. 
+# Arduino IDE remotely.
 # TODO: when the Arduino IDE also supports ssh for non-root-users
 # this has to be changed
 echo -e "mirte_mirte\nmirte_mirte" | sudo passwd root
diff --git a/install_fake_bt.sh b/install_fake_bt.sh
index 7ec7b9e..2c012ee 100755
--- a/install_fake_bt.sh
+++ b/install_fake_bt.sh
@@ -29,7 +29,7 @@ sudo dpkg -i linux-headers*.deb
 wget https://cdn.kernel.org/pub/linux/kernel/v5.x/linux-5.10.21.tar.xz
 xz -d -v linux-5.10.21.tar.xz
 tar xvf linux-5.10.21.tar linux-5.10.21/net/bluetooth
-cd linux-5.10.21/net/bluetooth
+cd linux-5.10.21/net/bluetooth || exit
 
 # Apply 'fix'
 sed -i 's/flt_type = HCI_FLT_CLEAR_ALL;/\/\/flt_type = HCI_FLT_CLEAR_ALL;/g' hci_core.c
diff --git a/install_jupyter_ros.sh b/install_jupyter_ros.sh
index 657c868..d5b04a8 100755
--- a/install_jupyter_ros.sh
+++ b/install_jupyter_ros.sh
@@ -8,7 +8,7 @@ sudo apt install -y python3 python3-venv python3-dev git libffi-dev
 # create and activate virtualenv
 # Due to a build error on numpy we need to install numpy and
 # padnas globally and us it in the virtual environment
-cd /home/mirte
+cd /home/mirte || exit
 sudo apt install -y python3-numpy python3-pandas
 python3 -m venv jupyter --system-site-packages
 source /home/mirte/jupyter/bin/activate
diff --git a/install_mirte.sh b/install_mirte.sh
index e1ee3c0..0f314f9 100755
--- a/install_mirte.sh
+++ b/install_mirte.sh
@@ -62,8 +62,8 @@ pip3 install numpy
 
 sudo apt install -y bluez joystick
 if [ "$(uname -a | grep sunxi)" != "" ]; then
-  # currently only supporting cheap USB dongles on OrangePi
-  ./install_fake_bt.sh
+	# currently only supporting cheap USB dongles on OrangePi
+	./install_fake_bt.sh
 fi
 
 # Install Mirte documentation
@@ -71,7 +71,7 @@ cd $MIRTE_SRC_DIR/mirte-documentation
 sudo apt install -y python3.8-venv libenchant-dev
 python3 -m venv docs-env
 source docs-env/bin/activate
-pip install docutils==0.16.0 sphinx-tabs==3.2.0  #TODO: use files to freeze versions
+pip install docutils==0.16.0 sphinx-tabs==3.2.0 #TODO: use files to freeze versions
 pip install wheel sphinx sphinx-prompt sphinx-rtd-theme sphinxcontrib-spelling sphinxcontrib-napoleon
 mkdir -p _modules/catkin_ws/src
 cd _modules
diff --git a/install_web.sh b/install_web.sh
index 56bdff6..57174e3 100755
--- a/install_web.sh
+++ b/install_web.sh
@@ -16,12 +16,12 @@ nodeenv --node=16.2.0 $MIRTE_SRC_DIR/mirte-web-interface/node_env
 . $MIRTE_SRC_DIR/mirte-web-interface/node_env/bin/activate
 
 # Install frontend
-cd $MIRTE_SRC_DIR/mirte-web-interface/vue-frontend
+cd $MIRTE_SRC_DIR/mirte-web-interface/vue-frontend || exit
 npm install .
 npm run build
 
 # Install backend
-cd $MIRTE_SRC_DIR/mirte-web-interface/nodejs-backend
+cd $MIRTE_SRC_DIR/mirte-web-interface/nodejs-backend || exit
 npm install .
 
 # Install wetty
diff --git a/network_install.sh b/network_install.sh
index e8b5f1d..1791f46 100755
--- a/network_install.sh
+++ b/network_install.sh
@@ -1,4 +1,4 @@
-#!/bin/bash 
+#!/bin/bash
 
 MIRTE_SRC_DIR=/usr/local/src/mirte
 
@@ -22,8 +22,8 @@ sudo bash -c 'echo "nameserver 8.8.8.8" > /etc/resolv.conf'
 
 # Install wifi-connect
 MY_ARCH=$(arch)
-if [[ "$MY_ARCH" == "armv7l" ]]; then MY_ARCH="rpi"; fi
-wget https://github.com/balena-os/wifi-connect/releases/download/v4.4.6/wifi-connect-v4.4.6-linux-$(echo "$MY_ARCH").tar.gz
+if [[ $MY_ARCH == "armv7l" ]]; then MY_ARCH="rpi"; fi
+wget https://github.com/balena-os/wifi-connect/releases/download/v4.4.6/wifi-connect-v4.4.6-linux-"$(echo "$MY_ARCH")".tar.gz
 tar -xf wifi-connect*
 sudo mv wifi-connect /usr/local/sbin
 rm wifi-connect*
@@ -68,7 +68,7 @@ sudo bash -c 'echo "libcomposite" >> /etc/modules'
 
 # Generate wifi password (TODO: generate random password and put on NTFS)
 if [ ! -f /home/mirte/.wifi_pwd ]; then
-    bash -c 'echo mirte_mirte > /home/mirte/.wifi_pwd'
+	bash -c 'echo mirte_mirte > /home/mirte/.wifi_pwd'
 fi
 
 # Allow wifi_pwd to be modified using the web interface
diff --git a/network_setup.sh b/network_setup.sh
index 1fd722b..51bfef7 100755
--- a/network_setup.sh
+++ b/network_setup.sh
@@ -1,109 +1,105 @@
 #!/bin/bash
 
 function start_avahi {
-    # Restart avahi-daemon, to clear all previous addresses and hosts
-    service avahi-daemon restart && sleep 1
-
-    # Publish avahi (not using daemon since we publish two addresses)
-    avahi-publish-address -R mirte.local $(hostname -I | awk '{print $1}') &
-    avahi-set-host-name `cat /etc/hostname`
-    avahi-publish-service `cat /etc/hostname` _mirte._tcp 80 &
-    avahi-publish-service `cat /etc/hostname` _arduino._tcp 80 &
+	# Restart avahi-daemon, to clear all previous addresses and hosts
+	service avahi-daemon restart && sleep 1
+
+	# Publish avahi (not using daemon since we publish two addresses)
+	avahi-publish-address -R mirte.local "$(hostname -I | awk '{print $1}')" &
+	avahi-set-host-name "$(cat /etc/hostname)"
+	avahi-publish-service "$(cat /etc/hostname)" _mirte._tcp 80 &
+	avahi-publish-service "$(cat /etc/hostname)" _arduino._tcp 80 &
 }
 
-
 # This function basically just starts wifi-connect
 # only taking some limitations into account
 function start_acces_point {
-    # remove own connection from nm and killall
-    rm -rf /etc/NetworkManager/system-connections/`cat /etc/hostname`*
-    sudo killall -9 wifi-connect || /bin/true
-    sudo killall -9 blink.sh || /bin/true
-    echo "Killed all previous instances"
-
-    # It takes some time for NetworkManager to find all
-    # networks.
-    nmcli con down `cat /etc/hostname`
-    iw dev wlan0 scan | grep SSID
-    nmcli device wifi list
-    echo "Rescanned networks"
-
-    # Start wifi-connect (this starts the AP, and uses dnsmasq
-    # as DHCP server
-    wifi-connect -o 8080 -p `cat /home/mirte/.wifi_pwd` -s `cat /etc/hostname` &
-
-    # Wait until the AP is up
-    until [ -f /etc/NetworkManager/system-connections/`cat /etc/hostname`.nmconnection ]
-    do
-       sleep .1
-       echo " waiting for network"
-    done
-
-    # And modify the network in a way that avahi mdns packages will
-    # get through
-    nmcli con modify `cat /etc/hostname` 802-11-wireless-security.proto wpa
-#    nmcli con modify `cat /etc/hostname` 802-11-wireless-security.group ccmp
-#    nmcli con modify `cat /etc/hostname` 802-11-wireless-security.pairwise ccmp
-    nmcli con down `cat /etc/hostname`
-    sleep 10
-    nmcli con up `cat /etc/hostname`
-
-    # Start all avahi addresses and services
-    start_avahi
-
-    # Blink ssid-ID
-    UNIQUE_ID=$(cat /etc/hostname | cut -c7-12)
-    $MIRTE_SRC_DIR/mirte-install-scripts/blink.sh $UNIQUE_ID &
+	# remove own connection from nm and killall
+	rm -rf /etc/NetworkManager/system-connections/"$(cat /etc/hostname)"*
+	sudo killall -9 wifi-connect || /bin/true
+	sudo killall -9 blink.sh || /bin/true
+	echo "Killed all previous instances"
+
+	# It takes some time for NetworkManager to find all
+	# networks.
+	nmcli con down "$(cat /etc/hostname)"
+	iw dev wlan0 scan | grep SSID
+	nmcli device wifi list
+	echo "Rescanned networks"
+
+	# Start wifi-connect (this starts the AP, and uses dnsmasq
+	# as DHCP server
+	wifi-connect -o 8080 -p "$(cat /home/mirte/.wifi_pwd)" -s "$(cat /etc/hostname)" &
+
+	# Wait until the AP is up
+	until [ -f /etc/NetworkManager/system-connections/"$(cat /etc/hostname)".nmconnection ]; do
+		sleep .1
+		echo " waiting for network"
+	done
+
+	# And modify the network in a way that avahi mdns packages will
+	# get through
+	nmcli con modify "$(cat /etc/hostname)" 802-11-wireless-security.proto wpa
+	#    nmcli con modify `cat /etc/hostname` 802-11-wireless-security.group ccmp
+	#    nmcli con modify `cat /etc/hostname` 802-11-wireless-security.pairwise ccmp
+	nmcli con down "$(cat /etc/hostname)"
+	sleep 10
+	nmcli con up "$(cat /etc/hostname)"
+
+	# Start all avahi addresses and services
+	start_avahi
+
+	# Blink ssid-ID
+	UNIQUE_ID=$(cat /etc/hostname | cut -c7-12)
+	$MIRTE_SRC_DIR/mirte-install-scripts/blink.sh $UNIQUE_ID &
 }
 
 function check_connection {
-   # Remove my own networks
-   sudo rm /etc/NetworkManager/system-connections/`cat /etc/hostname`.*
-
-
-   # Only look for networks if you already connected to one
-   nr=`ls /etc/NetworkManager/system-connections/ | wc -l`
-   if [ "$nr" -gt 0 ]; then
-   # Wait for a connection with a known ssid (timeout 10 seconds)
-     nmcli device set wlan0 autoconnect yes
-     TIMEOUT=25;
-     NEXT_WAIT_TIME=0;
-     until [ $NEXT_WAIT_TIME -eq $TIMEOUT ] || sudo nmcli con show --active | grep wlan0 ; do
-            echo "waiting for connection"
-            sleep 1
-            let "NEXT_WAIT_TIME=NEXT_WAIT_TIME+1"
-        done   
-   fi
-
-   # Get wifi connection if connected
-    if sudo nmcli con show --active | grep wlan0 ; then
-      # Bugfix (see network_install.sh)
-      sudo ln -s /run/systemd/resolve/resolv.conf /etc/resolv.conf
-
-      printf 'Connected to wifi connection:'
-      nmcli con show --active | grep wlan0
-      $MIRTE_SRC_DIR/mirte-install-scripts/blink.sh $(hostname -I) &
-      start_avahi
-   else
-      printf 'No connection found, starting AP with wifi connect\n'
-      start_acces_point
-
-      # Restart the whole network process when connection did not take place
-      while inotifywait -e modify /etc/NetworkManager/system-connections/`cat /etc/hostname`.nmconnection; do echo "hoi" ; done
-# TODO: check: mybe this can be enabled again (currently this does not make thesaved wifi peristent
-#      printf "Networkmanager settings changed, restarting wifi-connect\n"
-#      sleep 5 # Give wifi-connect the possibility to change the settings
-#      sudo killall -9 wifi-connect || /bin/true
-#      nmcli con down `cat /etc/hostname`
-#      iw dev wlan0 scan | grep SSID
-#      nmcli device wifi list
-#      echo "Rescanned networks"
-#      printf "And doing the next thing\n"
-#      check_connection
-   fi
+	# Remove my own networks
+	sudo rm /etc/NetworkManager/system-connections/"$(cat /etc/hostname)".*
+
+	# Only look for networks if you already connected to one
+	nr=$(ls /etc/NetworkManager/system-connections/ | wc -l)
+	if [ "$nr" -gt 0 ]; then
+		# Wait for a connection with a known ssid (timeout 10 seconds)
+		nmcli device set wlan0 autoconnect yes
+		TIMEOUT=25
+		NEXT_WAIT_TIME=0
+		until [ $NEXT_WAIT_TIME -eq $TIMEOUT ] || sudo nmcli con show --active | grep wlan0; do
+			echo "waiting for connection"
+			sleep 1
+			let "NEXT_WAIT_TIME=NEXT_WAIT_TIME+1"
+		done
+	fi
+
+	# Get wifi connection if connected
+	if sudo nmcli con show --active | grep wlan0; then
+		# Bugfix (see network_install.sh)
+		sudo ln -s /run/systemd/resolve/resolv.conf /etc/resolv.conf
+
+		printf 'Connected to wifi connection:'
+		nmcli con show --active | grep wlan0
+		$MIRTE_SRC_DIR/mirte-install-scripts/blink.sh "$(hostname -I)" &
+		start_avahi
+	else
+		printf 'No connection found, starting AP with wifi connect\n'
+		start_acces_point
+
+		# Restart the whole network process when connection did not take place
+		while inotifywait -e modify /etc/NetworkManager/system-connections/"$(cat /etc/hostname)".nmconnection; do echo "hoi"; done
+		# TODO: check: mybe this can be enabled again (currently this does not make thesaved wifi peristent
+		#      printf "Networkmanager settings changed, restarting wifi-connect\n"
+		#      sleep 5 # Give wifi-connect the possibility to change the settings
+		#      sudo killall -9 wifi-connect || /bin/true
+		#      nmcli con down `cat /etc/hostname`
+		#      iw dev wlan0 scan | grep SSID
+		#      nmcli device wifi list
+		#      echo "Rescanned networks"
+		#      printf "And doing the next thing\n"
+		#      check_connection
+	fi
 }
 
-
 MIRTE_SRC_DIR=/usr/local/src/mirte
 
 $MIRTE_SRC_DIR/mirte-install-scripts/usb_ethernet.sh
@@ -112,16 +108,16 @@ $MIRTE_SRC_DIR/mirte-install-scripts/usb_ethernet.sh
 # This must be run every time on boot, since it should
 # be generated on first boot (so not when generating
 # the image in network_setup.sh)
-if [ ! -f /etc/ssid ] || [[ `cat /etc/hostname` == "Mirte-XXXXXX" ]]; then
-    UNIQUE_ID=$(openssl rand -hex 3)
-    MIRTE_SSID=Mirte-$(echo ${UNIQUE_ID^^})
-    sudo bash -c 'echo '$MIRTE_SSID' > /etc/hostname'
-    sudo ln -s /etc/hostname /etc/ssid
-    # And add them to the hosts file
-    sudo bash -c 'echo 127.0.0.1 '$MIRTE_SSID' >> /etc/hosts'
-    sudo bash -c 'echo "127.0.0.1 mirte" >> /etc/hosts'
-    # Not needed anymore once we first generate the SSID and then start the network
-    sudo bash -c 'echo "127.0.0.1 Mirte-XXXXXX" >> /etc/hosts'
+if [ ! -f /etc/ssid ] || [[ $(cat /etc/hostname) == "Mirte-XXXXXX" ]]; then
+	UNIQUE_ID=$(openssl rand -hex 3)
+	MIRTE_SSID=Mirte-$(echo ${UNIQUE_ID^^})
+	sudo bash -c 'echo '$MIRTE_SSID' > /etc/hostname'
+	sudo ln -s /etc/hostname /etc/ssid
+	# And add them to the hosts file
+	sudo bash -c 'echo 127.0.0.1 '$MIRTE_SSID' >> /etc/hosts'
+	sudo bash -c 'echo "127.0.0.1 mirte" >> /etc/hosts'
+	# Not needed anymore once we first generate the SSID and then start the network
+	sudo bash -c 'echo "127.0.0.1 Mirte-XXXXXX" >> /etc/hosts'
 fi
 
 check_connection
diff --git a/run-avrdude b/run-avrdude
index 22078d6..bd38927 100755
--- a/run-avrdude
+++ b/run-avrdude
@@ -2,14 +2,12 @@
 #TODO: this now only works for STM, also make nano work
 #TODO: maybe merge this into run.sh from aruino repo?
 
-
 # Stop ROS when uploading new code
 sudo service mirte-ros stop
 
-if test "$1" == "upload"
-then
-    sudo arduino-cli upload -p /dev/ttyACM0 -b STM32:stm32:GenF1:pnum=BLACKPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano -i /home/mirte/firmware.bin
+if test "$1" == "upload"; then
+	sudo arduino-cli upload -p /dev/ttyACM0 -b STM32:stm32:GenF1:pnum=BLACKPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano -i /home/mirte/firmware.bin
 else
-    objcopy --input-target=ihex --output-target=binary /tmp/sketch.hex /tmp/sketch.bin
-    runuser -l mirte -c 'sudo arduino-cli upload -p /dev/ttyACM0 -b STM32:stm32:GenF1:pnum=BLACKPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano -i /tmp/sketch.bin'
+	objcopy --input-target=ihex --output-target=binary /tmp/sketch.hex /tmp/sketch.bin
+	runuser -l mirte -c 'sudo arduino-cli upload -p /dev/ttyACM0 -b STM32:stm32:GenF1:pnum=BLACKPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano -i /tmp/sketch.bin'
 fi
diff --git a/run_arduino.sh b/run_arduino.sh
index 504448c..9093a1f 100755
--- a/run_arduino.sh
+++ b/run_arduino.sh
@@ -4,59 +4,44 @@
 # with mcu_type and arduino_folder optional
 
 # Check if ROS is running
-ROS_RUNNING=`ps aux | grep [r]osmaster | wc -l`
+ROS_RUNNING=$(ps aux | grep -c "[r]osmaster")
 
 # Stop ROS when uploading new code
-if test "$1" == "upload" && [[ $ROS_RUNNING == "1" ]]
-then
-    echo "STOPPING ROS"
-    sudo service mirte-ros stop || /bin/true
+if test "$1" == "upload" && [[ $ROS_RUNNING == "1" ]]; then
+	echo "STOPPING ROS"
+	sudo service mirte-ros stop || /bin/true
 fi
 
 # Different build scripts
-if test "$1" == "build"
-then
-   arduino-cli -v compile --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
+if test "$1" == "build"; then
+	arduino-cli -v compile --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
 fi
-if test "$1" == "build_nano"
-then
-   arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
+if test "$1" == "build_nano"; then
+	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
 fi
-if test "$1" == "build_nano_old"
-then
-   arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
+if test "$1" == "build_nano_old"; then
+	arduino-cli -v compile --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
 fi
-if test "$1" == "build_uno"
-then
-   arduino-cli -v compile --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
+if test "$1" == "build_uno"; then
+	arduino-cli -v compile --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
 fi
 
-
-
 # Different upload scripts
-if test "$1" == "upload" || test "$1" == "upload_stm32"
-then
-   arduino-cli -v upload -p /dev/ttyACM0 --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
+if test "$1" == "upload" || test "$1" == "upload_stm32"; then
+	arduino-cli -v upload -p /dev/ttyACM0 --fqbn STM32:stm32:GenF1:pnum=BLUEPILL_F103C8,upload_method=dfu2Method,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano /home/mirte/arduino_project/$2
 fi
-if test "$1" == "upload_nano"
-then
-   arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
+if test "$1" == "upload_nano"; then
+	arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328 /home/mirte/arduino_project/$2
 fi
-if test "$1" == "upload_nano_old"
-then
-   arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
+if test "$1" == "upload_nano_old"; then
+	arduino-cli -v upload -p /dev/ttyUSB0 --fqbn arduino:avr:nano:cpu=atmega328old /home/mirte/arduino_project/$2
 fi
-if test "$1" == "upload_uno"
-then
-   arduino-cli -v upload -p /dev/ttyACM0 --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
+if test "$1" == "upload_uno"; then
+	arduino-cli -v upload -p /dev/ttyACM0 --fqbn arduino:avr:uno /home/mirte/arduino_project/$2
 fi
 
-
-
-
 # Start ROS again
-if test "$1" == "upload" && test "$2" == "Telemetrix4Arduino" && [[ $ROS_RUNNING == "1" ]]
-then
-   sudo service mirte-ros start
-   echo "STARTING ROS"
+if test "$1" == "upload" && test "$2" == "Telemetrix4Arduino" && [[ $ROS_RUNNING == "1" ]]; then
+	sudo service mirte-ros start
+	echo "STARTING ROS"
 fi
diff --git a/usb_ethernet.sh b/usb_ethernet.sh
index 2d74aac..a64b629 100755
--- a/usb_ethernet.sh
+++ b/usb_ethernet.sh
@@ -7,8 +7,8 @@
 MIRTE_SRC_DIR=/usr/local/src/mirte
 
 sudo killall -9 dnsmasq
-sudo $MIRTE_SRC_DIR/mirte-install-scripts/ev3-usb.sh down `ls /sys/class/udc | tail -n1`
-sudo $MIRTE_SRC_DIR/mirte-install-scripts/ev3-usb.sh up `ls /sys/class/udc | tail -n1`
+sudo $MIRTE_SRC_DIR/mirte-install-scripts/ev3-usb.sh down "$(ls /sys/class/udc | tail -n1)"
+sudo $MIRTE_SRC_DIR/mirte-install-scripts/ev3-usb.sh up "$(ls /sys/class/udc | tail -n1)"
 
 # For now, we just create a different IP address for each interface. We need
 # to change this to private namespaces (see below). In order to getinthernet
@@ -35,15 +35,11 @@ sudo iptables -A FORWARD -i usb1 -o wlan0 -j ACCEPT
 #and forward all traffic to locahost
 sudo iptables -t nat -A POSTROUTING -i usb1 -d 192.168.43.1 -j DNAT --to-destination 127.0.0.1
 
-
-
-# For now we have to start the dhcp server before wificonnect. Not needed 
+# For now we have to start the dhcp server before wificonnect. Not needed
 # after we moved to different namespaces
 # For some reason we neet to set the dns-server manually
 sudo dnsmasq --address=/#/192.168.43.1 --dhcp-range=192.168.43.10,192.168.43.100 --conf-file --domain-needed --bogus-priv --server=8.8.8.8 --dhcp-option=option:dns-server,8.8.8.8 --interface=usb1 --except-interface=lo --bind-interfaces
 
-
-
 # Since we want both networks to have the same IP address as the wifi AP (192.168.42.1)
 # we need to have a seperate network namespace for both of them.
 
diff --git a/wifi-watchdog.sh b/wifi-watchdog.sh
index 4918e51..1777f88 100755
--- a/wifi-watchdog.sh
+++ b/wifi-watchdog.sh
@@ -2,15 +2,15 @@
 
 #echo "begin watchdog"  >  /home/mirte/test.txt
 
-echo "wifi watchdog serviec opnieuw gestart" > /dev/kmsg
+# echo "wifi watchdog service restarted" > /dev/kmsg
 
-sub="xradio"
+# sub="xradio"
 
 dmesg --follow | while read -r line; do
-  if `echo $line | grep -q "xradio WSM-ERR: CMD timeout!"`; then
-     echo "CRASH! REBOOT!" > /dev/kmsg
-     echo $line >> /home/mirte/test.txt
-#     reboot -f now
-     echo b > /proc/sysrq-trigger
-  fi
+	if echo "$line" | grep -q "xradio WSM-ERR: CMD timeout!"; then
+		echo "CRASH! REBOOT!" >/dev/kmsg
+		echo "$line" >>./test.txt
+		#     reboot -f now
+		echo b >/proc/sysrq-trigger
+	fi
 done