diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index cd47e1b..c5fb46d 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -52,11 +52,11 @@ def main():
                     datefmt="%d-%m-%Y %H:%M:%S")
     logging.getLogger().addHandler(logging.StreamHandler(sys.stdout))
 
-    client = mqtt.Client(RASPI_CLIENT_ID)
-    # client = mqtt.Client(RASPI_CLIENT_ID, transport="websockets")        # Local Broker
+    # client = mqtt.Client(RASPI_CLIENT_ID)
+    client = mqtt.Client(RASPI_CLIENT_ID, transport="websockets")        # Local Broker
     client.on_connect = on_connect
-    client.connect(MQTT_BROKER_GLOBAL)
-    # client.connect("192.168.137.197")                                  # Local Broker
+    # client.connect(MQTT_BROKER_GLOBAL)
+    client.connect("192.168.137.197")                                  # Local Broker
 
     logging.info("Robot initialised")
 
diff --git a/software/roboter/raspy/picture.png b/software/roboter/raspy/picture.png
index 938f838..5a9f792 100644
Binary files a/software/roboter/raspy/picture.png and b/software/roboter/raspy/picture.png differ
diff --git a/software/roboter/raspy/raspy_sensors.py b/software/roboter/raspy/raspy_sensors.py
index 54980a7..0bb4770 100644
--- a/software/roboter/raspy/raspy_sensors.py
+++ b/software/roboter/raspy/raspy_sensors.py
@@ -146,7 +146,8 @@ def takePicture():
     try:
         camera = PiCamera()
     except:
-        raise Exception("Camera not connected")
+        # raise Exception("Camera not connected")
+        pass
     
     camera.start_preview()
     camera.capture("picture.png")
@@ -171,7 +172,7 @@ def readPosition():
 def main():
     value = SENSORDATA
     try:
-        value |= readSensors()
+        readSensors(value)
     except Exception as e:
         print(str(e))