diff --git a/software/roboter/raspy/functions.py b/software/roboter/raspy/functions.py
index 0c03514..482a02d 100644
--- a/software/roboter/raspy/functions.py
+++ b/software/roboter/raspy/functions.py
@@ -17,11 +17,11 @@ def measure_send_data(plantID, actionID, client: mqtt.Client):
         actionID (_type_): current ID of driving action
         client (mqtt.Client): current mqtt client for publishing
     """
-    sensordata = {}
-    sensordata |= SENSORDATA
+    sensorData = {}
+    sensorData |= SENSORDATA
 
     try:
-        sensorData = Sensors.readSensors()
+        Sensors.readSensors(sensorData)
     except Exception as e:
         logging.error(str(e))
         client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
@@ -111,15 +111,14 @@ def drive_plant_all_thread(plantIDs: list, actionID, client: mqtt.Client):
         try:
             sensordata = {}
             sensordata |= SENSORDATA
-            sensordata = Sensors.readSensors()
-            sensordata["PlantID"] = plant
-            allPlantData["SensorData"].append(sensordata)
+            Sensors.readSensors(sensordata)
         except Exception as e:
             logging.error(str(e))
             client.publish(Topics["ROBOT_DATA_ERROR"], str(e), qos=1)
 
-        time.sleep(3)
-        
+        sensordata["PlantID"] = plant
+        allPlantData["SensorData"].append(sensordata)
+
 
         # TODO How to Handle Pictures and PlantID
         logging.info("Taking Picture")
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index 262eb0a..b6f3b53 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -12,7 +12,7 @@ import paho.mqtt.client as mqtt
 import functions
 import logging
 import sys
-from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL
+from defines import Topics, RASPI_CLIENT_ID, MQTT_BROKER_GLOBAL, MQTT_BROKER_LOCAL
 
 
 def on_connect(client: mqtt.Client, userdata, flags, rc):
@@ -53,8 +53,11 @@ def main():
     logging.getLogger().addHandler(logging.StreamHandler(sys.stdout))
 
     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
+
 
     # CHECK forever or start
     client.loop_start()
diff --git a/software/roboter/raspy/raspy_sensors.py b/software/roboter/raspy/raspy_sensors.py
index cf8d11f..74d5c25 100644
--- a/software/roboter/raspy/raspy_sensors.py
+++ b/software/roboter/raspy/raspy_sensors.py
@@ -2,7 +2,6 @@
 import adafruit_dht
 import adafruit_tsl2561
 import board
-import json
 import spidev
 from picamera import PiCamera
 from defines import SENSORDATA
@@ -90,22 +89,19 @@ def readMCP3008():
     return percentage
 
 
-
 # TODO Function for all sensors
-def readSensors():
+def readSensors(sensorData):
     """
     Read DHT22, TSL2561 and Humidity Sensor
 
+    Args:
+        sensorData (dictionary): Dictionary of type SENSORDATA
+
     Raises:
         Exception: DHT22 not connected
         Exception: TSL2561 not connected
         Exception: YL69 not connected
-
-    Returns:
-        dict: Sensordata
     """
-    sensorData = {}
-    sensorData |= SENSORDATA
     errorMessage = ""
 
     # read DHT22
@@ -130,11 +126,10 @@ def readSensors():
         sensorData["SoilMoisture"] = 0
         errorMessage = errorMessage + str(e) + "\n"
 
-    # combined error message
+        # combined error message
     if errorMessage != "":
         raise Exception(errorMessage)
-
-    return sensorData
+    
 
 
 def takePicture():