Added entirety of CAD files, Software and the translated documentation

2019-11-12 19:55:35 +01:00
commit 134990e892
266 changed files with 48020 additions and 0 deletions
--- a/02_Software/02_RaspberryPi/color_detection_v4.py
+++ b/02_Software/02_RaspberryPi/color_detection_v4.py
@ -0,0 +1,178 @@
+# import the necessary package
+from picamera.array import PiRGBArray
+from picamera import PiCamera
+from image_process.colorlabler import ColorLabler
+from image_process.coordtransform import CoordinateTransform
+from time import sleep
+import argparse
+import imutils
+import numpy as np
+import cv2
+import math
+import time
+
+
+class DetectColor:
+	#values for crop_image
+    y = 130
+    h = 210
+    x = 140
+    w = 340
+
+    radius = 86.4	#distance between robot center and camera center in mm
+    z = 239		#distance between camera and tray in mm
+	#camera information
+    focallength = 3.04	#mm
+    pixelsize = 0.00112	#mm
+
+    def __init__(self):
+        # define the list of boundaries
+        # blue (dark), red, yellow, cyan, green
+        self.boundaries = [
+                ([17, 15, 100], [50, 56, 200]),
+                ([86, 31, 4], [220, 88, 50]),
+                ([204, 204, 50], [255, 255, 102]),
+                ([5, 200, 200], [125, 255, 255]),
+                ([100, 192, 0], [150, 255, 150])]
+	#create Matrix to save position and color
+	index = np.array([0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58])
+	colorindex = np.full(59,-1, dtype=int)
+	self.Matrix = np.column_stack((index,colorindex))
+	xcoordinates = np.array([24.68,45.72,54.91,56.98,17.48,11.97,48.78,93.34,82.2,54.32,24.68,24.68,32.56,40.44,77.03,111.44,105.08,100.96,11.97,39.8,70.35,105.08,123.76,131.86,108.29,92.25,58.33,23.34,7.66,0,-24.68,-45.72,-54.91,-56.98,-17.48,-11.97,-48.78,-93.34,-82.2,-54.32,-24.68,-24.68,-32.56,-40.44,-77.03,-111.44,-105.08,-100.96,-11.97,-39.8,-70.35,-105.08,-123.76,-131.86,-108.29,-92.25,-58.33,-23.34,-7.66])
+        ycoordinates = np.array([-61.88,-49.5,-24.16,19.79,59.11,-86.1,-79.83,-60.72,70.62,72.05,85.12,-106.88,-102.18,-97.47,-84.32,-39.84,-6.32,28.98,-130.68,-121.61,-110.27,-79.83,-12.15,11.8,52.11,90.76,109.74,109.74,130.48,0,61.88,49.5,24.16,-19.79,-59.11,86.1,79.83,60.72,-70.62,-72.05,-85.12,106.88,102.18,97.47,84.32,39.84,6.32,-28.98,130.68,121.61,110.27,79.83,12.15,-11.8,-52.11,-90.76,-109.74,-109.74,-130.48])
+        self.Matrix = np.column_stack((self.Matrix,xcoordinates))
+        self.Matrix = np.column_stack((self.Matrix,ycoordinates))
+
+        #camera settings
+	self.camera = PiCamera()
+	self.camera.resolution = (640,480)
+	self.rawCapture = PiRGBArray(self.camera, size=(640,480))
+	#self.rawCapture = PiRGBArray(self.camera)
+	time.sleep(0.1)
+
+    def startDetection(self, angle):
+        #take picture 
+	self.camera.capture(self.rawCapture, format="bgr")
+	image = self.rawCapture.array
+        #
+	#
+	#angle = 90
+	#if angle > 360:
+        #    angle = angle - 360
+	#
+	#
+	i = 1
+        #crop the image
+        crop_image = image[self.y : self.y + self.h, self.x : self.x + self.w]
+	#crop_image = cv2.imread("/home/pi/Pictures/90.jpg")
+	cv2.imwrite("original.png", crop_image)
+	#
+	#
+	crop_imagehsv = cv2.cvtColor(crop_image,cv2.COLOR_BGR2HSV)
+	lower_red1 = np.array([0,150,50])
+	upper_red1 = np.array([10,255,255])
+	lower_red2 = np.array([178,75,75])
+	upper_red2 = np.array([179,255,255])
+	lower_blue = np.array([110,100,100])
+	upper_blue = np.array([130,255,255])
+	lower_green = np.array([40,100,100])
+	upper_green = np.array([70,255,255])
+	lower_yellow = np.array([25,75,75])
+	upper_yellow = np.array([30,255,255])
+	lower_cyan = np.array([87,75,75])
+	upper_cyan = np.array([91,255,255])
+	#red
+	mas1 = cv2.inRange(crop_imagehsv, lower_red1, upper_red1)
+	cv2.imwrite("mas1.png", mas1)
+	mas2 = cv2.inRange(crop_imagehsv, lower_red2, upper_red2)
+	cv2.imwrite("mas2.png", mas2)
+	#blue
+	mas3 = cv2.inRange(crop_imagehsv, lower_blue, upper_blue)
+	cv2.imwrite("mas3.png", mas3)
+	#green
+	mas4 = cv2.inRange(crop_imagehsv, lower_green, upper_green)
+	cv2.imwrite("mas4.png", mas4)
+	#yellow
+	mas5 = cv2.inRange(crop_imagehsv, lower_yellow, upper_yellow)
+	cv2.imwrite("mas5.png", mas5)
+	#cyan
+	mas6 = cv2.inRange(crop_imagehsv, lower_cyan, upper_cyan)
+	cv2.imwrite("mas6.png", mas6)
+	#
+	mas = mas1 | mas2 | mas3 | mas4 | mas5 | mas6
+	cv2.imwrite("HSV.png", mas)
+	#
+
+        # loop over the boundarie
+        for (lower, upper) in self.boundaries:
+            # create NumPy arrays from the boundaries
+            lower = np.array(lower, dtype = "uint8")
+            upper = np.array(upper, dtype = "uint8")
+
+            # find the colors within the specified boundaries and apply
+            # the mask
+            mask = cv2.inRange(crop_image, lower, upper)
+            if(i == 1):
+                mask2 = mask | mas;
+                i = 0;
+            else:
+                mask2 = mask2 | mask;
+            outputall = cv2.bitwise_and(crop_image,crop_image,mask=mask2)
+
+            # show the images -> Debug
+            #cv2.imshow("images", outputall)
+            #cv2.waitKey(0)
+
+
+        # load the image, convert it to grayscale, blur it slightly,
+        # and threshold it
+	cv2.imwrite("MaskAll.png", outputall)
+        blurred = cv2.GaussianBlur(outputall, (5, 5), 0)
+        gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
+        #cv2.imwrite("Graustufenbild.png", gray)
+
+        lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
+        cv2.imwrite("lab.png", lab)
+        thresh = cv2.threshold(gray, 1, 255, cv2.THRESH_BINARY)[1]
+
+        cv2.imwrite("thresh.png", thresh)
+        #cv2.waitKey(0)
+
+        # find contours in the thresholded image
+        cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
+                cv2.CHAIN_APPROX_SIMPLE)
+        cnts = cnts[0] if imutils.is_cv2() else cnts[1]
+        #initialize color labeler
+        cl = ColorLabler();
+        tr = CoordinateTransform(self.h,self.w, self.radius, self.focallength, self.pixelsize, self.z);
+
+        # loop over the contours
+        for c in cnts:
+            print("---------------------------------------")
+            temp = 10000
+            saveindex = -1
+            # compute the center of the contour
+            M = cv2.moments(c)
+            cX = int((M["m10"] / M["m00"]))
+            cY = int((M["m01"] / M["m00"]))
+            #label color
+            color_name, colorId = cl.label(lab,c)
+            #transform coordinate
+            xnew, ynew = tr.transform(angle,cX,cY)
+            print(cX, cY)
+            print(xnew, ynew,math.sqrt((xnew-self.Matrix[0][2])**2+(ynew-self.Matrix[0][3])**2))
+            for j in range(59):
+                    if (math.sqrt((xnew-self.Matrix[j][2])**2+(ynew-self.Matrix[j][3])**2)) < temp:
+                            temp = math.sqrt((xnew-self.Matrix[j][2])**2+(ynew-self.Matrix[j][3])**2)
+                            saveindex = self.Matrix[j][0]
+                            print(saveindex)
+            #save colorid for selected placeId
+            self.Matrix[int(saveindex)][1] = colorId
+            print colorId
+
+        self.rawCapture.truncate(0)
+	print self.Matrix
+
+if __name__ == "__main__":
+    ballColors = DetectColor()
+    ballColors.startDetection(10)
--- a/02_Software/02_RaspberryPi/comtest.py
+++ b/02_Software/02_RaspberryPi/comtest.py
@ -0,0 +1,80 @@
+# Creates instructions for the robot to move 360 degrees around, make photos of the ball-plate and write the ball_colors to the database
+
+import MySQLdb
+import random
+import serial
+import time
+from struct import pack
+
+def sendBin( dec ):
+    x = pack('i', dec)
+    ser.write(x[1])
+    ser.write(x[0])
+
+ser = serial.Serial('/dev/ttyACM0', 9600) 	# Change name if necessary. Find out name with ls /dev/tty* (1x without, 1x with USB connected)
+time.sleep(2) 					   # Arduino resets, so wait for some time
+
+# Create instructions to turn around
+signature = chr(0b01010010)     # from raspberry
+priority0 = chr(0b00000000)     # add to end of queue
+priority1 = chr(0b00000001)
+moveJ = chr(0b00000001)          # binary 1
+moveA = chr(0b00000100)         # binary 4
+pause = chr(0b00000111)         # binary 7
+dontChange = chr(0b01111111) + chr(0b11111111)
+eot = chr(0b11111111) +  chr(0b11111111)          # end of transmission
+magOff = chr(0b00000000)
+magOn = chr(0b00000001)
+
+# a, r, h
+if 1 == 1:
+    msg = signature + priority0 + moveJ
+    ser.write(msg)
+    sendBin(120)
+    sendBin(100)
+    sendBin(10)
+    ser.write(eot)
+    
+    msg = signature + priority0 + pause
+    ser.write(msg)
+    sendBin(5000)
+    ser.write(eot)
+    
+    msg = signature + priority0 + moveJ
+    ser.write(msg)
+    sendBin(80)
+    sendBin(110)
+    sendBin(20)
+    ser.write(eot)
+
+if 1 == 0:
+    msg = signature + priority0 + moveA
+    ser.write(msg)
+    sendBin(50)
+    sendBin(128)
+    sendBin(90)
+    msg = magOff + eot
+    ser.write(msg)
+
+    msg = signature + priority0 + moveA
+    ser.write(msg)
+    sendBin(30)
+    sendBin(180)
+    sendBin(100)
+    msg = magOff + eot
+    ser.write(msg)
+
+    msg = signature + priority1 + pause
+    ser.write(msg)
+    sendBin(2000)
+    ser.write(eot)
+
+while True:
+    print(ser.readline())
+
+ser.close()		# close serial connection
+
+# For debugging
+#file = open("testfile.txt", "w")
+#file.write("update")
+#file.close
--- a/02_Software/02_RaspberryPi/create_instructions.py
+++ b/02_Software/02_RaspberryPi/create_instructions.py
@ -0,0 +1,180 @@
+import math
+import sys
+import serial
+import time
+from struct import pack
+
+# Transforming x, y, z to r, a, h
+def xyz2arh( x, y, z ):
+    r = int(round(math.sqrt(pow(x, 2) + pow(y, 2))))
+    a = int(round(math.degrees(math.atan2(y, x))))
+    # atan2 gives negative results for -y --> subtract it from 360
+    if a < 0:
+        a = 360 + a
+    print a
+    h = z
+    return [a, r, h]
+	
+def xyz2a( x, y ):
+    a = int(round(math.degrees(math.atan2(y, x))))
+    # atan2 gives negative results for -y --> subtract it from 360
+    if a < 0:
+        a = 360 + a
+    return a
+
+def xyz2r( x, y ):
+    r = int(round(math.sqrt(pow(x, 2) + pow(y, 2))))
+    return r
+	
+def xyz2h( z ):
+    h = z
+    return h
+    
+def sendBin( dec , ser):
+    print ("SENT POSITION: " + str(dec))
+    x = pack('i', dec)
+    ser.write(x[1])
+    ser.write(x[0])
+	
+def sendPositions( pos , ser):
+    sendBin(pos[0], ser)
+    sendBin(pos[1], ser)
+    sendBin(pos[2], ser)
+
+# Calculate the shelf-number (1. digit of track)
+def shelfNr( track ):
+    return int(track/10)
+    
+# Calculate the track-number (2. digit of track)
+def trackNr( track ):
+    return track % 10
+
+# Create and send instructions to move a ball from given x, y to track
+def create_instr( x, y, track):
+	ser = serial.Serial(port='/dev/ttyACM0',	# Change name if necessary. Find out name with ls /dev/tty* (1x without, 1x with USB connected)
+                            baudrate=9600,
+                            parity=serial.PARITY_NONE,
+                            stopbits=serial.STOPBITS_ONE,
+                            bytesize=serial.EIGHTBITS,
+                            timeout=1)
+	time.sleep(1) 								# TODO DELETE Arduino resets, so wait for some time
+
+	signature = chr(0b01010010)		# from raspberry
+	priority = chr(0b00000000)      # add to end of queue
+	moveJ = chr(0b00000001)         # binary 1
+	moveL = chr(0b00000010)         # binary 2
+	moveL = moveJ
+	moveA = chr(0b00000100)         # binary 4
+	pause = chr(0b00000111)         # binary 7
+	dontChange = 32767
+	eot = chr(0b11111110) +  chr(0b11111110)          # end of transmission
+	magOn = chr(0b00000001)
+	magOff = chr(0b00000000)
+            
+        heights = (80, 258, 187, 56)          		# heights of shelfs in mm (1. = Vorposition-Hoehe; 2. = Unterstes Brett Hoehe)
+        angles = (90, 63, 55, 47, 40, 32, 0)  		# angles of tracks in degrees + 0/6 = prePos
+        trackPosR = (170, 160, 173, 170)       			# radius of final pos in track in mm (2. = Oberste)
+        trackPrePosR = (trackPosR[0]-10, trackPosR[1]-10, trackPosR[2]-10, trackPosR[3]-10)        # radius of pre pos of track
+        trackPreShelfR = trackPrePosR         		# radius of pre pos of shelf
+        shelfPrePosR = 155							# save bottom-position
+        shelfPrePosHOffset = 5
+        ballPosPreZOffset = 40	                 	# height of pre pos of ballpos in mm (above the ball)
+        ballPosFinH = 10
+        magnetPauseTime = 1000
+        speedSlow = 20
+        speedFast = 50
+	
+	higherOffsetBalls = [[-17.48, -59.11],   # 34
+                             [-54.32, -72.05],  # 39
+                             [-24.68, -85.12],  # 40
+                             [-58.33, -109.74]] # 56
+	higherhigherOffsetBalls = [[-131.86, -11.8]]  # 53
+
+	# Create header
+	header = signature + priority
+
+	# Transform the given arguments so the program can work with them
+	x, y = y, x			# change x and y to suit robot coordinate system
+	x = float(x)
+	y = float(y)
+	track = int(track)
+	
+	#for i in range(len(higherOffsetBalls)):
+        #    if x == higherOffsetBalls[i][1] and y == higherOffsetBalls[i][0]:
+        #        ballPosFinH = 13
+        #        break
+            
+        #for i in range(len(higherhigherOffsetBalls)):
+        #    if x == higherhigherOffsetBalls[i][1] and y == higherhigherOffsetBalls[i][0]:
+        #        ballPosFinH = 15
+        #        break
+
+	actShelfNr = shelfNr(track)
+	instr =[[moveJ, xyz2a(x, y), xyz2r(x, y), xyz2h(ballPosPreZOffset), speedFast],	# To Ball-Pre-Position
+			[moveL, xyz2a(x, y), xyz2r(x, y), xyz2h(ballPosFinH), speedSlow],     # To Ball-Position
+			[moveA, dontChange, dontChange, dontChange, magOn],   					# Switch on Magnet
+			[pause, magnetPauseTime],
+			[moveL, xyz2a(x, y), xyz2r(x, y), xyz2h(ballPosPreZOffset), speedSlow], # To Ball-Pre-Position again
+			[moveJ, angles[0], shelfPrePosR, heights[0], speedFast], 	  			# To Shelf-Pre-Pre-Position
+						# TODO Left or right pre-position?
+			[moveJ, angles[0], trackPreShelfR[actShelfNr], heights[actShelfNr]+shelfPrePosHOffset, speedFast],   			# To Shelf-Pre-Position
+			[moveJ, angles[trackNr(track)], trackPrePosR[actShelfNr], heights[actShelfNr]+shelfPrePosHOffset, speedSlow],	# To Track-Pre-Position
+			[moveL, angles[trackNr(track)], trackPosR[actShelfNr], heights[actShelfNr], speedSlow],   		# To Track-Goal-Position
+			[moveA, dontChange, dontChange, dontChange, magOff],           									# Switch off Magnet
+			[pause, magnetPauseTime],
+			[moveL, angles[trackNr(track)], trackPrePosR[actShelfNr], heights[actShelfNr]+shelfPrePosHOffset, speedSlow],	# To Track-Pre-Position
+			[moveJ, angles[0], trackPreShelfR[actShelfNr], heights[actShelfNr]+shelfPrePosHOffset, speedSlow],   			# To Shelf-Pre-Position
+			[moveJ, angles[0], shelfPrePosR, heights[0], speedFast]   						# To Shelf-Pre-Pre-Position
+			]
+
+	# MoveJ, MoveL: A, R, H
+	# MoveA: R1, P, R2
+
+	# TODO: Is robot in safe mode?
+
+	# Send instructions
+	#time.sleep(5)
+	
+	for i in range(len(instr)):
+            ser.write(header)
+            ser.write(instr[i][0])      # send move-type
+            
+            if instr[i][0] == pause:
+                    sendBin(instr[i][1], ser)
+            if instr[i][0] == moveJ or instr[i][0] == moveL:
+                    sendBin(instr[i][1], ser)
+                    sendBin(instr[i][2], ser)
+                    sendBin(instr[i][3], ser)
+                    #sendBin(instr[i][4], ser)          # send speed
+            if instr[i][0] == moveA:
+                    sendBin(instr[i][1], ser)
+                    sendBin(instr[i][2], ser)
+                    sendBin(instr[i][3], ser)
+                    ser.write(instr[i][4])        # send magOn / magOff
+                    
+            ser.write(eot)
+			
+			# DEBUG
+            print("SENT INSTR" + str(i))
+            time.sleep(1.0)
+            
+            # Debug: Send pause
+            # ser.write(header)
+            # ser.write(pause)
+            # sendBin(1500,ser)
+            # ser.write(eot)
+            
+            while ser.inWaiting():
+                print(ser.readline())
+        
+        while 1 == 1:
+            print(ser.readline())	
+			
+	ser.close()		# close serial connection
+	# Only for debugging
+	#file = open("testfile.txt", "w")
+	#file.write(str(x) + str(y) + str(track));
+		
+# Get the information from php with arguments -> if the file create_instructions is called directly with arguments
+if __name__ == "__main__":
+    create_instr(sys.argv[1], sys.argv[2], sys.argv[3])
--- a/02_Software/02_RaspberryPi/db.inc.php
+++ b/02_Software/02_RaspberryPi/db.inc.php
@ -0,0 +1,17 @@
+<?php 
+
+$host         = "localhost";
+$username     = "root";
+
+$password     = "root";
+
+$dbname       = "rpr_robot";
+$result_array = array();
+
+/* Create connection */
+$conn = new mysqli ($host, $username, $password, $dbname);
+if ($conn->connect_error) {
+    die("Connection failed: " . $conn->connect_error);
+}
+
+?>
--- a/02_Software/02_RaspberryPi/handleBalls.js
+++ b/02_Software/02_RaspberryPi/handleBalls.js
@ -0,0 +1,194 @@
+var actPrio = 0;
+var numBallsPlaced = new Array();
+for (var i = 0; i < 55; i++) {numBallsPlaced[i] = 0;}
+
+$( function() {
+    // Let the plate items be draggable
+    $( "li", "#ballBox" ).draggable({
+      revert: "invalid",
+      containment: "document",
+      helper: "clone",
+      cursor: "move"
+    });
+  
+	refreshPlate();
+	refreshShelf();
+});
+
+// Send request for scanning of new balls and writing the data to the database
+function updateBallPos() {
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+	xmlhttp.open("GET","updateBallDatabase.php?q=5",true);
+	xmlhttp.send();
+		
+	document.getElementById('unclickableCircle').style.visibility = "visible"; 
+	document.getElementById('stareBalls').style.visibility = "visible";  
+	
+	setTimeout(function(){
+		document.getElementById('stareBalls').style.visibility = "hidden"; 
+		document.getElementById('unclickableCircle').style.visibility = "hidden";
+		refreshPlate();
+	}, 60000);
+}
+
+// Loads all balls from the database and displays them on the plate
+function refreshPlate() {
+	var myObj, x, txt = "", offsetX, offsetY, scale;	
+
+	document.getElementById("ballBox").innerHTML = "";	// Clear plate first
+	
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+	xmlhttp.onreadystatechange = function() {
+		if (this.readyState == 4 && this.status == 200) {
+			myObj = JSON.parse(this.responseText);
+			offsetX = 300+51;
+			offsetY = 300+51;
+			scale = 2.62;
+			for (x in myObj) {
+				// Calculate ball-position on plate in website
+				myObj[x].pos_x = offsetX + myObj[x].pos_x * scale;
+				myObj[x].pos_y = offsetY + myObj[x].pos_y * scale;
+				$("<div id='" + myObj[x].pos_id + "' class='ball' style='top: " + myObj[x].pos_y + "px; left: " + myObj[x].pos_x +"px; background-color: " + myObj[x].ball_color + ";'></div>")
+				.appendTo('#ballBox').attr('ballID', myObj[x].pos_id).draggable({
+					  revert: "invalid",
+					  containment: "document",
+					});
+				document.getElementById(myObj[x].pos_id).style.cursor = "grab";
+			}
+		}
+	};
+	xmlhttp.open("GET","updateBallDatabase.php?q=0",true);
+	xmlhttp.send();
+}
+
+// Loads all balls from the database and displays them in the shelf
+function refreshShelf() {
+	var myObj, x;
+	var id = 0;
+
+  	document.getElementById("shelfBox").innerHTML = "";		// Clear shelf first
+	for (var i = 0; i < 35; i++) {numBallsPlaced[i] = 0;}	// Init array on refresh
+	for (var i = 10; i < 35; i++) {
+		if(i%5 == 0 && i%10 != 0) {							// Display 5 traces per shelf
+			i = i + 5;
+			$('<br>').appendTo('#shelfBox');
+		}
+		id = i + 1;
+		$('<div class="shelf" id="shelf' + id + '" ></div>').data('number', i).attr('section', id).appendTo('#shelfBox').droppable({
+			  accept: "#ballBox > div",
+			  classes: { "ui-droppable-active": "ui-state-highlight" },
+			  drop: handleBallDrop
+		});
+	}
+
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+	xmlhttp.onreadystatechange = function() {
+		if (this.readyState == 4 && this.status == 200) {
+		        myObj = JSON.parse(this.responseText);
+				for (x in myObj) {
+					$("<div id='" + myObj[x].pos_id + "' class='ball' style='position: relative; left: 13px; background-color: " + myObj[x].ball_color + ";'></div>")
+					.appendTo('#shelf'+ myObj[x].ball_targetPos + '').attr('ballID', myObj[x].pos_id);
+					numBallsPlaced[myObj[x].ball_targetPos]++;
+					if(numBallsPlaced[myObj[x].ball_targetPos] >= 5) {
+						$("#shelf" + myObj[x].ball_targetPos).droppable({accept: "",}); 		//Prevent balls from being dropped if shelf is already full
+					}
+				}
+		}
+	};
+	xmlhttp.open("GET","updateBallDatabase.php?q=3",true);
+	xmlhttp.send();
+}
+
+// Puts all balls from the shelf back on the plate (in the database)
+function emptyShelf(str) {
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+	xmlhttp.open("GET","updateBallDatabase.php?q=2",true);
+	xmlhttp.send();
+	
+	var i = 0;
+	xmlhttp.onreadystatechange = function() {
+			i++;
+			if (i == 3) {
+				refreshShelf();
+				refreshPlate();
+			}
+	};
+}
+
+// If a ball is dropped, it is replaced and that is wirtten to the database
+function handleBallDrop(event, ui) {
+	$item = ui.draggable;
+	var ballID = $item.attr('ballID');
+	var dropID = $(this).attr('section');
+	var live = 0;
+
+	//if (dropID > 10 && dropID < 20) dropID + 20;
+	//if (dropID > 30 && dropID < 40) dropID - 20;
+	
+	// Drop ball and change behaviour and style
+	$item.appendTo(this).fadeIn();
+	ui.draggable.draggable('disable');
+	document.getElementById(ballID).style.cursor = "context-menu";
+	document.getElementById(ballID).style.position = "relative";
+	document.getElementById(ballID).style.top = "0px"; 
+	document.getElementById(ballID).style.left = "13px"; 
+	
+	numBallsPlaced[dropID] = numBallsPlaced[dropID] + 1;
+	
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+
+	if (document.getElementById("myonoffswitch").checked == true) live = 1;
+	
+	xmlhttp.open("GET","updateBallDatabase.php?q=1&ballID=" + ballID + "&shelfID=" + dropID + "&prio=" + actPrio + "&live=" + live,true);
+	actPrio++;
+	if(numBallsPlaced[dropID] >= 5) {
+		$("#shelf" + dropID).droppable({accept: "",}); 		//Prevent balls from being dropped if shelf is already full
+	}
+	xmlhttp.send();
+	document.getElementById('unclickableCircle').style.visibility = "visible"; 
+	document.getElementById('playBalls').style.visibility = "visible"; 
+	setTimeout(function(){
+		document.getElementById('unclickableCircle').style.visibility = "hidden"; 
+		document.getElementById('playBalls').style.visibility = "hidden"; 
+	}, 15000);
+}
+
+function autoSort(){
+	emptyShelf();
+	
+	setTimeout(function(){
+		if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+		} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+		xmlhttp.open("GET","updateBallDatabase.php?q=4",true);
+		xmlhttp.send();
+		
+		document.getElementById('unclickableCircle').style.visibility = "visible"; 
+		document.getElementById('playBalls').style.visibility = "visible"; 
+		
+		var i = 0;
+		xmlhttp.onreadystatechange = function() {
+			i++;
+			if (i == 3){
+				refreshPlate();
+				refreshShelf();
+				document.getElementById('unclickableCircle').style.visibility = "hidden"; 
+				document.getElementById('playBalls').style.visibility = "hidden"; 
+				//location.reload(); 
+				//console.log("A");
+			}
+		};
+	}, 1000);
+}
+
+function startSorting(){
+	if (window.XMLHttpRequest) {xmlhttp = new XMLHttpRequest();
+	} else {xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");}
+	xmlhttp.open("GET","updateBallDatabase.php?q=6",true);
+	xmlhttp.send();
+	alert("Your data has been sent successfully. The robot will start sorting soon.");
+}
--- a/02_Software/02_RaspberryPi/image_process/init.py
+++ b/02_Software/02_RaspberryPi/image_process/init.py
--- a/02_Software/02_RaspberryPi/image_process/colorlabler.py
+++ b/02_Software/02_RaspberryPi/image_process/colorlabler.py
@ -0,0 +1,73 @@
+from scipy.spatial import distance as dist
+from collections import OrderedDict
+import numpy as np
+import cv2
+
+
+class ColorLabler:
+    def __init__(self):
+        # initialize the colors dictionary, containing the color
+		# name as the key and the RGB tuple as the value
+#        colors = ({
+#            "Blue": (33.5, 35.5, 150),
+#            "Red": (153, 59.5, 27),
+#            "Yellow": (206, 217.5, 50),
+#            "Cyan": (43, 255, 255),
+#            "Green": (61, 165, 85)})
+	colors = ({
+            "Blue": (28, 70, 152),
+            "Red": (126, 34, 47),
+            "Yellow": (86, 83, 42),
+            "Cyan": (109, 131, 180),
+            "Green": (2, 77, 54)})
+
+		# allocate memory for the L*a*b* image, then initialize
+		# the color names list
+        self.lab = np.zeros((len(colors), 1, 3), dtype = "uint8")
+        self.colorNames = []
+
+		# loop over the colors dictionary
+        for (i, (name,rgb)) in enumerate(colors.items()):
+		# update the L*a*b* array and the color names list
+            self.lab[i] = rgb
+            self.colorNames.append(name)
+		# convert the L*a*b* array from the RGB color space
+		# to L*a*b*
+        self.lab = cv2.cvtColor(self.lab, cv2.COLOR_RGB2LAB)
+
+    def label(self, image, c):
+		# construct a mask for the contour, then compute the
+		# average L*a*b* value for the masked region
+        mask = np.zeros(image.shape[:2], dtype = "uint8")
+        cv2.drawContours(mask, [c], -1, 255, -1)
+	#cv2.imwrite("mask1.png",mask)
+        mask = cv2.erode(mask, None, iterations = 2)
+	#cv2.imwrite("mask2.png", mask)
+        mean = cv2.mean(image, mask = mask)[:3]
+
+		# initialize the minimum distance found thus far
+        minDist = (np.inf, None)
+
+		# loop over the known L*a*b* color values
+        for (i, row) in enumerate(self.lab):
+			# compute the distance between the current L*a*b*
+			# color value and the mean of the image
+            d = dist.euclidean(row[0], mean)
+			# if the distance is smaller than the current distance,
+			# then update the bookkeeping variable
+            if d < minDist[0]:
+                minDist = (d, i)
+
+        if self.colorNames[minDist[1]] == "Blue":
+            color_index = 0
+        elif self.colorNames[minDist[1]] == "Red":
+            color_index = 1
+        elif self.colorNames[minDist[1]] == "Yellow":
+            color_index = 2
+        elif self.colorNames[minDist[1]] == "Cyan":
+            color_index = 3
+        elif self.colorNames[minDist[1]] == "Green":
+            color_index = 4
+
+		# return the name of the color with the smallest distance
+        return self.colorNames[minDist[1]], color_index
--- a/02_Software/02_RaspberryPi/image_process/coordtransform.py
+++ b/02_Software/02_RaspberryPi/image_process/coordtransform.py
@ -0,0 +1,109 @@
+import numpy as np
+import cv2
+import math
+
+
+class CoordinateTransform:
+    def __init__(self,h,w,Radius,foc,pixsize,z):
+	self.w = w
+	self.h = h
+	#a = np.array([[w],[h],[1]])
+	#self.high = z;
+	self.R = Radius	#mm
+	#focallengthinpixel=float(foc)/pixsize
+	#self.inverseCalib_matrix = np.array([[float(1)/focallengthinpixel,0,0],[0,float(1)/focallengthinpixel,0],[0,0,1]])
+	#print(a)
+	#b = np.dot(self.inverseCalib_matrix,a)
+	#print(b)
+	#b = b*z
+	#inverse calibration matrix without cx and cy
+	self.xresolution = 156
+	self.yresolution = 96
+	#self.xresolution = b[0][0]
+	#self.yresolution = b[1][0]
+	#print(b)
+	#print(self.xresolution)
+	#print(self.yresolution)
+
+    def transform(self, angle, x, y):
+	angledeg = angle
+	anglerad = float(angle*math.pi)/180
+	beta = (math.pi/2) - anglerad
+
+	Rx = self.R*math.cos(anglerad)
+	Ry = self.R*math.sin(anglerad)
+
+	OldPositioninPixel = np.array([[x],[y],[1]])
+	#print(self.xresolution, self.w,x)
+	m = float(self.xresolution*x)/self.w
+	n = float(self.yresolution*y)/self.h
+	OldPosition = np.array([[m],[n],[1.0]])
+	#print(OldPositioninPixel)
+	#OldPosition = np.dot(self.inverseCalib_matrix,OldPositioninPixel)
+	#print(OldPosition)
+	#OldPosition = OldPosition * self.high
+	#print(OldPosition)
+	
+	
+	Rotate = np.array([[math.cos(beta),-math.sin(beta),0],[math.sin(beta),math.cos(beta),0],[0,0,1]])	#rotate coordinate
+	Translation1 = np.array([[1,0,Rx],[0,1,-Ry],[0,0,1]])	#transform to camera center
+
+	if angledeg < 90 and angledeg > 0:
+		gamma = (math.pi/2) - anglerad
+		k = (float(self.xresolution)/2) - (float(self.yresolution)/2)*math.tan(gamma)
+		l = (float(self.yresolution)/2)/math.cos(gamma)
+		TranslationQ1 = np.array([[1,0,-(math.cos(gamma)*k)],[0,1,-(math.sin(gamma)*k+l)],[0,0,1]])
+		M1 = np.dot(TranslationQ1,Translation1)
+		#print(TranslationQuadrant1)
+		#print(Translation1)
+		#print(M1)
+		M2 = np.dot(M1,Rotate)
+		#print(M2)
+		M3 = np.dot(M2,OldPosition)
+		print(M3)
+	if angledeg > 90 and angledeg < 180:
+		gamma = (math.pi) - anglerad
+		k = (float(self.xresolution)/2) - (float(self.yresolution)/2)*math.tan(gamma)
+		l = (float(self.yresolution)/2)/math.cos(gamma)
+		TranslationQ2 = np.array([[1,0,-(math.cos(gamma)*k+l)],[0,1,-(math.sin(gamma)*k)],[0,0,1]])
+		M1 = np.dot(TranslationQ2,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg > 180 and angledeg < 270:
+		gamma = ((3*math.pi)/2) - anglerad
+		k = (float(self.xresolution)/2) - (float(self.yresolution)/2)*math.tan(gamma)
+		l = (float(self.yresolution)/2)/math.cos(gamma)
+		TranslationQ3 = np.array([[1,0,math.cos(gamma)*k],[0,1,math.sin(gamma)*k+l],[0,0,1]])
+		M1 = np.dot(TranslationQ3,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg > 270 and angledeg < 360:
+		gamma = (2*math.pi) - anglerad
+		k = (float(self.xresolution)/2) - (float(self.yresolution)/2)*math.tan(gamma)
+		l = (float(self.yresolution)/2)/math.cos(gamma)
+		TranslationQ4 = np.array([[1,0,math.sin(gamma)*k+l],[0,1,-(math.cos(gamma)*k)],[0,0,1]])
+		M1 = np.dot(TranslationQ4,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg == 0:
+		TranslationA0 = np.array([[1,0,-(float(self.xresolution)/2)],[0,1,-(float(self.yresolution)/2)],[0,0,1]])
+		M1 = np.dot(TranslationA0,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg == 90:
+		TranslationA90= np.array([[1,0,-(float(self.xresolution)/2)],[0,1,-(float(self.yresolution)/2)],[0,0,1]])
+		M1 = np.dot(TranslationA90,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg == 180:
+		TranslationA180= np.array([[1,0,-(float(self.yresolution)/2)],[0,1,(float(self.xresolution)/2)],[0,0,1]])
+		M1 = np.dot(TranslationA180,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	if angledeg == 270:
+		TranslationA270= np.array([[1,0,(float(self.xresolution)/2)],[0,1,(float(self.yresolution)/2)],[0,0,1]])
+		M1 = np.dot(TranslationA270,Translation1)
+		M2 = np.dot(M1,Rotate)
+		M3 = np.dot(M2,OldPosition)
+	# return position with base orientation
+        return M3[0][0], M3[1][0]
--- a/02_Software/02_RaspberryPi/img/Aufnahmeplatte.png
+++ b/02_Software/02_RaspberryPi/img/Aufnahmeplatte.png
--- a/02_Software/02_RaspberryPi/img/Aufnahmeplatte_Positons.png
+++ b/02_Software/02_RaspberryPi/img/Aufnahmeplatte_Positons.png
--- a/02_Software/02_RaspberryPi/img/Shelf.png
+++ b/02_Software/02_RaspberryPi/img/Shelf.png
--- a/02_Software/02_RaspberryPi/readBalls.py
+++ b/02_Software/02_RaspberryPi/readBalls.py
@ -0,0 +1,35 @@
+# Reads the positions of all sorted balls from the database and calls create_instr so the robot sorts them
+
+import MySQLdb
+from create_instructions import create_instr
+
+db = MySQLdb.connect("localhost","root","root","rpr_robot" )	# Open database connection
+cursor = db.cursor()							     # Prepare a cursor object using cursor() method
+
+# Write the sql-query for later proceeding
+# Get the initial and final position as well as the id of all balls which are placed and not sorted by the robot yet, ordered by the priority ascending
+sql = "SELECT pos_x, pos_y, ball_targetPos, pos_id FROM ball_positions WHERE ball_targetPos!=0 AND sorted_by_robot=0 ORDER BY ball_prio ASC"
+
+try:
+	cursor.execute(sql)					# Execute the SQL command
+	results = cursor.fetchall()			# Fetch all the rows
+	for row in results:
+		posX = row[0]
+		posY = row[1]
+		ball_targetPos = row[2]
+		id = row[3]
+		print ball_targetPos
+		create_instr(posX, posY, ball_targetPos)										# Create movement-instructions for every sorted ball
+		sql = "UPDATE ball_positions SET sorted_by_robot=1 WHERE pos_id = %i" % (id)	# Write to database, that the robot moved this ball in real life
+		cursor.execute(sql)		# Execute the SQL command
+		db.commit()				# Commit your changes in the database
+except:
+	print "Error: unable to fetch data"
+	db.rollback()				# Rollback in case there is any error
+
+db.close()		# disconnect from server
+
+# For debugging
+file = open("testfile.txt", "w")
+file.write("readBalls")
+file.close
--- a/02_Software/02_RaspberryPi/shelfRobot.html
+++ b/02_Software/02_RaspberryPi/shelfRobot.html
@ -0,0 +1,63 @@
+<!DOCTYPE html>
+<html lang="en-US">
+<head>
+<meta charset="utf-8"/>
+<link rel="stylesheet" type="text/css" href="style.css">
+<link rel="stylesheet" type="text/css" href="style_button.css">
+<script src="https://code.jquery.com/jquery-1.12.4.js"></script>
+<script src="https://code.jquery.com/ui/1.12.1/jquery-ui.js"></script>
+<script src="handleBalls.js"></script>
+<script>
+function checkBoxAutoSort() {
+	/*if (document.getElementById("myonoffswitch").checked == false){
+		document.getElementById("autosortButton").disabled = false; 
+		document.getElementById("startSortingButton").disabled = false; 
+	} else {
+		document.getElementById("autosortButton").disabled = true; 
+		document.getElementById("startSortingButton").disabled = true; 
+	}*/
+	alert("You have to buy a premium-account to switch Live-Mode off")
+	//$("#myonoffswitch").prop("checked", true);
+	//$("#myonoffswitch").attr("checked", true);
+	document.getElementById("myonoffswitch").checked = true;	
+}
+</script>
+</head>
+<body>
+	<div class="msg" id="playBalls" style="visibility: hidden;">
+		Please wait<br>while I'm playing<br>with your balls!
+	</div>
+	<div class="msg" id="stareBalls" style="visibility: hidden;">
+		Please wait while I'm having an intense look at your balls!
+	</div>
+	<div id="nav">
+		<form>
+			<div id="navL">
+				<button type="button" name="empty" class="button" onclick="emptyShelf(this.value)">Empty Shelf</button> <br>
+				<button type="button" name="refresh" class="button" onclick="updateBallPos()">Refresh Positions</button> <br>	
+			</div>
+			<div id="navM">
+				<span style="margin-left: 8px; font-size: 16px;"> Live-Sort </span>
+				<div class="onoffswitch">
+					<input type="checkbox" name="onoffswitch" class="onoffswitch-checkbox" id="myonoffswitch" onclick="checkBoxAutoSort()" checked>
+					<label class="onoffswitch-label" for="myonoffswitch">
+						<span class="onoffswitch-inner"></span>
+						<span class="onoffswitch-switch"></span>
+					</label>
+				</div>
+			</div>
+			<div id="navR">
+				<button type="button" name="autosort" class="button" onclick="autoSort()" id="autosortButton" disabled="">Auto Sort</button>
+				<button type="button" name="start" class="button" onclick="startSorting()" id="startSortingButton" disabled="">Start Sorting</button>
+			</div>
+		</form>
+	</div>
+	<div id="unclickableCircle" style="visibility: hidden;"></div>
+	<div id="ballBox">
+		<!-- Balls on Plate are created dynamically -->
+	</div>
+	<div id="shelfBox" class="ui-widget-content ui-state-default">
+		<!-- Balls in Shelf are created dynamically -->
+	</div>
+</body>
+</html> 
--- a/02_Software/02_RaspberryPi/style.css
+++ b/02_Software/02_RaspberryPi/style.css
@ -0,0 +1,114 @@
+body {
+    background-color: lightblue;
+    font-family: verdana;
+}
+
+div.ball{
+	width: 30px;
+	height: 30px;
+	border-radius: 15px;
+	position: absolute;
+	/*opacity: 0.5;*/
+	z-index: 999;
+	/*cursor: grab;*/
+}
+
+#ballBox{
+	background-image: url("img/Aufnahmeplatte.png");
+	background-repeat: no-repeat;
+	width: 800px;
+	height: 800px;
+	position: absolute;
+	top: 90px;
+	left: 10px;
+}
+
+.msg{
+	position: absolute;
+	font-weight: bold;
+	font-size: 20pt;
+	top: 150px;
+	left: 175px;
+	width: 400px;
+	height: 150px;
+	float: left;
+	z-index: 9999999; 
+    padding-top: 60px;
+	text-align: center;
+    background-color: #000;
+	border-radius: 10px;
+    opacity: .6;
+    color: #fff; 
+}
+
+#unclickableCircle{
+	background-color: black;
+	position: absolute;
+	opacity: 0.4;
+	width: 732px;
+	height: 732px;
+	margin-top: 2px;
+	margin-left: 2px;
+	border-radius: 366px;
+	z-index: 99999;
+}
+
+#backgroundMsg{
+	background-color: red;
+	position: absolute;
+	opacity: 0.2;
+	width: 100%;
+	height: 100vh;
+	z-index: 99999;
+}
+
+#nav{
+	/*background-color: red;*/
+	height: 80px;
+}
+#navL{
+	/*background-color: yellow;*/
+	width: 200px;
+	float: left;
+}
+
+#navM{
+	/*background-color: green;*/
+	width: 90px;
+	float: left;
+	margin-left: 30px;
+	margin-right: 30px;
+}
+
+#navR{
+	/*background-color: green;*/
+	width: 200px;
+	float: left;
+}
+
+#shelfBox{
+	/*background-color: red;*/
+	background-image: url("img/Shelf.png");
+	background-repeat: repeat-y;
+	background-size: contain;
+	float: right;
+	position: absolute;
+	top: 100px;
+	left: 750px;
+	padding-right: 5px;
+}
+
+.shelf{
+	/*background-color: yellow;
+	opacity: 0.5;*/
+	width: 60px;
+	height: 150px;
+	margin-top: 4px;
+	margin-bottom: 10px;
+	margin-left: 5px;
+	float: left;
+}
+
+ul {
+      list-style-type: none;
+  }
--- a/02_Software/02_RaspberryPi/style_button.css
+++ b/02_Software/02_RaspberryPi/style_button.css
@ -0,0 +1,116 @@
+/*.button {
+	background-color:#ffebba;
+	-moz-border-radius:5px;
+	-webkit-border-radius:5px;
+	border-radius:5px;
+	border:1px solid #f5b427;
+	display:inline-block;
+	cursor:pointer;
+	color:#030303;
+	font-family:Arial;
+    font-size: 16px;
+    padding: 2px 32px;
+	margin-top: 5px;
+	text-decoration:none;
+	width: 90%;
+}
+
+.button:hover {
+	background-color:#f5b427;
+}
+
+.button:active {
+	top:1px;
+}
+
+.button:disabled{
+	background-color: white;
+	cursor: default;
+}*/
+
+
+.button {
+    background-color: #34A7C1;
+    border: 1px solid #999999;
+	border-radius:5px;
+	-moz-border-radius:5px;
+	-webkit-border-radius:5px;
+    color: #EEEEEE;
+    padding: 2px 32px;
+	margin-top: 5px;
+    text-align: center;
+    text-decoration: none;
+    display: inline-block;
+    font-size: 16px;
+	cursor: pointer;
+	width: 100%;
+}
+
+.button:hover {
+    background-color: #EEEEEE;
+    color: #34A7C1;
+}
+
+.button:active {
+    background-color: #34A7C1; 
+    color: #EEEEEE;
+}
+
+.button:disabled{
+	background-color: #EEEEEE;
+    color: #34A7C1;
+	cursor: default;
+}
+
+.onoffswitch {
+	position: relative;
+	padding-top: 5px;
+	width: 90px;
+	-webkit-user-select:none; -moz-user-select:none; -ms-user-select: none;
+}
+.onoffswitch-checkbox {
+	display: none;
+}
+.onoffswitch-label {
+	display: block;
+	overflow: hidden;
+	cursor: pointer;
+	border: 2px solid #999999;
+	border-radius: 20px;
+}
+.onoffswitch-inner {
+	display: block;
+	width: 200%;
+	margin-left: -100%;
+	transition: margin 0.3s ease-in 0s;
+}
+.onoffswitch-inner:before, .onoffswitch-inner:after {
+	display: block; float: left; width: 50%; height: 30px; padding: 0; line-height: 30px;
+	font-size: 14px; color: white; font-family: Trebuchet, Arial, sans-serif; font-weight: bold;
+	box-sizing: border-box;
+}
+.onoffswitch-inner:before {
+	content: "ON";
+	padding-left: 10px;
+	background-color: #34A7C1; color: #FFFFFF;
+}
+.onoffswitch-inner:after {
+	content: "OFF";
+	padding-right: 10px;
+	background-color: #EEEEEE; color: #999999;
+	text-align: right;
+}
+.onoffswitch-switch {
+	display: block; width: 18px; margin: 6px;
+	background: #FFFFFF;
+	position: absolute; top: 5px; bottom: 0;
+	right: 56px;
+	border: 2px solid #999999; border-radius: 20px;
+	transition: all 0.3s ease-in 0s; 
+}
+.onoffswitch-checkbox:checked + .onoffswitch-label .onoffswitch-inner {
+	margin-left: 0;
+}
+.onoffswitch-checkbox:checked + .onoffswitch-label .onoffswitch-switch {
+	right: 0px; 
+}
--- a/02_Software/02_RaspberryPi/testfile.txt
+++ b/02_Software/02_RaspberryPi/testfile.txt
@ -0,0 +1 @@
+140.05.044
--- a/02_Software/02_RaspberryPi/updateBallDatabase.php
+++ b/02_Software/02_RaspberryPi/updateBallDatabase.php
@ -0,0 +1,103 @@
+<?php
+
+include('db.inc.php');
+$q = intval($_GET['q']);
+
+// Load Plate with balls and pass the result to html-file
+if($q == 0) {
+	$result = $conn->query("SELECT pos_id, pos_x, pos_y, ball_color FROM ball_positions WHERE pos_isEmpty = 0 AND ball_targetPos = 0");
+	$outp = array();
+	$outp = $result->fetch_all(MYSQLI_ASSOC);
+
+	echo json_encode($outp);
+	$conn->close();
+}
+
+// Load Shelf with balls and pass the result to html-file
+if($q == 3) {
+	$result = $conn->query("SELECT pos_id, ball_color, ball_targetPos FROM ball_positions WHERE ball_targetPos != 0 ORDER BY ball_prio");
+	$outp = array();
+	$outp = $result->fetch_all(MYSQLI_ASSOC);
+
+	echo json_encode($outp);
+	$conn->close();
+}
+
+// Write to database, if a ball has been moved to the shelf
+if($q == 1) {
+	$ballID = intval($_GET['ballID']);
+	$shelfID = intval($_GET['shelfID']);
+	$prio = intval($_GET['prio']);
+	$live = intval($_GET['live']);
+	
+	// Create instructions only if webside is in live-mode
+	if ($live == 1) {
+		$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio, sorted_by_robot = 1 WHERE pos_id = $ballID");
+		
+		//Get infos for python-script
+		$result = $conn->query("SELECT pos_x, pos_y, ball_targetPos FROM ball_positions WHERE pos_id = $ballID");
+		$row = mysqli_fetch_array($result, MYSQLI_ASSOC);
+		$posX = $row['pos_x'];
+		$posY = $row['pos_y'];
+		$target = $row['ball_targetPos'];
+		
+		passthru('python create_instructions.py '.$posX.' '.$posY.' '.$target.'');
+	} else {
+		$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio, sorted_by_robot = 0 WHERE pos_id = $ballID");
+	}	
+	$conn->close();
+}
+
+// Empty the shelf -> Reset target-positions and priorities
+if($q == 2) {
+	$conn->query("UPDATE ball_positions SET pos_isEmpty = 0, ball_targetPos = 0, ball_prio = -1, sorted_by_robot = 0");
+	$conn->query("UPDATE ball_positions SET pos_isEmpty = 1 WHERE pos_id = 29");
+	$conn->close();
+	echo json_encode("done");
+}
+
+// Autosort balls in Database
+if($q == 4) {
+	$result = $conn->query("SELECT pos_id, ball_color FROM ball_positions WHERE pos_isEmpty = 0 AND ball_targetPos = 0 ORDER BY ball_color, pos_id");
+
+	$numColor = array(0, 0, 0, 0); 		// Store Blue, Red, Green, Yellow
+	$actColor = "undefined";
+	$i = 0;
+	$prio = 0;
+	$shelfID = 10;
+
+	while ($row = mysqli_fetch_array($result, MYSQLI_ASSOC)) {
+		$actID = $row['pos_id'];
+		$actColor = $row['ball_color'];
+		
+		if ($i == 0) $lastColor = $actColor;							// Don't go to next shelf at first run
+		if (($i % 5 == 0 && $i != 0) || $actColor != $lastColor) {		// If the shelf is full or color changes
+			$shelfID++;
+			$i = 0;
+		}
+		if ($shelfID % 5 == 0 && $shelfID % 10 != 0 && $shelfID != 10) {// If the last shelf in a row is reached
+			$shelfID = $shelfID + 5;
+			$i = 0;
+		}
+		
+		$conn->query("UPDATE ball_positions SET ball_targetPos = $shelfID, ball_prio = $prio WHERE pos_id = $actID");
+		
+		$lastColor = $actColor;
+		$i++;
+		$prio++;
+	}
+	$conn->close();
+	echo json_encode("done");
+}
+
+// Call python-script for refreshing the plate (scanning the positions)
+if($q == 5) {
+	passthru('python update_VarAngle.py');
+}
+
+// Call python-script for doing the sorting of the balls which are in the shelf in Not-Live-Mode
+if($q == 6) {
+	passthru('python readBalls.py');
+}
+
+?>
--- a/02_Software/02_RaspberryPi/update_VarAngle.py
+++ b/02_Software/02_RaspberryPi/update_VarAngle.py
@ -0,0 +1,133 @@
+# Creates instructions for the robot to move 360 degrees around, make photos of the ball-plate and write the ball_colors to the database
+
+import MySQLdb
+import random
+import serial
+import time
+from color_detection_v4 import DetectColor
+from struct import pack
+
+def sendBin( dec ):
+    x = pack('i', dec)
+    ser.write(x[1])
+    ser.write(x[0])
+
+#ser = serial.Serial('/dev/ttyACM0', 9600) 	# Change name if necessary. Find out name with ls /dev/tty* (1x without, 1x with USB connected)
+ser = serial.Serial(port='/dev/ttyACM0',	# Change name if necessary. Find out name with ls /dev/tty* (1x without, 1x with USB connected)
+                    baudrate=9600,
+                    parity=serial.PARITY_NONE,
+                    stopbits=serial.STOPBITS_ONE,
+                    bytesize=serial.EIGHTBITS,
+                    timeout=1)
+time.sleep(2) 								# Arduino resets, so wait for some time
+
+db = MySQLdb.connect("localhost","root","root","rpr_robot" )	# Open database connection
+cursor = db.cursor()											# prepare a cursor object using cursor() method
+
+# Get the number of rows in the database for the loop
+cursor.execute('select * from ball_positions')
+cursor.fetchall()
+num_entries = cursor.rowcount - 1
+
+# Define the possible colors of the balls
+colors = ["blue", "red", "yellow", "cyan", "green"]
+is_empty = 0;
+
+# Create instructions to turn around
+signature = chr(0b01010010)     	# from raspberry
+priority0 = chr(0b00000000)     	# add to end of queue
+priority1 = chr(0b00000001)
+moveJ = chr(0b00000001)          	# binary 1
+moveA = chr(0b00000100)         	# binary 4
+pause = chr(0b00000111)         	# binary 7
+dontChange = chr(0b01111111) + chr(0b11111111)
+eot = chr(0b11111110) +  chr(0b11111110)          # end of transmission
+magOff = chr(0b00000000)
+magOn = chr(0b00000001)
+angle = (0, 45, 90, 135, 180, 225, 270, 315)
+
+# Predefine messages
+msgPause = signature + priority0 + pause
+msgTurn = signature + priority0 + moveA
+
+# Initialize color detection
+ballColors = DetectColor()
+
+# TODO: Check if robot is in save mode or move it to!
+
+
+# Set startposition
+ser.write(msgTurn)
+sendBin(0)	# Keep R1 as it is
+sendBin(110)			# Put P to this height
+sendBin(90)				# Put R2 to this angle
+ser.write(eot)
+print("TO START")
+
+time.sleep(10)
+
+for i in angle:
+	ser.write(msgTurn)
+	sendBin(i)			# Turn R1 to actual angle
+	ser.write(dontChange)	# Keep P as it is
+	ser.write(dontChange)	# Keep R2 as it is
+	ser.write(eot)
+	print("TO "+str(i))
+	
+	ser.write(msgPause)
+	sendBin(2000)			# Send Wait for 2 seconds
+	ser.write(eot)
+	print("pause at "+str(i))
+
+	# TODO Wait time or wait for "I'm there" from robot
+	time.sleep(3)
+	i = i + 90
+	if i >= 360:
+            i = i - 360
+	ballColors.startDetection(i)
+	# TODO Wait time
+	time.sleep(3)
+	
+ser.write(msgTurn)
+sendBin(0)	# Keep R1 as it is
+sendBin(110)			# Put P to this height
+sendBin(90)				# Put R2 to this angle
+ser.write(eot)
+print("TO START")
+
+# Go through array and write detected positions to database
+for i in range(0, num_entries + 1):
+	# Ball-Position 29 must be empty at any time!
+	if i == 29 or ballColors.Matrix[i][1] == -1:
+		is_empty = 1
+		color = "invalid"
+	else:
+		is_empty = 0
+		# Set random color -> Just for offline-programming!
+                #color = random.choice(colors);
+                color = colors[int(ballColors.Matrix[i][1])];
+
+	
+	# Prepare SQL query to UPDATE required records
+	sql = "UPDATE ball_positions SET pos_isEmpty = %i, ball_color = '%s', ball_targetPos = 0, ball_prio = -1 WHERE pos_id = %i" % (is_empty, color, i)
+	try:
+		cursor.execute(sql)		# Execute the SQL command
+		db.commit()				# Commit your changes in the database
+	except:
+		print "Error: unable to update records"
+		db.rollback()			# Rollback in case there is any error
+		
+db.close()		# disconnect from server
+
+
+# Only for debugging
+while True:
+    print(ser.readline())
+	
+file = open("testfile.txt", "w")
+file.write(ballColors.Matrix);
+file.close
+#print ballColors.Matrix
+
+
+ser.close()		# close serial connection
--- a/02_Software/02_RaspberryPi/update_random.py
+++ b/02_Software/02_RaspberryPi/update_random.py
@ -0,0 +1,39 @@
+# Creates instructions for the robot to move 360 degrees around, make photos of the ball-plate and write the ball_colors to the database
+
+import MySQLdb
+import random
+
+db = MySQLdb.connect("localhost","root","root","rpr_robot" )	# Open database connection
+cursor = db.cursor()											# prepare a cursor object using cursor() method
+
+# Get the number of rows in the database for the loop
+cursor.execute('select * from ball_positions')
+cursor.fetchall()
+num_entries = cursor.rowcount - 1
+
+# Define the possible colors of the balls
+colors = ["blue", "red", "yellow", "cyan", "green"]
+is_empty = 0;
+
+
+# Go through array and write detected positions to database
+for i in range(0, num_entries + 1):
+	# Ball-Position 29 must be empty at any time!
+	if i == 29:
+		is_empty = 1
+		color = "invalid"
+	else:
+		is_empty = 0
+		# Set random color -> Just for offline-programming!
+        color = random.choice(colors);
+	
+	# Prepare SQL query to UPDATE required records
+	sql = "UPDATE ball_positions SET pos_isEmpty = %i, ball_color = '%s', ball_targetPos = 0, ball_prio = -1 WHERE pos_id = %i" % (is_empty, color, i)
+	try:
+		cursor.execute(sql)		# Execute the SQL command
+		db.commit()				# Commit your changes in the database
+	except:
+		print "Error: unable to update records"
+		db.rollback()			# Rollback in case there is any error
+		
+db.close()		# disconnect from server