diff --git a/Color_Sorting/Program/Python_Obstical_sorter.py b/Color_Sorting/Program/Python_Obstical_sorter.py
new file mode 100644
index 0000000..274e980
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+++ b/Color_Sorting/Program/Python_Obstical_sorter.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python3
+
+from time import sleep
+
+from ev3dev2.motor import Motor, MoveTank, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D 
+from ev3dev2.sensor import INPUT_2,INPUT_3,INPUT_4
+from ev3dev2.sensor.lego import ColorSensor, UltrasonicSensor, GyroSensor
+from ev3dev2.led import Leds
+from pixycamev3.pixy2 import Pixy2
+
+# Define all inputs and outputs of the Robot
+# Camera and sensors are inputs
+us = UltrasonicSensor(INPUT_2)
+cs = ColorSensor(INPUT_3)
+gyro = GyroSensor(INPUT_4)
+pixy2 = Pixy2(port=1, i2c_address=0x54)
+# Motors are outputs
+m_left = Motor(OUTPUT_A) 
+m_right = Motor(OUTPUT_D)
+tank = MoveTank(OUTPUT_A, OUTPUT_D) # Also define drive tank
+leds = Leds()
+
+# The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn)
+m_right.polarity  = 'inversed' # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn)
+m_left.polarity  = 'inversed'
+
+# Defined inputs for the given experiment / enviroment
+orange = 1 # Signatur of orange dice
+green = 2 # Signatur of green dice
+fast = 30 # driving speed
+slow = 10 # searching speed
+
+# initalization state defined
+state = 1 # Initiate search state for beginning
+last_state = 1 # Variable for saving last state 
+i = 0 # conrol variable
+gyro.reset() # reset gyro sensor
+
+
+# Define class/state search
+def search (): 
+    global state
+    global last_state 
+    global gyro
+    j=0 # control variable
+    # turn slowly aroud on place and search for blocks, 
+    # if nothing is found change searchplace
+    leds.set_color("LEFT", "BLACK")
+    leds.set_color("RIGHT", "BLACK")
+    # turn on place to the right
+    m_right.on(SpeedPercent(-slow))
+    m_left.on(SpeedPercent(slow)) 
+    # search for blocks
+    nr_orange, o_block = pixy2.get_blocks(orange, 2)
+    nr_green, g_block = pixy2.get_blocks(green, 2)
+    if cs.reflected_light_intensity < 15: # if outline is reached change state to edge
+        last_state = state
+        state = 5
+    elif us.distance_centimeters < 10: # if a block is currently in the arms change to sort
+        last_state = state 
+        state = 3
+    elif nr_orange > 0: # when orange block is found then change to get 
+        last_state = state
+        state = 2
+    elif nr_green > 0: # when green block is found then change to avoid 
+        last_state = state
+        state = 4
+    elif gyro.angle > 720: # when the robot does not find a block drive a little bit forward
+        while cs.reflected_light_intensity > 8 and j <= 5:
+            tank.on(fast,fast)
+            sleep(0.2)
+            j+=1 
+        gyro.reset()
+        j=0 # Reset control variable
+
+
+# Define class/state get  
+def get (): 
+    global state
+    global last_state
+    global i
+    # drive twoards block and get it into arms
+    leds.set_color("LEFT", "ORANGE")
+    leds.set_color("RIGHT", "BLACK")
+    # drive straight ahead
+    tank.on(fast,fast)
+    # find the orange block again
+    nr_orange, o_block = pixy2.get_blocks(orange, 2)
+    if nr_orange > 0: # if block is found again get position
+        x = o_block[0].x_center #get where in the field of vision the block lays
+        i= 0
+    else: # when block is not found, virtually place the robot in the middle of the vision 
+        x = 130 
+        i +=1
+        if 4 <= i < 6: # camera has not found block for 4 cycles
+            tank.on_for_seconds(-fast,-fast,0.4) # drive backwards max. 2 times
+        elif 6 == i: # if block is not fond drive a little bit to left
+            m_right.on(SpeedPercent(slow))
+            m_left.on(SpeedPercent(-slow)) 
+            sleep(0.2)
+        elif i > 6: # when block is still not found go back to search
+            i = 0
+            state = 1   
+            gyro.reset()
+    # Decide what robot should do with the gathered information
+    if us.distance_centimeters <= 12: # block is in the arms of robot change to sort
+        last_state = state
+        state = 3  # when block distance is small switch state 
+    else: # correct drive direction to get block into arms
+        # when block on left side drive more left
+        if x < 110: # turn left
+            m_right.on(SpeedPercent(slow))
+            m_left.on(SpeedPercent(-slow))  
+         # when block on right side drive more right
+        elif x > 150: # turn right
+            m_right.on(SpeedPercent(-slow))
+            m_left.on(SpeedPercent(slow))   
+    if cs.reflected_light_intensity < 15: # robot detected line change to edge
+        last_state = state
+        state = 5 # When colorsensor detects line then switch state 
+
+
+# Define class/state sort
+def sort (): 
+    global state
+    global last_state 
+    # block is caught, drive to the edge
+    leds.set_color("LEFT", "ORANGE")
+    leds.set_color("RIGHT", "ORANGE")
+    # drive straight ahead
+    tank.on(fast,fast)
+    # search for green blocks
+    nr_green, g_block = pixy2.get_blocks(green, 2)
+    if cs.reflected_light_intensity < 15: # when reached line change to edge
+        last_state = state
+        state = 5 
+    elif nr_green > 0: 
+        last_state = state
+        state = 4
+
+# Define class/state avoid
+def avoid ():
+    global state
+    global last_state 
+    # found green block, do not want to kick it out 
+    leds.set_color("LEFT", "GREEN")
+    leds.set_color("RIGHT", "GREEN")
+    # search for green block again
+    nr_green, g_block = pixy2.get_blocks(green, 2)
+    if nr_green > 0: # if block is found again get position
+        x = g_block[0].x_center # get where in the field of vision the block lays
+    else: # when block is not found, virtually place the robot in the middle of the vision 
+        x = 130
+    # When block lays in middle of the vision drive around it 
+    if 100 < x < 150: 
+        m_right.on(SpeedPercent(-fast))
+        m_left.on(SpeedPercent(fast))
+        sleep(0.2)
+    state = last_state
+    last_state = 4
+
+# Define class/state edge
+def edge ():
+    global state
+    global last_state 
+    global gyro
+    # robot reached outerline and should turn around
+    leds.set_color("LEFT", "BLACK")
+    leds.set_color("RIGHT", "RED")
+    gyro.reset() # reset gyro sensor 
+     # drive straight backwards
+    tank.on_for_rotations(-fast,-fast,2)
+    while gyro.angle < 100: #turn around for 100 degrees
+        m_right.on(SpeedPercent(-fast)) 
+        m_left.on(SpeedPercent(fast))
+    state = 1
+    gyro.reset() # reset gyro sensor again
+
+
+
+print('start')
+while True: # endless-loop for switching states
+
+    state_switch= { # dictionary of the states/classes 
+        1: search,
+        2: get,
+        3: sort,
+        4: avoid,
+        5: edge
+        }
+    
+    func = state_switch.get(state) # function that gets state 
+    func() # activate current state
+    sleep(0.3) # wait for 0.3 seconds between the different states 
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