diff --git a/Main.ino b/Main.ino
index 47768dd..ca1e107 100644
--- a/Main.ino
+++ b/Main.ino
@@ -112,8 +112,8 @@ void loop()
     case State::WaitingTimer:
       static unsigned long initial_time = millis();
 
-      //if(millis() - initial_time >= 90000)
-      if(millis() - initial_time >= 2000)
+      if(millis() - initial_time >= 87000)
+      //if(millis() - initial_time >= 2000)
       {
         my_IO.initGyroscope();
         actual_state = State::ForwardToRamp;
@@ -122,10 +122,9 @@ void loop()
     
     case State::ForwardToRamp:
       my_IO.motorControlOn();
-      my_IO.setSpeed(NORMAL_SPEED);
       my_IO.setSpeed(2000.0f);
 
-      if(my_IO.getAngle(Axes::Y) < -5.0f)
+      if(my_IO.getAngle(Axes::Y) < -8.0f)
       {
         actual_state = State::ForwardToScene;
       }
@@ -133,9 +132,8 @@ void loop()
 
     case State::ForwardToScene:
       my_IO.setSpeed(2000.0f);
-      if(my_IO.getAngle(Axes::Y) > -5.0f)
+      if(my_IO.getAngle(Axes::Y) > -3.5f)
       {
-        my_IO.setSpeed(ON_STAGE_SPEED);
         my_IO.setSpeed(1300.0f);
         actual_state = my_IO.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
         //actual_state = State::Dancing;
@@ -161,7 +159,6 @@ void loop()
       break;
 
     case State::ForwardToSceneEdge:
-      my_IO.setSpeed(ON_STAGE_SPEED);
       my_IO.setSpeed(1100.0f);
 
       if(my_IO.getAngle(Axes::Y) > 3.0f)