diff --git a/simulated_pcb/odo.py b/simulated_pcb/odo.py
index 0ede088..6aefd4e 100644
--- a/simulated_pcb/odo.py
+++ b/simulated_pcb/odo.py
@@ -54,10 +54,10 @@ class SimulatedPCB:
 
             # --- motion ---
             if wp['type'] == 1:  # precise waypoint
-                speed = min(120.0, distance * 1)
-                self.vtheta = max(-6.0, min(6.0, theta_error * 2))
+                speed = min(250.0, distance * 2.0)
+                self.vtheta = max(-10.0, min(10.0, theta_error * 4.0))
             else:  # transit waypoint
-                speed = min(180.0, distance * 2)
+                speed = min(400.0, distance * 3.0)
                 self.vtheta = 0.0
 
             self.vx = speed * math.cos(target_angle)
diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index c8cf8c9..2160a02 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -36,8 +36,8 @@
     <home>
         <!--<blue x="2650" y="1600" theta="-1.5708"/>
         <yellow x="350" y="1600" theta="-1.5708"/>-->
-        <blue x="2650" y="1700" theta="-1.5708"/>
-        <yellow x="350" y="1700" theta="-1.5708"/>
+        <blue x="2650" y="1750" theta="-1.5708"/>
+        <yellow x="350" y="1750" theta="-1.5708"/>
     </home>
     <spawn>
         <yellow>
diff --git a/src/modelec_strat/data/pami_zone.xml b/src/modelec_strat/data/pami_zone.xml
index 56e35eb..ec4eb86 100644
--- a/src/modelec_strat/data/pami_zone.xml
+++ b/src/modelec_strat/data/pami_zone.xml
@@ -1,8 +1,8 @@
 <pami_zone>
-
+    <!--
     <zone id="1000" x="725" y="1625" theta="-1.5708" width="150" height="450" type="pami-middle" />
     <zone id="1001" x="900" y="1550" theta="-1.5708" width="200" height="500" type="pami-middle" />
     <zone id="1002" x="1500" y="1500" theta="-1.5708" width="1000" height="600" type="pami-middle" />
     <zone id="1003" x="2100" y="1550" theta="-1.5708" width="200" height="500" type="pami-middle" />
-    <zone id="1004" x="2275" y="1625" theta="-1.5708" width="150" height="450" type="pami-middle" />
+    <zone id="1004" x="2275" y="1625" theta="-1.5708" width="150" height="450" type="pami-middle" />-->
 </pami_zone>
\ No newline at end of file
diff --git a/src/modelec_strat/src/missions/free_mission.cpp b/src/modelec_strat/src/missions/free_mission.cpp
index 9a2bdec..10aa9b2 100644
--- a/src/modelec_strat/src/missions/free_mission.cpp
+++ b/src/modelec_strat/src/missions/free_mission.cpp
@@ -74,11 +74,17 @@ namespace Modelec {
             {
                 auto currPos = nav_->GetCurrentPos();
 
+                target_deposite_zone_ = nav_->GetClosestDepositeZone(currPos, {}, true);
+
+                if (target_deposite_zone_ == nullptr)
+                {
+                    status_ = MissionStatus::FAILED;
+                    return;
+                }
+
                 auto dist = std::clamp(Point::distance(Point(currPos->x, currPos->y, currPos->theta),
                     nav_->GetClosestDepositeZone(nav_->GetCurrentPos())->GetPosition()), 0.0, 200.0);
 
-                target_deposite_zone_ = nav_->GetClosestDepositeZone(nav_->GetCurrentPos(), {}, true);
-
                 auto depoPoint = target_deposite_zone_->GetBestTakePosition(Point(currPos->x, currPos->y, currPos->theta));
 
                 auto pos = depoPoint.GetTakePosition(dist);
diff --git a/src/modelec_strat/src/missions/take_mission.cpp b/src/modelec_strat/src/missions/take_mission.cpp
index d972358..3647008 100644
--- a/src/modelec_strat/src/missions/take_mission.cpp
+++ b/src/modelec_strat/src/missions/take_mission.cpp
@@ -74,6 +74,12 @@ namespace Modelec {
 
                 closestBox = nav_->GetClosestObstacle<BoxObstacle>(nav_->GetCurrentPos());
 
+                if (closestBox == nullptr)
+                {
+                    status_ = MissionStatus::FAILED;
+                    break;
+                }
+
                 action_executor_->box_obstacles_[front_] = closestBox;
 
                 auto pos = closestBox->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();