diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp
index c16fe42..d8288cb 100644
--- a/src/modelec_com/src/pcb_action_interface.cpp
+++ b/src/modelec_com/src/pcb_action_interface.cpp
@@ -209,7 +209,7 @@ namespace Modelec
             {2, {{0, M_PI_2}}},
             {3, {{0, M_PI_2}}},
             {4, {{0, 1.25}, {1, 0.45}}},
-            {5, {{0, M_PI_2}}},
+            {5, {{0, 0}, {1, M_PI}}},
         };
 
         for (auto & [id, v] : servo_pos_mapper_)
@@ -222,10 +222,10 @@ namespace Modelec
 
         servo_value_ = {
             {0, 0},
-            {1, 0},
+            {1, 1},
             {2, 0},
             {3, 0},
-            {4, 0},
+            {4, 1},
             {5, 0}
         };
 
diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index 55fcf48..ddb1542 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -55,20 +55,20 @@
         <pcb>
             <pcb_odo>
                 <name>pcb_odo</name>
-                <port>/dev/USB_ODO</port>
-                <!--<port>/tmp/USB_ODO</port>-->
+                <!--<port>/dev/USB_ODO</port>-->
+                <port>/tmp/USB_ODO</port>
                 <baud_rate>115200</baud_rate>
             </pcb_odo>
             <pcb_alim>
                 <name>pcb_alim</name>
-                <port>/dev/USB_ALIM</port>
-                <!--<port>/tmp/USB_ALIM</port>-->
+                <!--<port>/dev/USB_ALIM</port>-->
+                <port>/tmp/USB_ALIM</port>
                 <baud_rate>115200</baud_rate>
             </pcb_alim>
             <pcb_action>
                 <name>pcb_action</name>
-                <port>/dev/USB_ACTION</port>
-                <!--<port>/tmp/USB_ACTION</port>-->
+                <!--<port>/dev/USB_ACTION</port>-->
+                <port>/tmp/USB_ACTION</port>
                 <baud_rate>115200</baud_rate>
             </pcb_action>
         </pcb>
diff --git a/src/modelec_strat/include/modelec_strat/action_executor.hpp b/src/modelec_strat/include/modelec_strat/action_executor.hpp
index 052b259..240d503 100644
--- a/src/modelec_strat/include/modelec_strat/action_executor.hpp
+++ b/src/modelec_strat/include/modelec_strat/action_executor.hpp
@@ -15,6 +15,7 @@ namespace Modelec
         {
             NONE,
             DEPLOY_BANNER,
+            UNDEPLOY_BANNER,
             TAKE_POT,
             PLACE_POT,
             DEPLOY_MAX_SIZE,
@@ -24,6 +25,7 @@ namespace Modelec
         {
             // Banner
             DEPLOY_BANNER_STEP,
+            UNDEPLOY_BANNER_STEP,
 
             // Take Pot
             ASC_GO_DOWN,
@@ -56,6 +58,7 @@ namespace Modelec
         void Update();
 
         void DeployBanner();
+        void UndeployBanner();
 
         void TakePot(bool two_floor = true);
 
diff --git a/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp b/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
index 9f7da7d..44e3178 100644
--- a/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
@@ -27,6 +27,8 @@ namespace Modelec
         {
             GO_TO_FRONT,
             DEPLOY_BANNER,
+            WAIT_5_SECONDS,
+            UNDEPLOY_BANNER,
             GO_FORWARD,
             DONE
         } step_;
@@ -38,5 +40,7 @@ namespace Modelec
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
         int mission_score_ = 0;
         Point spawn_;
+
+        rclcpp::Time deploy_time_;
     };
 }
diff --git a/src/modelec_strat/src/action_executor.cpp b/src/modelec_strat/src/action_executor.cpp
index af6e337..e99865a 100644
--- a/src/modelec_strat/src/action_executor.cpp
+++ b/src/modelec_strat/src/action_executor.cpp
@@ -113,6 +113,19 @@ namespace Modelec
                 }
 
                 break;
+
+            case UNDEPLOY_BANNER_STEP:
+                {
+                    modelec_interfaces::msg::ActionServoPos msg;
+                    msg.id = 5;
+                    msg.pos = 0;
+                    servo_move_pub_->publish(msg);
+
+                    step_running_ = 1;
+                }
+
+                break;
+
             case ASC_GO_DOWN:
                 {
                     modelec_interfaces::msg::ActionAscPos asc_msg;
@@ -311,6 +324,20 @@ namespace Modelec
         }
     }
 
+    void ActionExecutor::UndeployBanner()
+    {
+        if (action_done_)
+        {
+            action_ = UNDEPLOY_BANNER;
+            action_done_ = false;
+            step_running_ = 0;
+
+            step_.push(UNDEPLOY_BANNER_STEP);
+
+            Update();
+        }
+    }
+
     void ActionExecutor::TakePot(bool two_floor)
     {
         if (action_done_)
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index 88d412c..745babe 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -47,6 +47,7 @@ namespace Modelec
         case GO_TO_FRONT:
             {
                 action_executor_->DeployBanner();
+                deploy_time_ = node_->now();
 
                 step_ = DEPLOY_BANNER;
             }
@@ -54,6 +55,28 @@ namespace Modelec
             break;
 
         case DEPLOY_BANNER:
+            {
+                if ((node_->now() - deploy_time_).seconds() >= 5)
+                {
+                    step_ = WAIT_5_SECONDS;
+                }
+                else
+                {
+                    RCLCPP_INFO(node_->get_logger(), "Waiting for banner deployment to finish... %d seconds left", 5 - static_cast<int>((node_->now() - deploy_time_).seconds()));
+                }
+            }
+
+            break;
+        case WAIT_5_SECONDS:
+            {
+                action_executor_->UndeployBanner();
+
+                step_ = UNDEPLOY_BANNER;
+            }
+
+            break;
+
+        case UNDEPLOY_BANNER:
             {
                 nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
diff --git a/src/modelec_utils/include/modelec_utils/utils.hpp b/src/modelec_utils/include/modelec_utils/utils.hpp
index 39699d8..67d5fbc 100644
--- a/src/modelec_utils/include/modelec_utils/utils.hpp
+++ b/src/modelec_utils/include/modelec_utils/utils.hpp
@@ -5,8 +5,6 @@
 #include <sstream>
 
 namespace Modelec {
-    #define PI 3.14159265358979323846
-    
     std::vector<std::string> split(const std::string &s, char delim);
 
     std::string join(const std::vector<std::string> &v, const std::string &delim);