diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp
index d8288cb..9d50230 100644
--- a/src/modelec_com/src/pcb_action_interface.cpp
+++ b/src/modelec_com/src/pcb_action_interface.cpp
@@ -244,6 +244,8 @@ namespace Modelec
         {
             SendMove("RELAY" + std::to_string(id), {std::to_string(v)});
         }
+
+        SendOrder("TIR", {"ARM", "1"});
     }
 
     PCBActionInterface::~PCBActionInterface()
diff --git a/src/modelec_interfaces/msg/Action/ActionExec.msg b/src/modelec_interfaces/msg/Action/ActionExec.msg
index db179d9..7943836 100644
--- a/src/modelec_interfaces/msg/Action/ActionExec.msg
+++ b/src/modelec_interfaces/msg/Action/ActionExec.msg
@@ -1,25 +1,27 @@
 int32 NONE = 0
 int32 DEPLOY_BANNER = 1
-int32 TAKE_POT = 2
-int32 PLACE_POT = 3
-int32 DEPLOY_MAX_SIZE = 4
+int32 UNDEPLOY_BANNER = 2
+int32 TAKE_POT = 3
+int32 PLACE_POT = 4
+int32 DEPLOY_MAX_SIZE = 5
 
 int32 DEPLOY_BANNER_STEP = 0
+int32 UNDEPLOY_BANNER_STEP = 1
 
-int32 ASC_GO_DOWN = 1
-int32 STICK_TO_STRUCT = 2
-int32 ASC_GO_UP = 3
-int32 RETRACT_BOTTOM_PLATE = 4
-int32 ASC_GO_DOWN_TO_TAKE_POT = 5
-int32 STICK_POT = 6
-int32 ASC_GO_UP_TO_TAKE_POT = 7
-int32 PLACE_FIRST_PLATE = 8
+int32 ASC_GO_DOWN = 2
+int32 STICK_TO_STRUCT = 3
+int32 ASC_GO_UP = 4
+int32 RETRACT_BOTTOM_PLATE = 5
+int32 ASC_GO_DOWN_TO_TAKE_POT = 6
+int32 STICK_POT = 7
+int32 ASC_GO_UP_TO_TAKE_POT = 8
+int32 PLACE_FIRST_PLATE = 9
 
-int32 STICK_ALL = 9
+int32 STICK_ALL = 10
 
-int32 ASC_FINAL = 10
-int32 FREE_ALL = 11
-int32 REMOVE_ACTION_STEP = 12
+int32 ASC_FINAL = 11
+int32 FREE_ALL = 12
+int32 REMOVE_ACTION_STEP = 13
 
 
 int32[] mission
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 05ceb4d..3d10d2c 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -10,7 +10,7 @@ namespace Modelec
         tir_sub_ = create_subscription<std_msgs::msg::Empty>(
             "/action/tir/start", 10, [this](const std_msgs::msg::Empty::SharedPtr)
             {
-                if (setup_ && !started_)
+                if (!started_)
                 {
                     started_ = true;
                 }
@@ -116,7 +116,7 @@ namespace Modelec
         switch (state_)
         {
         case State::INIT:
-            if (setup_ && team_selected_)
+            if (team_selected_)
             {
                 std_msgs::msg::Bool start_odo_msg;
                 start_odo_msg.data = true;