diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 1bc1c4e..e818ed4 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -44,18 +44,21 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_STOP;
+                        ++step;
                         break;
                     }
                     case 1: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].POS = 6000;
+                        ++step;
                         break;
                     }
                     case 2: {
                         env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_MOD;
                         env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
                         env->linTaskActuator0.linCommandActuator[0].MODE = LIN_MODE_NORMAL;
+                        ++step;
                         break;
                     }
                     case 3: {
@@ -67,13 +70,50 @@ static _Noreturn void Mma_Thread(tMma *env) {
                         env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
                         env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
                         env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
+                        ++step;
                         break;
                     }
+
+                    case 4: {
+                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL == 0) {
+                            ++step;
+                        }
+                        break;
+                    }
+
+                    case 5: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_INI;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 0;
+                        ++step;
+                        break;
+                    }
+
+                    case 6: {
+                        env->linTaskActuator0.linCommandActuator[0].COM = LIN_ACT_CFR_SET;
+                        env->linTaskActuator0.linCommandActuator[0].BUS_ADR = 0x20;
+                        env->linTaskActuator0.linCommandActuator[0].POS = 32000;
+                        env->linTaskActuator0.linCommandActuator[0].Stall_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Lnoise_SET = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Autos_SET = 1;
+                        env->linTaskActuator0.linCommandActuator[0].Speed_SET = 0;
+                        env->linTaskActuator0.linCommandActuator[0].Coils_Stop_SET = 1;
+                        ++step;
+                        break;
+                    }
+
+                    case 7: {
+                        if (env->linTaskActuator0.linStateActuator[7].CPOS_ALL >= 32000) {
+                            ++step;
+                        }
+                        break;
+                    }
+
                     default: {
                     }
                 }
 
-                ++step;
+
             }
 
             osMutexRelease(env->linTaskActuator0.access);