diff --git a/examples/automata/__init__.py b/examples/automata/__init__.py
index dfdf8a5..0d51a0f 100644
--- a/examples/automata/__init__.py
+++ b/examples/automata/__init__.py
@@ -2,17 +2,18 @@ import logging
 import time
 from collections import Counter
 
-from pylgbst.hub import MoveHub, COLOR_NONE, COLOR_BLACK, COLORS, COLOR_CYAN, COLOR_BLUE, COLOR_RED
+from pylgbst.hub import MoveHub, COLOR_NONE, COLOR_BLACK, COLORS, COLOR_CYAN, COLOR_BLUE, COLOR_RED, COLOR_YELLOW, \
+    COLOR_WHITE
 from pylgbst.peripherals import EncodedMotor
 
 
 class Automata(object):
-    BASE_SPEED = 0.75
+    BASE_SPEED = 1.0
 
     def __init__(self):
         super(Automata, self).__init__()
         self.__hub = MoveHub()
-        # self.__hub.vision_sensor.subscribe(self.__on_sensor)
+        self.__hub.vision_sensor.subscribe(self.__on_sensor)
         self._sensor = []
 
     def __on_sensor(self, color, distance=-1):
@@ -31,51 +32,48 @@ class Automata(object):
     def get_color(self):
         res = self._sensor
         self._sensor = []
-        logging.info("Sensor data: %s", res)
+        logging.debug("Sensor data: %s", res)
         cnts = Counter([x[0] for x in res])
         clr = cnts.most_common(1)[0][0] if cnts else COLOR_NONE
         if clr == COLOR_CYAN:
             clr = COLOR_BLUE
+        self.__hub.led.set_color(clr)
         return clr
 
     def left(self):
-        self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
+        self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
         time.sleep(0.1)
         self.__hub.motor_AB.stop()
 
     def right(self):
-        self.__hub.motor_AB.angled(235, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
+        self.__hub.motor_AB.angled(270, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
         time.sleep(0.1)
         self.__hub.motor_AB.stop()
 
     def forward(self):
-        self.__hub.motor_AB.angled(500, self.BASE_SPEED)
+        self.__hub.motor_AB.angled(600, self.BASE_SPEED)
 
     def backward(self):
-        self.__hub.motor_AB.angled(500, -self.BASE_SPEED)
+        self.__hub.motor_AB.angled(600, -self.BASE_SPEED)
 
 
 if __name__ == '__main__':
     logging.basicConfig(level=logging.INFO)
     bot = Automata()
 
-    bot.left()
-    bot.left()
-    bot.left()
-    bot.left()
-
-    exit(0)
-
-    color = COLOR_NONE
+    color = None
     cmds = []
-    while color != COLOR_RED:
+    while color != COLOR_NONE:
         bot.feed_tape()
         color = bot.get_color()
-        logging.warning(COLORS[color])
-        cmds.append(COLORS[color])
 
-    exp = ['BLUE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'BLUE', 'WHITE', 'BLUE', 'WHITE', 'YELLOW', 'BLUE', 'BLUE', 'BLUE',
-           'BLUE', 'YELLOW', 'WHITE', 'RED']
-    logging.info("Exp: %s", exp)
-    logging.info("Act: %s", cmds)
-    assert exp == cmds
+        logging.warning(COLORS[color])
+
+        if color == COLOR_BLUE:
+            bot.forward()
+        elif color == COLOR_RED:
+            bot.backward()
+        elif color == COLOR_YELLOW:
+            bot.left()
+        elif color == COLOR_WHITE:
+            bot.right()