diff --git a/pylgbst/comms.py b/pylgbst/comms.py
index a5a5c8b..b7686ee 100644
--- a/pylgbst/comms.py
+++ b/pylgbst/comms.py
@@ -8,7 +8,7 @@ import socket
 import sys
 import time
 import traceback
-from Queue import Queue
+from six.moves import queue
 from abc import abstractmethod
 from binascii import unhexlify
 from gattlib import DiscoveryService, GATTRequester
@@ -42,7 +42,8 @@ class Requester(GATTRequester):
         super(Requester, self).__init__(p_object, *args, **kwargs)
         self.notification_sink = None
 
-        self._notify_queue = Queue()
+        # noinspection PyUnresolvedReferences
+        self._notify_queue = queue.Queue()
         self._notifier_thread = Thread(target=self._dispatch_notifications)
         self._notifier_thread.setDaemon(True)
         self._notifier_thread.setName("Notify queue dispatcher")
@@ -170,7 +171,7 @@ class DebugServer(object):
         self.sock.close()
 
     def _notify_dummy(self, handle, data):
-        log.debug("Notification from handle %s: %s", handle, hexlify(data.strip()))
+        log.debug("Notification from handle %s: %s", handle, binascii.hexlify(data.strip()))
         self._check_shutdown(data)
 
     def _notify(self, conn, handle, data):
diff --git a/pylgbst/constants.py b/pylgbst/constants.py
index ed7fd73..2f48c38 100644
--- a/pylgbst/constants.py
+++ b/pylgbst/constants.py
@@ -34,7 +34,7 @@ PORTS = {
 
 # PACKET TYPES
 MSG_DEVICE_INFO = 0x01
-MSG_DEVICE_SHUTDOWN = 0x02
+MSG_DEVICE_SHUTDOWN = 0x02  # sent when hub shuts down by button hold
 MSG_PING_RESPONSE = 0x03
 MSG_PORT_INFO = 0x04
 MSG_PORT_CMD_ERROR = 0x05
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index a682975..cd003c1 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -21,7 +21,7 @@ class Peripheral(object):
         super(Peripheral, self).__init__()
         self.parent = parent
         self.port = port
-        self._working = 0  # 3-state, -1 means command sent, 1 means notified on command, 0 means notified on finish
+        self._working = False
         self._subscribers = set()
         self._port_subscription_mode = None
 
@@ -41,10 +41,12 @@ class Peripheral(object):
         self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
 
     def started(self):
-        self._working = 1
+        log.debug("Started: %s", self)
+        self._working = True
 
     def finished(self):
-        self._working = 0
+        log.debug("Finished: %s", self)
+        self._working = False
 
     def is_working(self):
         return bool(self._working)
@@ -79,7 +81,7 @@ class LED(Peripheral):
             raise ValueError("Color %s is not in list of available colors" % color)
 
         cmd = pack("<?", do_notify) + self.SOMETHING + pack("<B", color)
-        self._working = -1
+        self.started()
         self._write_to_hub(MSG_SET_PORT_VAL, cmd)
 
     def finished(self):
@@ -140,7 +142,7 @@ class EncodedMotor(Peripheral):
             raise ValueError("Too large value for seconds: %s", seconds)
         command += pack('<H', msec)
 
-        self._working = -1
+        self.started()
         self._wrap_and_write(command, speed_primary, speed_secondary)
         self.__wait_sync(async)
 
@@ -158,7 +160,7 @@ class EncodedMotor(Peripheral):
         # angle
         command += pack('<I', angle)
 
-        self._working = -1
+        self.started()
         self._wrap_and_write(command, speed_primary, speed_secondary)
         self.__wait_sync(async)
 
@@ -166,8 +168,7 @@ class EncodedMotor(Peripheral):
         if not async:
             log.debug("Waiting for sync command work to finish...")
             while self.is_working():
-                log.debug("Waiting")
-                time.sleep(0.1)
+                time.sleep(0.5)
             log.debug("Command has finished.")
 
     # TODO: how to tell when motor has stopped?
diff --git a/setup.py b/setup.py
index ef377bf..53ba291 100644
--- a/setup.py
+++ b/setup.py
@@ -6,5 +6,5 @@ setup(name='pylgbst',
       author='Andrey Pokhilko',
       author_email='apc4@ya.ru',
       packages=['pylgbst'],
-      requires=['gattlib']
+      requires=['six', 'future', 'gattlib']
       )
diff --git a/vernie.py b/vernie.py
index f29fffb..1a390c5 100644
--- a/vernie.py
+++ b/vernie.py
@@ -22,20 +22,28 @@ class Vernie(MoveHub):
         self._color_detected = COLOR_NONE
         self._sensor_distance = 10
         self.color_distance_sensor.subscribe(self._color_distance_data)
+
+        time.sleep(1)
+        self._reset_head()
+        time.sleep(1)
         log.info("Vernie is ready.")
 
     def _external_motor_data(self, data):
-        log.debug("External motor position: %s", data)
+        #log.debug("External motor position: %s", data)
         self._head_position = data
 
     def _color_distance_data(self, color, distance):
-        log.debug("Color & Distance data: %s %s", COLORS[color], distance)
+        #log.debug("Color & Distance data: %s %s", COLORS[color], distance)
         self._sensor_distance = distance
         if self._color_detected != color:
             self._color_detected = color
             self.led.set_color(self._color_detected if self._color_detected != COLOR_NONE else COLOR_BLACK)
 
-    def head_to(self, direction=RIGHT, speed=0.25, angle=25):
+    def _reset_head(self):
+        self.motor_external.timed(1, -0.2)
+        self.head_to(RIGHT, angle=45)
+
+    def head_to(self, direction=RIGHT, speed=0.1, angle=25):
         if direction == STRAIGHT:
             angle = -self._head_position
             direction = 1
@@ -43,11 +51,6 @@ class Vernie(MoveHub):
         self.motor_external.angled(direction * angle, speed)
 
     def program(self):
-        time.sleep(1)
-        self.head_to(LEFT, angle=90)
-        self.head_to(RIGHT, angle=50)
-        time.sleep(1)
-
         while True:
             self.head_to(LEFT)
             time.sleep(1)