diff --git a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
index 9582ba7..13af4ac 100644
--- a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
+++ b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
@@ -40,6 +40,7 @@ public class SearchBallBehavior extends BaseBehavior {
 	private FeatureDetectorsHandler detectorHandler;
 	private RobotStateSingleton     state;
 	private boolean                 turnLeft;
+	private boolean                 supress;
 
 	/**
 	 * Creates a new {@link SearchBallBehavior}.
@@ -58,6 +59,7 @@ public class SearchBallBehavior extends BaseBehavior {
 		this.detectorHandler = FeatureDetectorsHandler.getInstance();
 		this.state = RobotStateSingleton.getInstance();
 		this.turnLeft = true;
+		this.supress = false;
 	}
 
 	@Override
@@ -69,6 +71,7 @@ public class SearchBallBehavior extends BaseBehavior {
 		/* If the current state is SEARCH_BALL then set the detectors and take control. */
 		if(state.getState() == States.SEARCH_BALL) {
 			setDetectors();
+			this.supress = false;
 			return true;
 		}
 
@@ -82,6 +85,8 @@ public class SearchBallBehavior extends BaseBehavior {
 			while(queue.hasNextLightSensorEvent())
 				queue.getNextLightSensorEvent();
 
+			this.supress = false;
+
 			return true;
 
 		}
@@ -91,64 +96,66 @@ public class SearchBallBehavior extends BaseBehavior {
 
 	@Override
 	public void action() {
-		if(queue.hasNextRangeSensorEvent()) {
-			/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
-			if(pilot.isMoving())
-				pilot.stop();
-			ballFound = true;
-			state.setState(States.BALL_FOUND);
+		while(!supress) {
+			if(queue.hasNextRangeSensorEvent()) {
+				/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
+				if(pilot.isMoving())
+					pilot.stop();
+				ballFound = true;
+				state.setState(States.BALL_FOUND);
 
-			/* Discard unneeded range features. */
-			while(queue.hasNextRangeSensorEvent())
-				queue.getNextRangeSensorEvent();
-
-		} else {
-			if(turnLeft) {
-				/* Search to the left of the robot. */
-				Rotations.rotateM90(compass, pilot);
-				pilot.travel(100);
-
-				if(queue.hasNextTouchSensorEvent()) {
-					/* If an obstacle is found while searching then start searching
-					 * to the opposite side. */
-					pilot.travel(-100);
-
-					turnLeft = false;
-
-					/* Discard unneeded touch events. */
-					while(queue.hasNextTouchSensorEvent())
-						queue.getNextTouchSensorEvent();
-
-					detectorHandler.enableTouchDetector();
-				}
-
-				Rotations.rotate90(compass, pilot);
+				/* Discard unneeded range features. */
+				while(queue.hasNextRangeSensorEvent())
+					queue.getNextRangeSensorEvent();
 
 			} else {
-				/* Search to the right of the robot. */
-				Rotations.rotate90(compass, pilot);
-				pilot.travel(100);
+				if(turnLeft) {
+					/* Search to the left of the robot. */
+					Rotations.rotateM90(compass, pilot);
+					pilot.travel(100);
 
-				if(queue.hasNextTouchSensorEvent()) {
-					/* If an obstacle is found while searching then give up and go back
-					 * to the start line. */
-					pilot.travel(-100);
+					if(queue.hasNextTouchSensorEvent()) {
+						/* If an obstacle is found while searching then start searching
+						 * to the opposite side. */
+						pilot.travel(-100);
 
-					state.setState(States.WANDER);
-					ballFound = true;
+						turnLeft = false;
 
-					/* Discard unneeded touch events. */
-					while(queue.hasNextTouchSensorEvent())
-						queue.getNextTouchSensorEvent();
+						/* Discard unneeded touch events. */
+						while(queue.hasNextTouchSensorEvent())
+							queue.getNextTouchSensorEvent();
 
-					detectorHandler.enableTouchDetector();
+						detectorHandler.enableTouchDetector();
+					}
+
+					Rotations.rotate90(compass, pilot);
+
+				} else {
+					/* Search to the right of the robot. */
+					Rotations.rotate90(compass, pilot);
+					pilot.travel(100);
+
+					if(queue.hasNextTouchSensorEvent()) {
+						/* If an obstacle is found while searching then give up and go back
+						 * to the start line. */
+						pilot.travel(-100);
+
+						state.setState(States.WANDER);
+						ballFound = true;
+
+						/* Discard unneeded touch events. */
+						while(queue.hasNextTouchSensorEvent())
+							queue.getNextTouchSensorEvent();
+
+						detectorHandler.enableTouchDetector();
+					}
+
+					Rotations.rotateM90(compass, pilot);
+
+					/* If the ball was found or the robot gave up then turn around towards the start line. */
+					if(ballFound)
+						Rotations.rotate180(compass, pilot);
 				}
-
-				Rotations.rotateM90(compass, pilot);
-
-				/* If the ball was found or the robot gave up then turn around towards the start line. */
-				if(ballFound)
-					Rotations.rotate180(compass, pilot);
 			}
 		}
 	}
@@ -157,6 +164,7 @@ public class SearchBallBehavior extends BaseBehavior {
 	public void suppress() {
 		if(pilot.isMoving())
 			pilot.stop();
+		this.supress = true;
 	}
 
 	/**