diff --git a/shittyrobot.py b/shittyrobot.py
index fbe817c..d1aff6a 100644
--- a/shittyrobot.py
+++ b/shittyrobot.py
@@ -62,13 +62,15 @@ s = setup_listener()
 c = []
 
 def controlloop(last_start, next_action):
+    now = time.ticks_us()
+    
     #print('CTRL: ', last_start, next_action)
-    if time.ticks_us() < last_start + 100000:
-        #print(' DEADTIME -> ignore')
+    if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
+        print(' DEADTIME -> ignore')
         return last_start
 
-    if next_action is None and time.ticks_us() > last_start + 600000:
-        #print(' ACTION TIMED OUT -> stopping')
+    if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
+        print(' ACTION TIMED OUT -> stopping')
         next_action = (0,0)
     elif next_action is None:
         return last_start
@@ -96,7 +98,10 @@ def controlloop(last_start, next_action):
         MOTOR_B1.off()
 
     # we just started new action
-    return time.ticks_us()
+    if next_action != (0,0):
+        return time.ticks_us()
+    else:
+        return last_start
 
 
 def mainloop(l):