diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index a561fb8..ac84e97 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -204,6 +204,7 @@ class RobotTCP(TcpDevice, Stoppable):
     
     #Updating
     def update_status(self):
+        #TODO: This can optimized with a single call
         self.read_working_mode()
         self.is_powered()
         self.get_monitor_speed()
@@ -221,7 +222,8 @@ class RobotTCP(TcpDevice, Stoppable):
             start = time.time()
             self.update_status()            
             self.poll_events()
-            self.setState(State.Busy if self.status=="move" else State.Ready)
+            #self.setState(State.Busy if self.status=="move" else State.Ready)
+            self.setState(State.Ready if self.empty and self.settled  else State.Busy)
             print time.time() - start
         except:
             self.setState(State.Offline)