diff --git a/server/src/main/java/algorithm/AbstractAlgorithm.kt b/server/src/main/java/algorithm/AbstractAlgorithm.kt
index b8baa19bfec..1defeef11c4 100644
--- a/server/src/main/java/algorithm/AbstractAlgorithm.kt
+++ b/server/src/main/java/algorithm/AbstractAlgorithm.kt
@@ -113,6 +113,11 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
             return
         }
         val command = getCommand(anglesDistances, state)
+
+        if (command == null) {
+            return
+        }
+
         afterGetCommand(command)
         println(Arrays.toString(command.directions))
         println(Arrays.toString(command.distances))
@@ -137,7 +142,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
     }
 
     protected abstract fun getCarState(anglesDistances: Map<Angle, AngleData>): CarState?
-    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest
+    protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest?
     protected abstract fun afterGetCommand(route: RouteMetricRequest)
 
 
diff --git a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
index 7c13d444309..b17f1bbf768 100644
--- a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+++ b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
@@ -104,14 +104,18 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         }
     }
 
-    override fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest {
+    override fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest? {
 
         val dist0 = anglesDistances[Angle(0)]!!
-        val dist60 = anglesDistances[Angle(60)]!!
+        val dist60 = anglesDistances[Angle(70)]!!
         val dist90 = anglesDistances[Angle(90)]!!
-        val dist120 = anglesDistances[Angle(120)]!!
+        val dist120 = anglesDistances[Angle(110)]!!
         val sonarAngle = carAngle - 90
 
+        if (anglesDistances.filter { it.value.angle.degs() >= 60 && it.value.angle.degs() <= 120 && it.value.distance == -1 }.size != 0) {
+            return null
+        }
+
         if (calibrateAfterRotate) {
             if (Math.abs(dist60.distance - dist120.distance) > 4) {
                 println("Flaw in align found, correcting")