diff --git a/source/application/system_state.c b/source/application/system_state.c
index 7bba581..f5532ef 100644
--- a/source/application/system_state.c
+++ b/source/application/system_state.c
@@ -137,7 +137,7 @@ static enum system_state handle_state_collision_drive_back(void)
 		system_state_object.collision_timer.running = true;
 	}
 	if(system_state_object.collision_timer.running &&
-			(system_state_object.collision_timer.tick > sys_tick_get_ms())) {
+			(system_state_object.collision_timer.tick < sys_tick_get_ms())) {
 		drive_ctrl_halt();
 		next_state = SYS_COLLISION_TURN;
 		system_state_object.collision_timer.running = false;
@@ -159,7 +159,7 @@ static enum system_state handle_state_collision_turn(void)
 		shell_write(print_buffer, strlen(print_buffer));
 		drv_open(&rng);
 		// random number between 500 and 4000
-		int sleep = drv_read(&rng, NULL, 0) % 3500 + 500;
+		unsigned int sleep = (unsigned int)drv_read(&rng, NULL, 0) % 3500 + 500;
 		system_state_object.collision_timer.tick = sys_tick_get_ms() + sleep;
 		system_state_object.collision_timer.running = true;
 		// randomize turn direction
@@ -169,7 +169,7 @@ static enum system_state handle_state_collision_turn(void)
 			drive_ctrl_turn_right();
 	}
 	if(system_state_object.collision_timer.running &&
-			(system_state_object.collision_timer.tick > sys_tick_get_ms())) {
+			(system_state_object.collision_timer.tick < sys_tick_get_ms())) {
 		drive_ctrl_halt();
 		next_state = system_state_object.saved_state;
 		system_state_object.collision_timer.running = false;