diff --git a/CMakeLists.txt b/CMakeLists.txt
index 71befb1..ef2fad6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(sdp_sheduler C CXX)
 set(CMAKE_C_STANDARD 17)
 set(CMAKE_CXX_STANDARD 17)
 
-add_executable(sdp_sheduler scheduler.c emulator.cpp emulator.h robot.cpp robot.h utils.c utils.h)
+add_executable(sdp_sheduler scheduler.c emulator.cpp emulator.h robot.cpp robot.h utils.h)
 
 add_executable(remote_listener remote_listener.cpp)
 add_definitions(-DEMULATOR=1)
diff --git a/emulator.cpp b/emulator.cpp
index cbf415d..9713949 100644
--- a/emulator.cpp
+++ b/emulator.cpp
@@ -8,6 +8,8 @@
 #include "emulator.h"
 #include "robot.h"
 
+struct barrel barrels[BARRELS_COUNT];
+
 struct robot_regs robot1;
 struct robot_regs robot2;
 
diff --git a/utils.c b/utils.c
deleted file mode 100644
index 8a52049..0000000
--- a/utils.c
+++ /dev/null
@@ -1,4 +0,0 @@
-#include "utils.h"
-
-struct barrel barrels[BARRELS_COUNT];
-
diff --git a/utils.h b/utils.h
index a7b0506..3de4800 100644
--- a/utils.h
+++ b/utils.h
@@ -163,8 +163,8 @@ extern struct robot_code robot1_code;
 extern struct robot_code robot2_code;
 #else
 #define barrels ((struct barrel*)&barrels_array)
-#define robot1 (*((struct robot_regs*)&robot1_reg_dx))
-#define robot2 (*((struct robot_regs*)&robot2_reg_dz))
+#define robot1 (*((struct robot_regs*)&robot1_reg_mx))
+#define robot2 (*((struct robot_regs*)&robot2_reg_mx))
 #define robot1_code (*((struct robot_code*)&_robot1_code_struct))
 #define robot2_code (*((struct robot_code*)&_robot2_code_struct))
 #endif
@@ -184,7 +184,6 @@ extern struct robot_code robot2_code;
 #define ROBOT_CMD_DOWN_code            (short)0x5000
 #define ROBOT_CMD_WAIT_code            (short)0x6000
 #define ROBOT_CMD_TMR_SET_code         (short)0x7000
-#define ROBOT_CMD_SET_LOCK_ZONE_code   (short)0x8000
 #define ROBOT_CMD_CORRECT_AXIS_code    (short)0x9000
 #define ROBOT_CMD_INC_ZONE_code        (short)0xA000
 
@@ -220,7 +219,6 @@ extern struct robot_code robot2_code;
 #define ROBOT_CMD_WAIT(time) ((ROBOT_CMD_WAIT_code) | (short)(time & 0x0FFF))
 #define ROBOT_CMD_TMR_SET(time) ((ROBOT_CMD_TMR_SET_code) | (short)(time & 0x0FFF))
 
-#define ROBOT_CMD_SET_LOCK_ZONE(zone) ((short)(ROBOT_CMD_SET_LOCK_ZONE_code) | (short)(zone))
 #define ROBOT_CMD_CORRECT_AXIS(axis) ((short)(ROBOT_CMD_CORRECT_AXIS_code) | (short)axis)
 #define ROBOT_CMD_INC_ZONE(arg) ((ROBOT_CMD_INC_ZONE_code) | (short)(arg))
 
@@ -281,7 +279,7 @@ extern struct robot_code robot2_code;
 #define ROBOT_X_CMD_MOVE_TO_OFF_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_OFF_POS_OFFSET)
 #define ROBOT_X_CMD_MOVE_TO_COR_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_MOVE_TO_COR_POS_OFFSET)
 #define ROBOT_X_CMD_CORRECT_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CORRECT_OFFSET)
-#define ROBOT_X_CMD_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET)
+#define ROBOT_X_CMD_PARKING_ADDR (VFD_REG_M0_ADDR + ROBOT_X_CMD_CMD_PARKING_OFFSET)
 
 #define ROBOT_X_TARGET_ZONE_ADDR (VFD_REG_D0_ADDR + ROBOT_X_TARGET_ZONE_OFFSET)