diff --git a/scheduler.c b/scheduler.c
index c46afd9..8a802a0 100644
--- a/scheduler.c
+++ b/scheduler.c
@@ -22,7 +22,7 @@ static short get_robot_barrel(char robot_id) {
     return -1;
 }
 
-// TODO обновить метод
+// TODO обновить метод для работы с двумя роботами
 // вернет можно ли ехать и главное куда ехать, если можно (нельзя если вернулось значение < 0)
 // -1 вернет что перемещать нельзя
 // -2 вернет если требуется атомарная операция пассивации
@@ -347,6 +347,9 @@ void schedule_robot_1() {
         tasks[i].start_zone = barrels[i].zone;
         // определяем можно ли ее выполнить и что вообще нужно выполнить
         tasks[i].dest_zone = can_move(barrels + i);
+        if (tasks[i].dest_zone >= 0) {
+            tasks[i].priority = get_operation_priority(i);
+        }
     }
 
     // TODO добавить вставку lock-point'ов на задачах на несколько роботов
@@ -362,9 +365,31 @@ void schedule_robot_1() {
             // первым делом добавляем команду опустить траверсу
             robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN;
 
-            if (tasks[target_task].start_zone != ZONE_WASHING_3B) {
+            if (tasks[target_task].dest_zone == ZONE_PASSIVATION) {
+                // пассивация, тут все просто
                 if (robot1.dx.current_zone != tasks[target_task].start_zone) {
-                    if (tasks[target_task].start_zone == 22) {
+                    robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE | ZONE_WASHING_3B;
+                }
+
+                robot1_code.code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL;
+                robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL | ZONE_PASSIVATION;
+                robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL;
+
+                robot1_code.code[cmd_index++] = ROBOT_CMD_TMR_SET;
+                robot1_code.code[cmd_index++] = barrels[target_task].time_passivation;
+
+                robot1_code.code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL;
+                robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL | ZONE_WASHING_4A;
+                robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL;
+
+                robot1_code.code[cmd_index++] = ROBOT_CMD_TMR_SET;
+                robot1_code.code[cmd_index++] = barrels[target_task].time_washing_4a;
+            } else {
+                // любой другой случай
+                if (robot1.dx.current_zone != tasks[target_task].start_zone) {
+                    if (tasks[target_task].start_zone != 22) {
+                        robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE | tasks[target_task].start_zone;
+                    } else {
                         robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_OFF;
                         robot1_code.code[cmd_index++] = ROBOT_CMD_UP;
                         if (robot1.dx.current_zone != 21) {
@@ -373,13 +398,11 @@ void schedule_robot_1() {
                         }
                         robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN_2;
                         robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE | 22;
-                    } else {
-                        robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE | tasks[target_task].start_zone;
                     }
                 }
-                
+
                 robot1_code.code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL;
-                
+
                 // теперь надо определиться с тем, сколько ждать скапывания
                 switch (tasks[target_task].start_zone) {
                     case ZONE_DEGREASING:
@@ -430,11 +453,13 @@ void schedule_robot_1() {
                         short tmp = -1;
                         switch (tasks[target_task].dest_zone) {
                             case ZONE_DEGREASING:
-                                tmp = barrels[target_task].time_degreasing; break;
+                                tmp = barrels[target_task].time_degreasing;
+                                break;
 
                             case ZONE_ETCHING_1:
                             case ZONE_ETCHING_2:
-                                tmp = barrels[target_task].time_etching; break;
+                                tmp = barrels[target_task].time_etching;
+                                break;
 
                             case ZONE_GALVANIZING_1:
                             case ZONE_GALVANIZING_2:
@@ -444,25 +469,34 @@ void schedule_robot_1() {
                             case ZONE_GALVANIZING_6:
                             case ZONE_GALVANIZING_7:
                             case ZONE_GALVANIZING_8:
-                                tmp = barrels[target_task].time_galvanizing; break;
+                                tmp = barrels[target_task].time_galvanizing;
+                                break;
 
                             case ZONE_WASHING_1A:
-                                tmp = barrels[target_task].time_washing_1a; break;
+                                tmp = barrels[target_task].time_washing_1a;
+                                break;
                             case ZONE_WASHING_2A:
-                                tmp = barrels[target_task].time_washing_2a; break;
+                                tmp = barrels[target_task].time_washing_2a;
+                                break;
                             case ZONE_WASHING_3A:
-                                tmp = barrels[target_task].time_washing_3a; break;
+                                tmp = barrels[target_task].time_washing_3a;
+                                break;
                             case ZONE_WASHING_4A:
-                                tmp = barrels[target_task].time_washing_4a; break;
+                                tmp = barrels[target_task].time_washing_4a;
+                                break;
 
                             case ZONE_WASHING_1B:
-                                tmp = barrels[target_task].time_washing_1b; break;
+                                tmp = barrels[target_task].time_washing_1b;
+                                break;
                             case ZONE_WASHING_2B:
-                                tmp = barrels[target_task].time_washing_2b; break;
+                                tmp = barrels[target_task].time_washing_2b;
+                                break;
                             case ZONE_WASHING_3B:
-                                tmp = barrels[target_task].time_washing_3b; break;
+                                tmp = barrels[target_task].time_washing_3b;
+                                break;
                             case ZONE_WASHING_4B:
-                                tmp = barrels[target_task].time_washing_4b; break;
+                                tmp = barrels[target_task].time_washing_4b;
+                                break;
                         }
 
                         if (tmp != -1) {
@@ -471,30 +505,11 @@ void schedule_robot_1() {
                         }
                     }
                 }
-            } else {
-                // пассивация, тут все просто
-                if (robot1.dx.current_zone != tasks[target_task].start_zone) {
-                    robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE | ZONE_WASHING_3B;
-                }
-
-                robot1_code.code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL;
-                robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL | ZONE_PASSIVATION;
-                robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL;
-
-                robot1_code.code[cmd_index++] = ROBOT_CMD_TMR_SET;
-                robot1_code.code[cmd_index++] = barrels[target_task].time_passivation;
-
-                robot1_code.code[cmd_index++] = ROBOT_CMD_UP_WITH_BARREL;
-                robot1_code.code[cmd_index++] = ROBOT_CMD_MOVE_TO_ZONE_WITH_BARREL | ZONE_WASHING_4A;
-                robot1_code.code[cmd_index++] = ROBOT_CMD_DOWN_WITH_BARREL;
-
-                robot1_code.code[cmd_index++] = ROBOT_CMD_TMR_SET;
-                robot1_code.code[cmd_index++] = barrels[target_task].time_washing_4a;
             }
 
             robot1_code.code[cmd_index++] = ROBOT_CMD_END;
             robot1_code.PC = 0;
-            
+
             printf("INFO: code length is %d\n", cmd_index);
             debug_print_robot1_code();
         }