diff --git a/src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java b/src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
index a796999..9b9c798 100644
--- a/src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
+++ b/src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java
@@ -16,7 +16,7 @@ import lejos.robotics.subsumption.Arbitrator;
 import lejos.robotics.subsumption.Behavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.AvoidObstaclesBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.CatchBallBehavior;
-import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SearchBoxBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SearchBallBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SensorCalibrationBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.VictoryBehavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.WanderBehavior;
@@ -91,7 +91,7 @@ public class RyABI {
 		behaviors = new Behavior[5];
 		behaviors[0] = new WanderBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
 		behaviors[1] = new VictoryBehavior();
-		behaviors[2] = new SearchBoxBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
+		behaviors[2] = new SearchBallBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
 		behaviors[3] = new CatchBallBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
 		behaviors[4] = new AvoidObstaclesBehavior(pilot, sonar, touch, light, compass, WHEEL_DIAMETER, TRACK_WIDTH);
 
diff --git a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java
index 03c0edc..af19785 100644
--- a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java
+++ b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/CatchBallBehavior.java
@@ -1,6 +1,7 @@
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
+import lejos.nxt.Motor;
 import lejos.nxt.TouchSensor;
 import lejos.nxt.UltrasonicSensor;
 import lejos.nxt.addon.CompassHTSensor;
@@ -24,7 +25,8 @@ public class CatchBallBehavior extends BaseBehavior {
 
 	@Override
 	public void action() {
-		// TODO Close claw.
+		Motor.B.forward();
+		try { Thread.sleep(2000); } catch(InterruptedException e) { };
 
 		Rotations.rotate180(compass, pilot);
 		state.setState(States.WANDER);
diff --git a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBoxBehavior.java b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
similarity index 92%
rename from src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBoxBehavior.java
rename to src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
index bd5ee06..877bb31 100644
--- a/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBoxBehavior.java
+++ b/src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java
@@ -11,14 +11,14 @@ import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
-public class SearchBoxBehavior extends BaseBehavior {
+public class SearchBallBehavior extends BaseBehavior {
 	private SensorEventsQueue       queue;
 	private boolean                 ballFound;
 	private FeatureDetectorsHandler detectorHandler;
 	private RobotStateSingleton     state;
 	private boolean                 turnLeft;
 
-	public SearchBoxBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
+	public SearchBallBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
 		this.queue = SensorEventsQueue.getInstance();
 		this.ballFound = false;