diff --git a/blinky.c b/blinky.c
index 60afff02cbd8d19c40f430b75dead8c2cf9bc385..c3494f33ab8b000551a52868425f65f983337995 100644
--- a/blinky.c
+++ b/blinky.c
@@ -22,18 +22,16 @@ static THD_FUNCTION(Blinky, arg) {
 
 	while(1){
 	// Blink the back LED when the robot moves backward
-		if( ((get_acc_case() == 2) | (get_acc_case() == 4)) &
-			 (get_wall_detection() != 2) ){
+		if(get_wall_detection() != 2){
+			if( ((get_acc_case() == 2) | (get_acc_case() == 4)) ){
 
-			set_led(LED5, 1);
-			chThdSleepMilliseconds(300);
-			set_led(LED5, 0);
-			chThdSleepMilliseconds(200);
-		}else if( ((get_acc_case() == 0) | (get_acc_case() == 1) | (get_acc_case() == 3)) &
-				   (get_wall_detection() != 2) & (get_check_back_wall() == 1) ){
-
-			set_led(LED5, 0);
-			clear_check_back_wall();
+				set_led(LED5, 1);
+				chThdSleepMilliseconds(300);
+				set_led(LED5, 0);
+				chThdSleepMilliseconds(200);
+			}else{
+				set_led(LED5, 0);
+			}
 		}
 	    // 10Hz
 	    chThdSleepMilliseconds(100);
diff --git a/check_collision.c b/check_collision.c
index fa90501cf4358ed54a9e01649463ae1cdf9e5277..b936d5de4f419e91ff8e2857ecd3e7e7b3e1ea71 100644
--- a/check_collision.c
+++ b/check_collision.c
@@ -24,7 +24,6 @@
  * wall_detection = 2 -> wall detected in the back or (front and back)
  */
 static uint8_t wall_detection = 0;
-static uint8_t check_back_wall = 0;
 
 // Declaration of functions
 void clear_led_but_back(void);
@@ -93,7 +92,6 @@ static THD_FUNCTION(CheckCollision, arg) {
 				// Front and back detected
     			}else{
     				wall_detection = 2;
-    				check_back_wall = 1;
 
     				// Set acc_case to 0
     				reset_acc_case();
@@ -121,7 +119,6 @@ static THD_FUNCTION(CheckCollision, arg) {
 
 					// Set back LEDs and clear front LEDs
 					wall_detection = 2;
-					check_back_wall = 1;
 
 					set_led(LED1, 0);
 					set_rgb_led(LED2, 0, 0, 0);
@@ -165,14 +162,6 @@ uint8_t get_wall_detection(void){
 	return wall_detection;
 }
 
-uint8_t get_check_back_wall(void){
-	return check_back_wall;
-}
-
-void clear_check_back_wall(void){
-	check_back_wall = 0;
-}
-
 // Clear all LEDs except the back LED
 void clear_led_but_back(void){
 	set_led(LED1, 0);
diff --git a/check_collision.h b/check_collision.h
index 1ed659744c8d7c1efc00ead75669312079e8669f..a42498d61137739edee9091df752fcfe8d6f198a 100644
--- a/check_collision.h
+++ b/check_collision.h
@@ -13,7 +13,5 @@ void check_collision_start(void);
 
 // Getter of wall_detection
 uint8_t get_wall_detection(void);
-uint8_t get_check_back_wall(void);
-void clear_check_back_wall(void);
 
 #endif /* CHECK_COLLISION_H_ */