diff --git a/door_pi_control/door/control.py b/door_pi_control/door/control.py
index 91f4f5a..7111a2e 100644
--- a/door_pi_control/door/control.py
+++ b/door_pi_control/door/control.py
@@ -149,10 +149,13 @@ class Control(util.Loggable):
                                 "closing some more")
                             self._comms.cmd_close()
                         controlling = False
+                        action = None
                     elif self.state() == state.ERROR:
                         # Position too high, restart
                         self._logger().debug("Error")
                         self._comm.cmd_restart()
+                        sleep(5)
+                        self._comm.cmd_close()
                         self.target(state.CLOSE)
                     else:
                         self._logger().debug("Reached wrong state")