Just as a suggestion, I know you changed the full/not full from 100% to 95%. Is there a way you could make that number editable, such that I could tell a specific robot to wait until say 98% or 92%? And could you also try to make a similar thing but for empty/not empty where it'd be 5%? You might need a check in there to make sure the player isn't setting the numbers wrong, though...