diff --git a/include/sensors/sensors.h b/include/sensors/sensors.h
index ef73bd4..95b323d 100644
--- a/include/sensors/sensors.h
+++ b/include/sensors/sensors.h
@@ -12,7 +12,6 @@
 #include "behaviour_control/ds_ctrl.h"
 #include "motors_movement/drivecontroller.h"
 #include "motors_movement/motor.h"
-#include "systems/lines/linesys_2019.h"
 #include "systems/lines/linesys_camera.h"
 #include "systems/position/positionsys_zone.h"
 #include "systems/systems.h"
@@ -29,7 +28,6 @@ void updateSensors();
 s_extr vector<DataSource*> dUs;
 
 s_extr DataSourceCtrl* usCtrl;
-s_extr LineSys2019* linesCtrl;
 
 s_extr DataSourceBNO055* compass;
 s_extr DataSourceBall* ball;
diff --git a/include/systems/lines/linesys_2019.h b/include/systems/lines/linesys_2019.h
deleted file mode 100644
index 58ce5dd..0000000
--- a/include/systems/lines/linesys_2019.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <Arduino.h>
-
-#include "behaviour_control/ds_ctrl.h"
-#include "systems/systems.h"
-
-#include "vars.h" 
-
-#define LINE_THRESH 90
-#define EXTIME 200
-#define LINES_EXIT_SPD 350
-
-class LineSys2019 : public LineSystem{
-
-    public:
-        LineSys2019();
-        LineSys2019(vector<DataSource*> in_, vector<DataSource*> out);
-
-        void update() override;
-        void test() override;
-        void outOfBounds();
-        
-    private:
-        vector<DataSource*> in, out;
-        DataSource* ds;
-        bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
-        int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], i;
-        elapsedMillis exitTimer;
-        int outDir, outVel;
-        byte linesens;
-};
\ No newline at end of file
diff --git a/include/systems/lines/linesys_camera_new.h b/include/systems/lines/linesys_camera_new.h
deleted file mode 100644
index 8de96bd..0000000
--- a/include/systems/lines/linesys_camera_new.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// #pragma once
-
-// #include <Arduino.h>
-
-// #include "behaviour_control/ds_ctrl.h"
-// #include "position/systems.h"
-
-// #include "vars.h" 
-
-// #define S1I A14
-// #define S1O A15
-// #define S2I A16
-// #define S2O A17
-// #define S3I A20
-// #define S3O A0
-// #define S4I A1
-// #define S4O A2
-
-// #define LINE_THRESH_CAM 90
-// #define EXTIME_CAM 75
-// #define LINES_EXIT_SPD_CAM 300
-
-// class LineSysCamera : public LineSystem{
-
-//     public:
-//         LineSysCamera();
-//         LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out);
-
-//         void update() override;
-//         void test() override;
-//         void outOfBounds();
-        
-//     private:
-//         vector<DataSource*> in, out;
-//         DataSource* ds;
-//         bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
-//         int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], i;
-//         unsigned long exitTimer;
-//         byte linesens;
-// };
\ No newline at end of file
diff --git a/src/strategy_roles/keeper.cpp b/src/strategy_roles/keeper.cpp
index d96e173..550af15 100644
--- a/src/strategy_roles/keeper.cpp
+++ b/src/strategy_roles/keeper.cpp
@@ -1,7 +1,6 @@
 #include <Arduino.h>
 
 #include "behaviour_control/status_vector.h"
-#include "systems/lines/linesys_2019.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/keeper.h"
 #include "strategy_roles/games.h"
diff --git a/src/system/lines/linesys_2019.cpp b/src/system/lines/linesys_2019.cpp
deleted file mode 100644
index 8ad3276..0000000
--- a/src/system/lines/linesys_2019.cpp
+++ /dev/null
@@ -1,188 +0,0 @@
-#include "systems/lines/linesys_2019.h"
-#include "sensors/sensors.h"
-
-using namespace std;
-LineSys2019::LineSys2019() {}
-LineSys2019::LineSys2019(vector<DataSource*> in_, vector<DataSource*> out_){
-    this->in = in_;
-    this->out = out_;
-
-    fboundsX = false;
-    fboundsY = false;
-    slow = false;
-
-    linesensOldX = 0;
-    linesensOldY = 0;
-
-    tookLine = false;
-
-    for(int i = 0; i < 4; i++){
-      linetriggerI[i] = 0;
-      linetriggerO[i] = 0;
-    }
-
-    exitTimer = 0;
-    linesens = 0;
-}
-
-void LineSys2019::update(){
-  inV = 0;
-  outV = 0;
-  tookLine = false;
-
-  for(DataSource* d : in) d->readSensor();
-  for(DataSource* d : out) d->readSensor();
-
-  for(auto it = in.begin(); it != in.end(); it++){
-    i = it - in.begin();
-    ds = *it;
-    linetriggerI[i] = ds->getValue() > LINE_THRESH;
-  }
-  for(auto it = out.begin(); it != out.end(); it++){
-    i = it - out.begin();
-    ds = *it;
-    linetriggerO[i] = ds->getValue() > LINE_THRESH;
-  }
-
-  for(int i = 0; i < 4; i++){
-    inV = inV | (linetriggerI[i] << i);
-    outV = outV | (linetriggerO[i] << i);
-  }
-
-
-  if ((inV > 0) || (outV > 0)) {
-    if(exitTimer > EXTIME) {
-      fboundsX = true;
-      fboundsY = true;
-    }
-    exitTimer = 0;
-  }
-
-  linesens |= inV | outV;
-  outOfBounds();
-}
-
-void LineSys2019::outOfBounds(){
-
-  if(fboundsX == true) {
-    if(linesens & 0x02) linesensOldX = 2;
-    else if(linesens & 0x08) linesensOldX = 8;
-    if(linesensOldX != 0) fboundsX = false;
-  }
-  if(fboundsY == true) {
-    if(linesens & 0x01) linesensOldY = 1;
-    else if(linesens & 0x04) linesensOldY = 4;
-    if(linesensOldY != 0) fboundsY = false;
-  }
-
-  if (exitTimer <= EXTIME){
-    //fase di rientro
-    if(linesens == 15) linesens = linesensOldY | linesensOldX;        //ZOZZATA MAXIMA
-    drive->unlockTime = millis();
-
-    if(linesens == 1) outDir = 180;
-    else if(linesens == 2) outDir = 270;
-    else if(linesens == 4) outDir = 0;
-    else if(linesens == 8) outDir = 90;
-    else if(linesens == 3) outDir = 225;
-    else if(linesens == 6) outDir = 315;
-    else if(linesens == 12) outDir = 45;
-    else if(linesens == 9) outDir = 135;
-    else if(linesens == 7) outDir = 270;
-    else if(linesens == 13) outDir = 90;
-    else if(linesens == 11) outDir = 180;
-    else if(linesens == 14) outDir = 0;
-    else if(linesens == 5){
-      if(linesensOldX == 2) outDir = 270;
-      else if(linesensOldY == 8) outDir = 90;
-    }
-    else if(linesens == 10){
-      if(linesensOldY == 4) outDir = 0;
-      else if(linesensOldY == 1) outDir = 180;
-    }
-
-    drive->prepareDrive(outDir, LINES_EXIT_SPD);
-    tookLine = true;
-  }else{
-    //fine rientro
-    if(linesens == 1) drive->vyp = 1;
-    else if(linesens == 2) drive->vxp = 1;
-    else if(linesens == 4) drive->vyn = 1;
-    else if(linesens == 8) drive->vxn = 1;
-    else if(linesens == 3) {
-      drive->vyp = 1;
-      drive->vxp = 1;
-    }
-    else if(linesens == 6){
-      drive->vxp = 1;
-      drive->vyn = 1;
-    }
-    else if(linesens == 12) {
-      drive->vyn = 1;
-      drive->vxn = 1;
-    }
-    else if(linesens == 9) {
-      drive->vyp = 1;
-      drive->vxn = 1;
-    }
-    else if(linesens == 7) {
-      drive->vyp = 1;
-      drive->vyn = 1;
-      drive->vxp = 1;
-    }
-    else if(linesens == 13){
-      drive->vxp = 1;
-      drive->vxn = 1;
-      drive->vyn = 1;
-    }
-    else if(linesens == 11) {
-      drive->vyp = 1;
-      drive->vxn = 1;
-      drive->vxp = 1;
-    }
-    else if(linesens == 14) {
-      drive->vyn = 1;
-      drive->vxn = 1;
-      drive->vxp = 1;
-    }
-    else if(linesens == 5){
-      if(linesensOldX == 2) drive->vyp = 1;
-      else if(linesensOldY == 8)drive->vyn = 1;
-    }
-    else if(linesens == 10){
-      if(linesensOldY == 4) drive->vyn = 1;
-      else if(linesensOldY == 1) drive->vyp = 1;
-    }
-    drive->canUnlock = true;
-    linesens = 0;
-    linesensOldY = 0;
-    linesensOldX = 0;
-  }
-}
-
-void LineSys2019::test(){
-  update();
-  DEBUG.print("In: ");
-  for(DataSource* d : in){
-      d->update();
-      DEBUG.print(d->getValue());
-      DEBUG.print(" | ");
-  }
-  DEBUG.print(" |---| ");
-  DEBUG.print("Out: ");
-  for(DataSource* d : out){
-      d->update();
-      DEBUG.print(d->getValue());
-      DEBUG.print(" | ");
-  }
-  DEBUG.println();
-  for(int i = 0; i < 4; i++){
-    DEBUG.print(linetriggerI[i]);
-    DEBUG.print(" | ");
-    DEBUG.println(linetriggerO[i]);
-  }
-
-  DEBUG.println(inV);
-  DEBUG.println(outV);
-  DEBUG.println();
-}
\ No newline at end of file
diff --git a/src/system/lines/linesys_camera_new.cpp b/src/system/lines/linesys_camera_new.cpp
deleted file mode 100644
index 5a906fe..0000000
--- a/src/system/lines/linesys_camera_new.cpp
+++ /dev/null
@@ -1,116 +0,0 @@
-// #include "sensors/linesys_camera.h"
-// #include "position/positionsys_camera.h"
-// #include "sensors/sensors.h"
-// #include "strategy_roles/games.h"
-
-// using namespace std;
-// LineSysCamera::LineSysCamera() {}
-// LineSysCamera::LineSysCamera(vector<DataSource*> in_, vector<DataSource*> out_){
-//     this->in = in_;
-//     this->out = out_;
-
-//     fboundsX = false;
-//     fboundsY = false;
-//     slow = false;
-
-//     linesensOldX = 0;
-//     linesensOldY = 0;
-
-//     tookLine = false;
-
-//     for(int i = 0; i < 4; i++){
-//       linetriggerI[i] = 0;
-//       linetriggerO[i] = 0;
-//     }
-
-//     exitTimer = 0;
-//     linesens = 0;
-// }
-
-// void LineSysCamera::update(){
-//   inV = 0;
-//   outV = 0;
-//   tookLine = false;
-
-//   for(DataSource* d : in) d->readSensor();
-//   for(DataSource* d : out) d->readSensor();
-
-//   for(auto it = in.begin(); it != in.end(); it++){
-//     i = it - in.begin();
-//     ds = *it;
-//     linetriggerI[i] = ds->getValue() > LINE_THRESH_CAM;
-//   }
-//   for(auto it = out.begin(); it != out.end(); it++){
-//     i = it - out.begin();
-//     ds = *it;
-//     linetriggerO[i] = ds->getValue() > LINE_THRESH_CAM;
-//   }
-
-//   for(int i = 0; i < 4; i++){
-//     inV = inV | (linetriggerI[i] << i);
-//     outV = outV | (linetriggerO[i] << i);
-//   }
-
-
-//   if ((inV > 0) || (outV > 0)) {
-//     if(millis() - exitTimer > EXTIME_CAM) {
-//       fboundsX = true;
-//       fboundsY = true;
-//     }
-//     exitTimer = millis();
-//   }
-
-//   linesens |= inV | outV;
-//   outOfBounds();
-// }
-
-// void LineSysCamera::outOfBounds(){
-
-//   if(fboundsX == true) {
-//     if(linesens & 0x02) linesensOldX = 2;
-//     else if(linesens & 0x08) linesensOldX = 8;
-//     if(linesensOldX != 0) fboundsX = false;
-//   }
-//   if(fboundsY == true) {
-//     if(linesens & 0x01) linesensOldY = 1;
-//     else if(linesens & 0x04) linesensOldY = 4;
-//     if(linesensOldY != 0) fboundsY = false;
-//   }
-
-//   if (millis() - exitTimer <= EXTIME_CAM){
-//     if(linesens > 0) ((PositionSysCamera*)goalie->ps)->goCenter();
-
-//     tookLine = true;
-//   }else{
-//     linesens = 0;
-//     linesensOldY = 0;
-//     linesensOldX = 0;
-//   }
-// }
-
-// void LineSysCamera::test(){
-//   update();
-//   DEBUG.print("In: ");
-//   for(DataSource* d : in){
-//       d->update();
-//       DEBUG.print(d->getValue());
-//       DEBUG.print(" | ");
-//   }
-//   DEBUG.print(" |---| ");
-//   DEBUG.print("Out: ");
-//   for(DataSource* d : out){
-//       d->update();
-//       DEBUG.print(d->getValue());
-//       DEBUG.print(" | ");
-//   }
-//   DEBUG.println();
-//   for(int i = 0; i < 4; i++){
-//     DEBUG.print(linetriggerI[i]);
-//     DEBUG.print(" | ");
-//     DEBUG.println(linetriggerO[i]);
-//   }
-
-//   DEBUG.println(inV);
-//   DEBUG.println(outV);
-//   DEBUG.println();
-// }
\ No newline at end of file
diff --git a/src/test_menu.cpp b/src/test_menu.cpp
index d6edd67..08125b3 100644
--- a/src/test_menu.cpp
+++ b/src/test_menu.cpp
@@ -4,7 +4,6 @@
 #include "sensors/data_source_bt.h"
 #include "sensors/data_source_camera_conicmirror.h"
 #include "systems/lines/linesys_camera.h"
-#include "systems/lines/linesys_2019.h"
 #include "sensors/sensors.h"
 #include "motors_movement/motor.h"
 #include "motors_movement/drivecontroller.h"
@@ -90,11 +89,11 @@ void TestMenu :: testMenu(){
                 delay(100);
             break;
             case '7':
-            break;
-            case '8':
                 CURRENT_DATA_READ.game->ls->test();
                 delay(200);
             break;
+            case '8':
+            break;
             case 'u':
               while(Serial2.available()) DEBUG.print((char)Serial2.read());
             break;