diff --git a/include/systems/position/positionsys_camera.h b/include/systems/position/positionsys_camera.h
index c997933..d9032cc 100644
--- a/include/systems/position/positionsys_camera.h
+++ b/include/systems/position/positionsys_camera.h
@@ -11,10 +11,10 @@
 
 //Camera goal: those setpoints correspond to the position of the center of the goal on the field
 #define CAMERA_GOAL_X 0
-#define  CAMERA_GOAL_Y -14
+#define  CAMERA_GOAL_Y -12
 
-#define CAMERA_GOAL_MIN_X -16
-#define CAMERA_GOAL_MAX_X 16
+#define CAMERA_GOAL_MIN_X -8
+#define CAMERA_GOAL_MAX_X 8
 
 #define CAMERA_CENTER_Y_ABS_SUM 60
 //Actually it's ± MAX_VAL
diff --git a/src/strategy_roles/pass_and_shoot.cpp b/src/strategy_roles/pass_and_shoot.cpp
index a65fbc3..65b4f8f 100644
--- a/src/strategy_roles/pass_and_shoot.cpp
+++ b/src/strategy_roles/pass_and_shoot.cpp
@@ -29,20 +29,31 @@ void PassAndShoot::init()
   pass_counter = millis();
 }
 
+unsigned long pass_timer = 0;
+boolean flag = false;
+
 void PassAndShoot::realPlay()
 {
   if (CURRENT_DATA_READ.ballSeen){
     if(robot_indentifier == HIGH){
-      if(millis() - pass_counter <= 1500) {
-        striker();
-      }else{
+        if(ball->isInFront() && CURRENT_DATA_READ.ballDistance <= 90){
+          if(!flag){
+            pass_timer = millis();
+            flag = true;
+
+            //Show on 32u4
+            Serial2.write(0b00000100);
+          }
+        }
+        if(!flag || (millis() - pass_timer <= 650)){
+          striker();
+        }else{
         ((PositionSysCamera*)ps)->setMoveSetpoints(CAMERA_GOAL_MIN_X, CAMERA_GOAL_Y);
         bt->tosend = 'C';
-      }
+        roller->speed(0);
+        }
     }else{
       if(bt->received == 'C'){
-        // //Show on 32u4
-        Serial2.write(0b00000100);
         striker();
       }else drive->prepareDrive(0,0,0);
     }