diff --git a/include/motors_movement/drivecontroller.h b/include/motors_movement/drivecontroller.h
index 99c3cc4..3d1eab7 100644
--- a/include/motors_movement/drivecontroller.h
+++ b/include/motors_movement/drivecontroller.h
@@ -22,7 +22,7 @@
 
 // #define MAX_POSSIBLE_VEL 310
 #define MAX_POSSIBLE_VEL 280
-#define MAX_VEL 60
+#define MAX_VEL 280
 #define MAX_VEL_EIGTH ((int)MAX_VEL*0.8)
 #define MAX_VEL_HALF ((int)MAX_VEL*0.5)
 #define MAX_VEL_3QUARTERS ((int)MAX_VEL*0.75)
diff --git a/include/strategy_roles/striker.h b/include/strategy_roles/striker.h
index 9bfd37a..32edc73 100644
--- a/include/strategy_roles/striker.h
+++ b/include/strategy_roles/striker.h
@@ -6,8 +6,8 @@
 
 #define STRIKER_ATTACK_DISTANCE 110
 #define STRIKER_TILT_STOP_DISTANCE 140
-#define STRIKER_PLUSANG 62
-#define STRIKER_PLUSANG_VISIONCONE 7
+#define STRIKER_PLUSANG 70
+#define STRIKER_PLUSANG_VISIONCONE 0
 
 class Striker : public Game{
 
@@ -25,5 +25,8 @@ class Striker : public Game{
         int atk_speed, atk_direction;
         float atk_tilt, ball_tilt;
 
+        int ball_angle_filter;
+        ComplementaryFilter* ball_filter;
+
         bool gotta_tilt;
 };
diff --git a/include/systems/lines/linesys_camera.h b/include/systems/lines/linesys_camera.h
index 27ed37f..9f29b82 100644
--- a/include/systems/lines/linesys_camera.h
+++ b/include/systems/lines/linesys_camera.h
@@ -16,8 +16,8 @@
 #define S4I A1
 #define S4O A2
 
-#define LINE_THRESH_CAM 350
-#define EXIT_TIME 300
+#define LINE_THRESH_CAM 100
+#define EXIT_TIME 100
 
 class LineSysCamera : public LineSystem{
 
diff --git a/include/systems/position/positionsys_camera.h b/include/systems/position/positionsys_camera.h
index faf530a..755c657 100644
--- a/include/systems/position/positionsys_camera.h
+++ b/include/systems/position/positionsys_camera.h
@@ -7,7 +7,7 @@
 
 //Camera center: those setpoints correspond to what we consider the center of the field
 #define CAMERA_CENTER_X 0
-#define CAMERA_CENTER_Y 0
+#define CAMERA_CENTER_Y -20
 
 //Camera goal: those setpoints correspond to the position of the center of the goal on the field
 #define CAMERA_GOAL_X 0
@@ -26,11 +26,11 @@
 #define VICINITY_DIST_TRESH 2
 #define ROUGH_VICINITY_DIST_TRESH 10
 
-#define Kpx 1
-#define Kix 0
+#define Kpx 2.5
+#define Kix 0.1
 #define Kdx 0
-#define Kpy 1
-#define Kiy 0
+#define Kpy 3.5
+#define Kiy 0.1
 #define Kdy 0
 
 class PositionSysCamera : public PositionSystem{