diff --git a/include/goalie.h b/include/goalie.h
index 2c03032..0524463 100755
--- a/include/goalie.h
+++ b/include/goalie.h
@@ -16,7 +16,7 @@
 #define GOALIE_ATKDIR_PLUSANG2_COR 70
 #define GOALIE_ATKDIR_PLUSANG3_COR 70
 
-class Goalie : public Game{
+class Goalie : public Game, public PositionSysZone{
 
     public:
         Goalie();
diff --git a/include/positionsys_zone.h b/include/positionsys_zone.h
index 24dedff..c7d71d6 100644
--- a/include/positionsys_zone.h
+++ b/include/positionsys_zone.h
@@ -60,6 +60,7 @@ class PositionSysZone : public PositionSystem{
         PositionSysZone();
         void update() override;
         void test() override;
+        void goCenter();
 
         //returns the zone calculated
         int getValue();
@@ -110,7 +111,7 @@ class PositionSysZone : public PositionSystem{
         void testLogicZone();
 
         //movement
-        void goCenter();
+        //void goCenter();
         void goGoalPost();
         void centerGoalPost();
         void centerGoalPostCamera(bool);
diff --git a/src/drivecontroller.cpp b/src/drivecontroller.cpp
index 53b9b5c..c06b124 100755
--- a/src/drivecontroller.cpp
+++ b/src/drivecontroller.cpp
@@ -31,7 +31,7 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
     setpoint = 0;
 
     pid->SetMode(AUTOMATIC);
-    pid->SetSampleTime(2);
+    pid->SetSampleTime(5);
 
     canUnlock = true;
     unlockTime = 0;
diff --git a/src/goalie.cpp b/src/goalie.cpp
index 0b0c7b7..437a620 100755
--- a/src/goalie.cpp
+++ b/src/goalie.cpp
@@ -1,6 +1,7 @@
 #include "goalie.h"
 #include "sensors.h"
 #include "vars.h"
+#include "positionsys_zone.h"
 
 Goalie::Goalie() : Game() {
   init();
@@ -17,7 +18,7 @@ void Goalie::init(){
 }
 
 void Goalie::realPlay(){
-  if(ball->ballSeen) this->goalie(50);
+  if(ball->ballSeen) this->goCenter();
   else drive->prepareDrive(0,0,0);
 }
 
@@ -36,11 +37,19 @@ void Goalie::goalie(int plusang) {
     else dir = dir;
 
     storcimentoPorta();
+<<<<<<< HEAD
     if(ball->distance > 200 && (ball->angle > 340 || ball->angle < 20)) drive->prepareDrive(dir, 350, cstorc);
     else {
       drive->prepareDrive(dir, 350, 0);
       cstorc = 0;
     }
+=======
+    //if(ball->distance > 200 && (ball->angle > 340 || ball->angle < 20)) drive->prepareDrive(ball->dir, 350, cstorc);
+    //else {
+      drive->prepareDrive(ball->dir, 350, 0);
+    //  cstorc = 0;
+    //}
+>>>>>>> 5a9ce6692fe1b3165fa36a1f5a11c729c8818dd4
   }
 }
 
diff --git a/src/positionsys_zone.cpp b/src/positionsys_zone.cpp
index 922b197..6cdc079 100644
--- a/src/positionsys_zone.cpp
+++ b/src/positionsys_zone.cpp
@@ -373,7 +373,15 @@ void PositionSysZone::testLogicZone(){
 
 
 void PositionSysZone::goCenter() {
-  if (zoneIndex == 8)
+  if((camera->true_yb + camera->true_yy) >= 3 && (camera->true_yb + camera->true_yy) <= -3) {
+    //dx o sx
+   if((camera->true_yb + camera->true_yy) < 0) drive->prepareDrive(0, 200, 0);
+   else if ((camera->true_yb + camera->true_yy) > 0) drive->prepareDrive(270, 200, 0);
+  }  
+  if(camera->true_xb >= -10 && camera->true_xb <= 10);
+  else if(camera->true_xb >= -5 && camera->true_xb <= 35) drive->prepareDrive(90, 200, 0);
+  else if(camera->true_xb >= 5 && camera->true_xb <= -35) drive->prepareDrive(180, 200, 0);
+ /*  if (zoneIndex == 8)
     drive->prepareDrive(330, GOCENTER_VEL);
   if (zoneIndex == 7)
     drive->prepareDrive(0, GOCENTER_VEL);
@@ -390,7 +398,7 @@ void PositionSysZone::goCenter() {
   if (zoneIndex == 1)
     drive->prepareDrive(180, GOCENTER_VEL);
   if (zoneIndex == 0)
-    drive->prepareDrive(135, GOCENTER_VEL);
+    drive->prepareDrive(135, GOCENTER_VEL); */
 }
 
 
diff --git a/utility/OpenMV/conic_eff.py b/utility/OpenMV/conic_eff.py
index 7984d9e..4a16bd5 100644
--- a/utility/OpenMV/conic_eff.py
+++ b/utility/OpenMV/conic_eff.py
@@ -40,7 +40,7 @@ blue_led.on()
 
 
 thresholds = [  (30, 70, -12, 19, 10, 57),    # thresholds yellow goal
-                (0, 31, -2, 39, -68, -25)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (0, 44, -5, 42, -65, -13)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 
@@ -62,7 +62,7 @@ sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.QQVGA)
 sensor.set_contrast(+3)
 sensor.set_saturation(0)
-sensor.set_brightness(0)
+sensor.set_brightness(-2)
 sensor.set_quality(0)
 sensor.set_auto_exposure(False, 10000)
 sensor.set_auto_gain(True)