diff --git a/include/motors_movement/drivecontroller.h b/include/motors_movement/drivecontroller.h
index eff642d..d3793e2 100644
--- a/include/motors_movement/drivecontroller.h
+++ b/include/motors_movement/drivecontroller.h
@@ -18,6 +18,12 @@
 
 #define UNLOCK_THRESH 800
 
+#define MAX_VEL 310
+#define MAX_VEL_EIGTH 248
+#define MAX_VEL_HALF 155
+#define MAX_VEL_3QUARTERS 232
+#define MAX_VEL_QUARTER 78
+
 class DriveController{
 
     public:
diff --git a/src/strategy_roles/striker.cpp b/src/strategy_roles/striker.cpp
index d7f0f51..3f0d6f3 100644
--- a/src/strategy_roles/striker.cpp
+++ b/src/strategy_roles/striker.cpp
@@ -58,7 +58,7 @@ void Striker::striker()
     dir = dir + 360; //se sto nel quadrante negativo ricappotto
   else
     dir = dir;
-  drive->prepareDrive(dir, 100, 0);
+  drive->prepareDrive(dir, MAX_VEL_EIGTH, 0);
 }
 
 void Striker::storcimentoPorta()
diff --git a/src/system/positions/positionsys_camera.cpp b/src/system/positions/positionsys_camera.cpp
index 253cb6a..d4892fc 100644
--- a/src/system/positions/positionsys_camera.cpp
+++ b/src/system/positions/positionsys_camera.cpp
@@ -118,7 +118,7 @@ void PositionSysCamera::CameraPID(){
         dir = (dir+360) % 360;
 
         int dist = sqrt(Outputx*Outputx + Outputy*Outputy);
-        int speed = map(dist*DIST_MULT, 0, MAX_DIST, 0, 350);
+        int speed = map(dist*DIST_MULT, 0, MAX_DIST, 0,  MAX_VEL);
         drive->prepareDrive(dir, speed, 0);