diff --git a/src/data_source_camera_conicmirror.cpp b/src/data_source_camera_conicmirror.cpp
index 0013a0e..7732c4c 100755
--- a/src/data_source_camera_conicmirror.cpp
+++ b/src/data_source_camera_conicmirror.cpp
@@ -47,8 +47,8 @@ void DataSourceCameraConic :: readSensor(){
         bAngle = (bAngle+360)%360;
 
         //Fixes with IMU
-        yAngleFix = ((int)(yAngle - compass->getValue()*0.35) + 360) % 360  ;
-        bAngleFix = ((int)(bAngle - compass->getValue()*0.35) + 360) % 360 ;
+        yAngleFix = ((int)(yAngle + compass->getValue()*0.8) + 360) % 360  ;
+        bAngleFix = ((int)(bAngle + compass->getValue()*0.8) + 360) % 360 ;
 
         yDist = sqrt( (true_yy-50)*(true_yy-50) + (50-true_xy)*(50-true_xy) );
         bDist = sqrt( (true_yb-50)*(true_yb-50) + (50-true_xb)*(50-true_xb) );
diff --git a/src/goalie.cpp b/src/goalie.cpp
index 740ea29..912087a 100755
--- a/src/goalie.cpp
+++ b/src/goalie.cpp
@@ -36,9 +36,9 @@ void Goalie::goalie(int plusang) {
     ball->b = ball->dir;
 
     storcimentoPorta();
-    if(ball->distance > 200 && (ball->angle > 340 || ball->angle < 20)) drive->prepareDrive(ball->dir, 150, cstorc);
+    if(ball->distance > 200 && (ball->angle > 340 || ball->angle < 20)) drive->prepareDrive(ball->dir, 350, cstorc);
     else {
-      drive->prepareDrive(ball->dir, 150, 0);
+      drive->prepareDrive(ball->dir, 350, 0);
       cstorc = 0;
     }
   }