diff --git a/src/goalie.cpp b/src/goalie.cpp
index 912087a..1787c64 100755
--- a/src/goalie.cpp
+++ b/src/goalie.cpp
@@ -45,8 +45,8 @@ void Goalie::goalie(int plusang) {
 }
 
 void Goalie::storcimentoPorta() {
-  if (camera->getValueAtk(false) >= 10 && camera->getValueAtk(false) <= 90) cstorc+=9;
-  else if (camera->getValueAtk(false)  <= 350 && camera->getValueAtk(false) >= 270) cstorc-=9;
+  if (camera->getValueAtk(true ) >= 10 && camera->getValueAtk(true) <= 90) cstorc+=9;
+  else if (camera->getValueAtk(true)  <= 350 && camera->getValueAtk(true) >= 270) cstorc-=9;
   // else cstorc *= 0.7;
   cstorc = constrain(cstorc, -45, 45);
 }
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index a9f117f..4acf77c 100755
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -16,8 +16,6 @@ void setup() {
 
 void loop() {
   updateSensors();
-  camera->test();
-  // compass->test();
   goalie->play(role==1);
   keeper->play(role==0);  
 
diff --git a/utility/OpenMV/conic_eff.py b/utility/OpenMV/conic_eff.py
index 1f9f231..2c496cb 100644
--- a/utility/OpenMV/conic_eff.py
+++ b/utility/OpenMV/conic_eff.py
@@ -39,8 +39,8 @@ blue_led.on()
 
 
 
-thresholds = [  (49, 99, -24, 17, 23, 64),    # thresholds yellow goal
-                (-128,-128,-128,-128,-128,-128)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+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)
 
 roi = (0, 6, 318, 152)
 
diff --git a/utility/OpenMV/main_test_conic.py b/utility/OpenMV/main_test_conic.py
index 31bce7c..f3009fe 100644
--- a/utility/OpenMV/main_test_conic.py
+++ b/utility/OpenMV/main_test_conic.py
@@ -29,8 +29,8 @@ blue_led.on()
 #thresholds = [  (54, 93, -10, 25, 55, 70),    # thresholds yellow goal
 #                (30, 45, 1, 40, -60, -19)]    # thresholds blue goal
 #
-thresholds = [  (55, 98, -14, 12, 7, 55),    # thresholds yellow goal
-                (20, 51, -23, 26, -69, -31)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+thresholds = [  (30, 70, -12, 19, 41, 68)  ,    # thresholds yellow goal
+                (0, 70, -2, 34, -59, -21)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 
@@ -50,11 +50,11 @@ clock = time.clock()'''
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
 sensor.set_framesize(sensor.QQVGA)
-sensor.set_contrast(+0)
-sensor.set_saturation(+0)
-sensor.set_brightness(0)
+sensor.set_contrast(+2)
+sensor.set_saturation(+1)
+sensor.set_brightness(-2)
 sensor.set_quality(0)
-sensor.set_auto_exposure(False, 8000)
+sensor.set_auto_exposure(False, 6000)
 sensor.set_auto_gain(True)
 sensor.skip_frames(time = 300)
 
@@ -79,7 +79,7 @@ while(True):
     tt_blue = [(0,999,0,2)]       ## creo una lista di tuple per il blue, valore x = 999 : non trovata
 
     img = sensor.snapshot()
-    for blob in img.find_blobs(thresholds, pixels_threshold=75, area_threshold=100, merge = True):
+    for blob in img.find_blobs(thresholds, pixels_threshold=150, area_threshold=150, merge = True):
         img.draw_rectangle(blob.rect())
         img.draw_cross(blob.cx(), blob.cy())
 
@@ -100,7 +100,7 @@ while(True):
     cy = img.height() / 2 - cy
     angle = math.pi/2 - math.atan2(cy, cx)
     dist = math.sqrt(cx*cx + cy*cy)
-    string_yellow = "Y"+str(cx)+" | "+str(cy)+" | "+str(angle)+" | "+str(dist)+"y"
+    string_yellow = "Y"+str(cx)+" | "+str(cy)+" | "+str(angle)+" | "+str(dist)+str(area)+"y"
     print (string_yellow)   # test on serial terminal
 
     '''Blue'''
@@ -109,7 +109,7 @@ while(True):
     cy = img.height() / 2 - cy
     angle = math.pi/2 - math.atan2(cy, cx)
     dist = math.sqrt(cx*cx + cy*cy)
-    string_blue = "B"+str(cx)+" | "+str(cy)+" | |"+str(angle)+" | "+str(dist)+"b"
+    string_blue = "B"+str(cx)+" | "+str(cy)+" | |"+str(angle)+" | "+str(dist)+str(area)+"b"
     print (string_blue)   # test on serial terminal
 
     #print ("..................................")