diff --git a/include/strategy_roles/striker.h b/include/strategy_roles/striker.h
index 32edc73..fc91130 100644
--- a/include/strategy_roles/striker.h
+++ b/include/strategy_roles/striker.h
@@ -3,11 +3,16 @@
 #include "sensors/data_source_camera_vshapedmirror.h"
 #include "sensors/sensors.h"
 #include "strategy_roles/game.h"
+#include "motors_movement/drivecontroller.h"
 
 #define STRIKER_ATTACK_DISTANCE 110
 #define STRIKER_TILT_STOP_DISTANCE 140
-#define STRIKER_PLUSANG 70
-#define STRIKER_PLUSANG_VISIONCONE 0
+#define STRIKER_PLUSANG 50
+#define STRIKER_PLUSANG_VISIONCONE 7
+#define STRIKER_VEL MAX_VEL
+
+#define STRIKER_MOUTH_SX 345
+#define STRIKER_MOUTH_DX 15
 
 class Striker : public Game{
 
@@ -22,11 +27,6 @@ class Striker : public Game{
         int tilt();
         float ballTilt();
 
-        int atk_speed, atk_direction;
-        float atk_tilt, ball_tilt;
-
-        int ball_angle_filter;
-        ComplementaryFilter* ball_filter;
-
-        bool gotta_tilt;
+        int atk_speed, atk_direction = 0, atk_tilt, stato = 0, plusang_flag = 0;
+        bool flag = false;
 };
diff --git a/src/strategy_roles/striker.cpp b/src/strategy_roles/striker.cpp
index 68043ef..6b982cb 100644
--- a/src/strategy_roles/striker.cpp
+++ b/src/strategy_roles/striker.cpp
@@ -1,83 +1,90 @@
-#include "behaviour_control/status_vector.h"
-#include "systems/position/positionsys_camera.h"
-#include "sensors/sensors.h"
-#include "sensors/data_source_ball.h"
 #include "strategy_roles/striker.h"
-#include "vars.h"
+#include "behaviour_control/status_vector.h"
 #include "math.h"
-
+#include "sensors/data_source_ball.h"
+#include "sensors/sensors.h"
+#include "systems/position/positionsys_camera.h"
+#include "vars.h"
 
 Striker::Striker() : Game()
 {
-  init();
+    init();
 }
 
 Striker::Striker(LineSystem *ls_, PositionSystem *ps_) : Game(ls_, ps_)
 {
-  init();
+    init();
 }
 
 void Striker::init()
 {
-  atk_speed = 0;
-  atk_direction = 0;
-  atk_tilt = 0;
-  ball_angle_filter = 0;
-
-  gotta_tilt = false;
-  ball_filter = new ComplementaryFilter(1);
+    atk_speed = 0;
+    atk_direction = 0;
+    atk_tilt = 0;
 }
 
 void Striker::realPlay()
 {
-  ball_angle_filter = ball_filter->calculate(CURRENT_DATA_READ.ballAngle);
-
-  if (CURRENT_DATA_READ.ballSeen)
-    this->striker();
-  else{
-    ps->goCenter();
-  }
+    if (CURRENT_DATA_READ.ballSeen)
+        this->striker();
+    else
+    {
+        ps->goCenter();
+    }
 }
 
 float ctilt = 0;
 unsigned long ttilt = 0;
 
-void Striker::striker(){
-  if(CURRENT_DATA_READ.ballDistance >= 125){
-    drive->prepareDrive(ball_angle_filter > 180 ? ball_angle_filter*0.96 : ball_angle_filter*1.04, MAX_VEL_3QUARTERS, 0);
-
-  }else
+void Striker::striker()
 {
-  //seguo palla
-  int ball_degrees2, dir, ball_deg = ball_angle_filter, plusang = STRIKER_PLUSANG;
-  
-  if(ball_deg >= 344 || ball_deg <= 16) plusang = STRIKER_PLUSANG_VISIONCONE;            //se ho la palla in un range di +-20 davanti, diminuisco di 20 il plus
-  if(ball_deg > 180) ball_degrees2 = ball_deg - 360;            //ragiono in +180 -180  
-  else ball_degrees2 = ball_deg;
 
-  if(ball_degrees2 > 0) dir = ball_deg + plusang;               //se sto nel quadrante positivo aggiungo
-  else dir = ball_deg - plusang;                                //se sto nel negativo sottraggo
+    if(CURRENT_DATA_READ.lineActive != 0 ) flag = false;
 
-  dir = (dir + 360) % 360;
-  // drive->prepareDrive(dir, MAX_VEL_HALF, tilt());
-  drive->prepareDrive(dir, MAX_VEL_3QUARTERS, CURRENT_DATA_READ.ballAngle <= 90 || CURRENT_DATA_READ.ballAngle >= 270 ? CURRENT_DATA_READ.angleAtkFix : 0);
+    int dir = 0, ball_deg = CURRENT_DATA_READ.ballAngle, plusang = STRIKER_PLUSANG + 8 * (CURRENT_DATA_READ.ballDistance <= 90);
 
-  // if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
-  // else roller->speed(roller->MIN);
-  }
-  
+    if (CURRENT_DATA_READ.ballDistance >= 125)
+    {
+        drive->prepareDrive(ball_deg > 180 ? ball_deg * 0.96 : ball_deg * 1.04, STRIKER_VEL, 0);
+    }
+    else
+    {
+        // seguo palla
+
+        if (ball->isInFront())
+        {
+            dir = 0;
+            flag = false;
+        }
+        else
+        {
+            if (!flag)
+            {
+                
+                if (ball_deg <= 90)
+                    dir = ball_deg + plusang;
+                else if (ball_deg >= 270)
+                    dir = ball_deg - plusang;
+                else
+                {
+                    flag = true;
+                    if (ball_deg <= 180)
+                        plusang_flag = plusang;
+                    else
+                        plusang_flag = -plusang;
+                }
+            }else dir = ball_deg + plusang_flag;
+        }
+
+        dir = (dir + 360) % 360;
+        drive->prepareDrive(dir, STRIKER_VEL, tilt());
+
+        // if(ball->isInFront() && roller->roller_armed) roller->speed(ROLLER_DEFAULT_SPEED);
+        // else roller->speed(roller->MIN);
+    }
 }
 
-int Striker::tilt() {
-  if (ball->isInMouth() /* || (ball->isInMouthMaxDistance() && gotta_tilt)*/ ) gotta_tilt = true;
-  else gotta_tilt = false;
-
-  if(!gotta_tilt || !CURRENT_DATA_READ.atkSeen) {
-    atk_tilt *= 0.8;
-    if(atk_tilt <= 10) atk_tilt = 0;
-  }else{
-    atk_tilt = roller->roller_armed ? CURRENT_DATA_READ.angleAtkFix : constrain(CURRENT_DATA_READ.angleAtkFix, -45, 45);
-  }
-
-  return atk_tilt;
+int Striker::tilt()
+{
+    return CURRENT_DATA_READ.ballAngle <= 90 || CURRENT_DATA_READ.ballAngle >= 270 ? CURRENT_DATA_READ.angleAtkFix : 0;
 }
\ No newline at end of file