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diff --git a/.vscode/extensions.json b/.vscode/extensions.json
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diff --git a/README.md b/README.md
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diff --git a/include/data_source.h b/include/data_source.h
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new mode 100755
diff --git a/include/data_source_ball.h b/include/data_source_ball.h
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diff --git a/include/data_source_bno055.h b/include/data_source_bno055.h
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diff --git a/include/data_source_camera.h b/include/data_source_camera.h
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diff --git a/include/data_source_controller.h b/include/data_source_controller.h
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diff --git a/include/data_source_us.h b/include/data_source_us.h
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diff --git a/include/drivecontroller.h b/include/drivecontroller.h
old mode 100644
new mode 100755
index 87785e4..6c6521f
--- a/include/drivecontroller.h
+++ b/include/drivecontroller.h
@@ -15,8 +15,8 @@ class DriveController{
 
         DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_);
         
-        void drive(int dir, int speed, int tilt);
-        void prepareDrive(int dir, int speed, int tilt);
+        void drive(int dir=0, int speed=0, int tilt=0);
+        void prepareDrive(int dir=0, int speed=0, int tilt=0);
         void drivePrepared();
         float updatePid();
         float torad(float f);
diff --git a/include/ds_ctrl.h b/include/ds_ctrl.h
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diff --git a/include/ds_ctrl_lines.h b/include/ds_ctrl_lines.h
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diff --git a/include/game.h b/include/game.h
old mode 100644
new mode 100755
index 0b02f40..2776e2e
--- a/include/game.h
+++ b/include/game.h
@@ -1,21 +1,12 @@
 #pragma once
 
-#include "data_source.h"
-#include "data_source_ball.h"
-#include "motor.h"
-#include "drivecontroller.h"
-#include "sensors.h"
 #include "vars.h"
-#include "data_source_bno055.h"
-#include "goalie.h"
-#include "keeper.h"
+#include "sensors.h"
 
-class Game{
+class Game {
     public:
         Game();
-        //void keeper();
-        //void goalie();
-        //void ballBack();
-        bool role, attackGoal; //1->goalie 0->keeper, 1->yellow 0->blue
-        //~Game();
+        void play(bool condition=true);
+    private:
+        virtual void realPlay() = 0;
 };
\ No newline at end of file
diff --git a/include/games.h b/include/games.h
new file mode 100644
index 0000000..df9148f
--- /dev/null
+++ b/include/games.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef GAMES_CPP
+#define g_extr 
+#else
+#define g_extr extern
+#endif
+
+#include <Arduino.h>
+#include "game.h"
+#include "goalie.h"
+#include "keeper.h"
+
+void initGames();
+
+g_extr Game* goalie;
+g_extr Game* keeper;
\ No newline at end of file
diff --git a/include/goalie.h b/include/goalie.h
old mode 100644
new mode 100755
index fba8d97..d6fde1d
--- a/include/goalie.h
+++ b/include/goalie.h
@@ -1,8 +1,10 @@
 #pragma once
 
 #include "game.h"
+#include "sensors.h"
+#include "data_source_camera.h"
 
-/* #define GOALIE_ATKSPD_LAT  255
+#define GOALIE_ATKSPD_LAT  255
 #define GOALIE_ATKSPD_BAK  350
 #define GOALIE_ATKSPD_FRT  345
 #define GOALIE_ATKSPD_STRK 355
@@ -12,14 +14,18 @@
 #define GOALIE_ATKDIR_PLUSANGBAK 40
 #define GOALIE_ATKDIR_PLUSANG1_COR 60
 #define GOALIE_ATKDIR_PLUSANG2_COR 70
-#define GOALIE_ATKDIR_PLUSANG3_COR 70 */
+#define GOALIE_ATKDIR_PLUSANG3_COR 70
 
-class Goalie{
+class Goalie : public Game{
 
     public:
         Goalie();
+
+        void realPlay() override;
         void goalie();
         void ballBack(); 
-        //void rigore(); to be implemented
-         int atk_direction, atk_speed;
+        void storcimentoPorta();
+
+        int atk_speed, atk_direction;
+        float cstorc;
 };
diff --git a/include/keeper.h b/include/keeper.h
old mode 100644
new mode 100755
index 527cd8d..d63c850
--- a/include/keeper.h
+++ b/include/keeper.h
@@ -2,10 +2,26 @@
 
 #include "game.h"
 
-class Keeper{
+//KEEPER
+#define KEEPER_ATTACK_DISTANCE 200
+#define KEEPER_ALONE_ATTACK_TIME 5000 //in millis
+#define KEEPER_COMRADE_ATTACK_TIME 3000//in millis
+#define KEEPER_BASE_VEL 320
+#define KEEPER_VEL_MULT 1.4
+#define KEEPER_BALL_BACK_ANGLE 30
+
+
+class Keeper : public Game{
 
     public:
         Keeper();
+    private:
+        void realPlay() override;
         void keeper();
-        //void keeperGoalie(); to be implemented
-};
\ No newline at end of file
+
+        int defSpeed, defDir;
+
+        float angle, angleX, angleY;
+        elapsedMillis t, toh, keeperAttackTimer;
+        bool keeper_tookTimer, keeper_backToGoalPost;
+};
diff --git a/include/motor.h b/include/motor.h
old mode 100644
new mode 100755
diff --git a/include/sensors.h b/include/sensors.h
old mode 100644
new mode 100755
index 0398e27..d9d5e91
--- a/include/sensors.h
+++ b/include/sensors.h
@@ -1,5 +1,13 @@
-#include <Arduino.h>
 #pragma once
+
+
+#ifdef SENSORS_CPP
+#define s_extr 
+#else
+#define s_extr extern
+#endif
+
+#include <Arduino.h>
 #include "data_source_bno055.h"
 #include "data_source_ball.h"
 #include "data_source_camera.h"
@@ -8,31 +16,20 @@
 #include "motor.h"
 #include "ds_ctrl.h"
 #include "drivecontroller.h"
-#include "game.h"
-#ifdef SENSORS_CPP
-#define extr 
-#else
-#define extr extern
-#endif
 
-class Game;
-class Goalie;
-class Keeper;
 void initSensors();
 void updateSensors();
 
-extr vector<DataSource*> lIn;
-extr vector<DataSource*> lOut;
-extr vector<DataSource*> dUs;
+s_extr vector<DataSource*> lIn;
+s_extr vector<DataSource*> lOut;
+s_extr vector<DataSource*> dUs;
 
-extr DataSourceCtrl* usCtrl;
-extr DataSourceCtrlLines* linesCtrl;
+s_extr DataSourceCtrl* usCtrl;
+s_extr DataSourceCtrlLines* linesCtrl;
 
-extr DataSourceBNO055* compass;
-extr DataSourceBall* ball;
-extr DataSourceCamera* camera;
-extr DriveController* drive;
+s_extr DataSourceBNO055* compass;
+s_extr DataSourceBall* ball;
+s_extr DataSourceCamera* camera;
+s_extr DriveController* drive;
 
-extr Game* game;
-extr Goalie* goalie;
-extr Keeper* keeper;
+s_extr int role;
\ No newline at end of file
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diff --git a/lib/Adafruit_VL53L0X/doxyfile b/lib/Adafruit_VL53L0X/doxyfile
old mode 100644
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diff --git a/lib/Adafruit_VL53L0X/examples/vl53l0x/vl53l0x.ino b/lib/Adafruit_VL53L0X/examples/vl53l0x/vl53l0x.ino
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/examples/vl53l0x_oled/vl53l0x_oled.ino b/lib/Adafruit_VL53L0X/examples/vl53l0x_oled/vl53l0x_oled.ino
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/library.properties b/lib/Adafruit_VL53L0X/library.properties
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api.cpp b/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api.cpp
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_calibration.cpp b/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_calibration.cpp
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_core.cpp b/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_core.cpp
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_ranging.cpp b/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_ranging.cpp
old mode 100644
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diff --git a/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_strings.cpp b/lib/Adafruit_VL53L0X/src/core/src/vl53l0x_api_strings.cpp
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/platform/src/vl53l0x_i2c_comms.cpp b/lib/Adafruit_VL53L0X/src/platform/src/vl53l0x_i2c_comms.cpp
old mode 100644
new mode 100755
diff --git a/lib/Adafruit_VL53L0X/src/platform/src/vl53l0x_platform.cpp b/lib/Adafruit_VL53L0X/src/platform/src/vl53l0x_platform.cpp
old mode 100644
new mode 100755
diff --git a/lib/README b/lib/README
old mode 100644
new mode 100755
diff --git a/platformio.ini b/platformio.ini
old mode 100644
new mode 100755
diff --git a/src/data_source.cpp b/src/data_source.cpp
old mode 100644
new mode 100755
diff --git a/src/data_source_ball.cpp b/src/data_source_ball.cpp
old mode 100644
new mode 100755
diff --git a/src/data_source_bno055.cpp b/src/data_source_bno055.cpp
old mode 100644
new mode 100755
diff --git a/src/data_source_camera.cpp b/src/data_source_camera.cpp
old mode 100644
new mode 100755
diff --git a/src/data_source_us.cpp b/src/data_source_us.cpp
old mode 100644
new mode 100755
diff --git a/src/drivecontroller.cpp b/src/drivecontroller.cpp
old mode 100644
new mode 100755
index af2653d..db4b651
--- a/src/drivecontroller.cpp
+++ b/src/drivecontroller.cpp
@@ -34,7 +34,7 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
     integral = 0;
 }
 
-void DriveController::prepareDrive(int dir, int speed, int tilt){
+void DriveController::prepareDrive(int dir=0, int speed=0, int tilt=0){
     pDir = dir;
     pSpeed = speed;
     pTilt = tilt;
@@ -48,7 +48,7 @@ float DriveController::torad(float f){
     return (f * PI / 180.0);
 }
 
-void DriveController::drive(int dir, int speed, int tilt){
+void DriveController::drive(int dir=0, int speed=0, int tilt=0){
     vx = ((speed * cosins[dir]));
     vy = ((-speed * sins[dir]));
 
diff --git a/src/ds_ctrl.cpp b/src/ds_ctrl.cpp
old mode 100644
new mode 100755
diff --git a/src/ds_ctrl_lines.cpp b/src/ds_ctrl_lines.cpp
old mode 100644
new mode 100755
diff --git a/src/game.cpp b/src/game.cpp
index 04c054f..ee521a6 100644
--- a/src/game.cpp
+++ b/src/game.cpp
@@ -1,29 +1,7 @@
 #include "game.h"
 
-Game::Game(){
+Game::Game() {}
 
-}
-
-/* void Game::goalie(){
-  /*   //drive->prepareDrive(0, 150, 0);
-    digitalWrite(LED_G, HIGH);
-    if(ball->ballSeen){
-        if(ball->angle >= 0 && ball->angle < 45) drive->drive(0, 75, 0);
-        else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(45, 75, 0);
-        else if(ball->angle > 60 && ball->angle < 90) drive->drive(75, 75, 0);
-        else if(ball->angle >= 90 && ball->angle < 135) drive->drive(90, 75, 0);
-    } else {
-        drive->prepareDrive(0, 0, 0);
-        drive->drive(0, 0, 0);
-    }
-}
-
-void Game::keeper(){
-    digitalWrite(LED_Y, HIGH);
-    drive->prepareDrive(0, 0, 0);
-    drive->drive(0, 0, 0);
-}
-
-void ballBack(){
-
-} */
+void Game::play(bool condition=true){
+    if(condition) realPlay();
+}
\ No newline at end of file
diff --git a/src/games.cpp b/src/games.cpp
new file mode 100644
index 0000000..fd07bcb
--- /dev/null
+++ b/src/games.cpp
@@ -0,0 +1,8 @@
+#define GAMES_CPP
+
+#include "games.h"
+
+void initGames(){
+    goalie = new Goalie();
+    keeper = new Keeper();
+}
\ No newline at end of file
diff --git a/src/goalie.cpp b/src/goalie.cpp
old mode 100644
new mode 100755
index 2417f5f..2a45f60
--- a/src/goalie.cpp
+++ b/src/goalie.cpp
@@ -1,33 +1,106 @@
 #include "goalie.h"
+#include "sensors.h"
+#include "vars.h"
 
-Goalie::Goalie(){ } 
-
-void Goalie::goalie(){
-    digitalWrite(LED_G, HIGH);
-    if(ball->ballSeen){
-        if(ball->angle >= 0 && ball->angle < 45) drive->prepareDrive(0, 75, 0);
-        /* else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0);
-        else if(ball->angle > 60 && ball->angle < 90) drive->drive(ball->angle, 75, 0);
-        else if(ball->angle >= 90 && ball->angle < 135) drive->drive(ball->angle, 75, 0);  */
-    } else {
-        drive->prepareDrive(0, 0, 0);
-        drive->drive(0, 0, 0);
-    } 
+Goalie::Goalie() : Game() {
+    atk_speed = 0;
+    atk_direction = 0;
 }
 
-void Goalie::ballBack(){
-/* old    int ballangle2;
-    int dir;
-    int plusang;
+void Goalie::realPlay(){
+    goalie();
+}
 
+void Goalie::goalie() {
+  if(ball->angle >= 350 || ball->angle <= 10)  {
+    if(ball->distance > 190) atk_direction = 0;
+    else atk_direction = ball->angle;
+    atk_speed = GOALIE_ATKSPD_FRT;
+  }
+
+  if(ball->angle >= 90 && ball->angle <= 270) {
+    ballBack();
+    atk_speed = GOALIE_ATKSPD_BAK;                   
+  }
+  if(digitalRead(SWITCH_DX) == 1) {
+    if(ball->angle > 10   && ball->angle <  30)   {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle >= 30 && ball->angle <  45)    {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle >= 45 && ball->angle <  90)    {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 270 && ball->angle <= 315)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 315 && ball->angle <= 330)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 330 && ball->angle <  350)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+  } else {
+    if(ball->angle > 10   && ball->angle <  30)   {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG1_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle >= 30 && ball->angle <  45)    {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG2_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle >= 45 && ball->angle <  90)    {
+      atk_direction = ball->angle + GOALIE_ATKDIR_PLUSANG3_COR;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 270 && ball->angle <= 315)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG3;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 315 && ball->angle <= 330)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG2;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+    if(ball->angle > 330 && ball->angle <  350)   {
+      atk_direction = ball->angle - GOALIE_ATKDIR_PLUSANG1;
+      atk_speed = GOALIE_ATKSPD_LAT;
+    }
+  }
+
+  if((ball->angle >= 330 || ball->angle <= 30) && ball->distance > 190) {      //storcimento
+    atk_speed = GOALIE_ATKSPD_STRK;                                             //dove i gigahertz hanno fallito
+    drive->prepareDrive(atk_direction, atk_speed, 0);
+  }
+  else  drive->prepareDrive(atk_direction, atk_speed);
+}
+
+void Goalie::storcimentoPorta() {
+  if (camera->getValueAtk(true) >= 3) cstorc+=9;
+  else if (camera->getValueAtk(true)  < -3) cstorc-=9;
+  else cstorc *= 0.7;
+  cstorc = constrain(cstorc, -30, 30);
+}
+
+void Goalie::ballBack() {
+  int degrees2;
+  int dir;
+
+  int plusang;
   if(ball->distance > 130) plusang = GOALIE_ATKDIR_PLUSANGBAK;
   else plusang = 0;
   
-  if(ball->angle > 180) ballangle2 = ball->angle - 360;
-  else ballangle2 = ball->angle;
-  if(ballangle2 > 0) dir = ball->angle + plusang;              //45 con 8 ruote
+  if(ball->angle > 180) degrees2 = ball->angle - 360;
+  else degrees2 = ball->angle;
+  if(degrees2 > 0) dir = ball->angle + plusang;              //45 con 8 ruote
   else dir = ball->angle - plusang;                                 //45 con 8 ruote
   if(dir < 0) dir = dir + 360;
   else dir = dir;
-  atk_direction = dir; */
+  atk_direction = dir;
 }
\ No newline at end of file
diff --git a/src/keeper.cpp b/src/keeper.cpp
old mode 100644
new mode 100755
index 667a7ce..b2dd38f
--- a/src/keeper.cpp
+++ b/src/keeper.cpp
@@ -1,15 +1,46 @@
 #include "keeper.h"
+#include "sensors.h"
+#include "games.h"
+#include <Arduino.h>
 
-Keeper::Keeper(){
-
+Keeper::Keeper() : Game() {
+    defSpeed = 0;
+    defDir = 0;
+    angle = 0;
+    angleX = 0;
+    angleY = 0;
+    t = 0;
+    toh= 0;
+    keeperAttackTimer = 0;
+    keeper_tookTimer = false;
+    keeper_backToGoalPost = false;
 }
 
-void Keeper::keeper(){
-    digitalWrite(LED_Y, HIGH);
-    drive->prepareDrive(0, 0, 0);
-    drive->drive(0, 0, 0);
-}
+void Keeper::realPlay() {
+    
+    if(ball->distance > KEEPER_ATTACK_DISTANCE){
+        // Ball is quite near
+        goalie->play();
+        if(!keeper_tookTimer){
+            keeperAttackTimer = 0;
+            keeper_tookTimer = true;
+        }
+        if(keeperAttackTimer > KEEPER_ALONE_ATTACK_TIME && keeper_tookTimer) keeper_backToGoalPost = true;
 
-/* void Keeper::keeperGoalie(){
-    to be implemented
-} */
\ No newline at end of file
+    }else{
+        
+        angle = (90 + ball->angle) * M_PI / 180;
+        angleX = abs(cos(angle));
+
+        if(ball->angle >= 0 && ball->angle <= 90 && camera->getValueDef(true) < 30) drive->prepareDrive(90, KEEPER_BASE_VEL*angleX*KEEPER_VEL_MULT);
+        else if(ball->angle >= 270 && ball->angle <= 360  && camera->getValueDef(true) > -30) drive->prepareDrive(270, KEEPER_BASE_VEL*angleX*KEEPER_VEL_MULT);
+        else if(ball->angle < 270 && ball->angle > 90){
+            int ball_degrees2 = ball->angle > 180? ball->angle-360:ball->angle;
+            int dir = ball_degrees2 > 0 ? ball->angle + KEEPER_BALL_BACK_ANGLE : ball->angle - KEEPER_BALL_BACK_ANGLE;
+            dir = dir < 0? dir + 360: dir;
+            
+            drive->prepareDrive(dir, KEEPER_BASE_VEL);
+        }
+        //centerGoalPostCamera(false);    
+    }
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
old mode 100644
new mode 100755
index 180c412..502ecd3
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,12 +1,15 @@
 #include <Arduino.h>
 
-#include "game.h"
+#include "sensors.h"
+#include "games.h"
 
 void setup() {
   delay(500);
 
   DEBUG.begin(9600);
   initSensors();
+  initGames();
+  
   delay(2000);
 }
 
@@ -14,7 +17,10 @@ void setup() {
 void loop() {
   updateSensors();
   
-  goalie->goalie();
+  goalie->play(role==1);
+  keeper->play(role==0);
+
+  //Check lines before final movement
   linesCtrl->update();
 
   // Last thing to do: movement  
diff --git a/src/motor.cpp b/src/motor.cpp
old mode 100644
new mode 100755
diff --git a/src/sensors.cpp b/src/sensors.cpp
old mode 100644
new mode 100755
index 4455aca..20271b9
--- a/src/sensors.cpp
+++ b/src/sensors.cpp
@@ -18,12 +18,15 @@ void initSensors(){
     usCtrl = new DataSourceCtrl(dUs);
     linesCtrl = new DataSourceCtrlLines(lIn, lOut);
 
-    game = new Game();
+    /*game = new Game();
     goalie = new Goalie();
-    keeper = new Keeper();
+    keeper = new Keeper();*/
 }
 
 void updateSensors(){
+    role = digitalRead(SWITCH_DX);
+    camera->goalOrientation = digitalRead(SWITCH_SX);
+    
     compass->update();
     ball->update();
     camera->update();
diff --git a/test/README b/test/README
old mode 100644
new mode 100755