diff --git a/src/game.cpp b/src/game.cpp
index 05c974f..527fbd2 100644
--- a/src/game.cpp
+++ b/src/game.cpp
@@ -5,16 +5,18 @@ Game::Game(){
 }
 
 void Game::goalie(){
+    compass->readSensor();
     digitalWrite(LED_G, HIGH);
-    //if(ball->ballSeen){
-        //if(ball->angle >= 0) {
-            drive->prepareDrive(0, 150, 0);
-            drive->drive(0, 150, 0);
-    //}
-    //} else drive->prepareDrive(0, 0, 0);
+    if(ball->ballSeen){
+        if(ball->angle >= 0) {
+            drive->prepareDrive(0, 50, 0);
+            drive->drive(0, 50, 0);
+    }
+    } else drive->prepareDrive(0, 0, 0);
 }
 
 void Game::keeper(){
+    compass->readSensor();
     digitalWrite(LED_Y, HIGH);
 }
 
diff --git a/src/main.cpp b/src/main.cpp
index 95f1375..5084296 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -12,13 +12,15 @@ void setup() {
 }
 
 void loop() {
-  updateSensors();
+  //updateSensors();
   /*if(millis() % 100 == 0)
   DEBUG_PRINT.println(us->getValue());*/
-  if(game->role) game->goalie();
-  else game->keeper();
+  /* if(game->role) game->goalie();
+  else game->keeper(); */
+  game->goalie();
   game->role = digitalRead(SWITCH_DX);
   game->attackGoal = digitalRead(SWITCH_SX);
+  //compass->test();
   //usCtrl->test();
   delay(200);
 }
\ No newline at end of file