diff --git a/.eslintrc b/.eslintrc
new file mode 100644
index 0000000..6a75ac8
--- /dev/null
+++ b/.eslintrc
@@ -0,0 +1,6 @@
+{
+  "extends": "standard",
+  "globals": {
+    "Zone": true
+  }
+}
diff --git a/.gitignore b/.gitignore
index a80268c..798c79f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -37,3 +37,6 @@ node_modules
 # Optional REPL history
 .node_repl_history
 queue.js
+
+# VS Code stuff related
+.vscode
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 5e0c1c5..a42481e 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,12 +4,26 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-
+  
     {
       "type": "node",
       "env": {"RUN_MODE": "1"},
       "request": "launch",
-      "name": "Launch Program",
+      "name": "Launch Real Life",
+      "program": "${workspaceFolder}/server.js"
+    },
+    {
+      "type": "node",
+      "env": {"RUN_MODE": "3"},
+      "request": "launch",
+      "name": "Launch Simulated",
+      "program": "${workspaceFolder}/server.js"
+    },
+    {
+      "type": "node",
+      "env": {"RUN_MODE": "4"},
+      "request": "launch",
+      "name": "Launch Passive",
       "program": "${workspaceFolder}/server.js"
     }
   ]
diff --git a/Intention/LineIntention.js b/Intention/LineIntention.js
index cd3138d..4d808b5 100644
--- a/Intention/LineIntention.js
+++ b/Intention/LineIntention.js
@@ -1,45 +1,30 @@
-/******************************************
- *            Project Neon 2017           *
- ******************************************
-
-To see more of the documentation visit: 
-
-https://github.com/Project-Neon/NoPlan/blob/master/Intention/README.md
-
-*/
 const util = require('./util')
 const Intention = require('./')
 const assert = require('assert')
 const Vector = require('../lib/Vector')
 
-module.exports = class LineIntention extends Intention{
-  constructor(name, params) {
+module.exports = class LineIntention extends Intention {
+  constructor (name, params) {
     super(name, params)
 
-    // Asserting that the parameters exist
     assert(params)
     this.params = params
 
-    // Target has to exist
     assert.notEqual(this.params.target, null)
     this.target = this.params.target
 
-    // Theta has to exist
     assert.notEqual(this.params.theta, null)
     this.theta = this.params.theta
 
-    // Decay has to exist
     assert.notEqual(this.params.decay, null)
     this.decay = this.params.decay
-    
-    // Linesize has to exist
+
     assert.notEqual(this.params.lineSize, null)
-    this.lineSize = this.params.lineSize
-    
-    // LineDist has to exist    
+    this.lineSize = this.params.lineSize  
+
     assert.notEqual(this.params.lineDist, null)
     this.lineDist = this.params.lineDist
-    
+
     this.lineDistMax = this.params.lineDistMax || false
 
     // Use this to make the line work on only one size
@@ -50,68 +35,43 @@ module.exports = class LineIntention extends Intention{
     this.multiplier = this.params.multiplier || 1
   }
 
-  // getIntentionInfo() {
-  //   return {
-  //     'type': LineIntention.name,
-  //     'name': this.name,
-  //     'params': JSON.parse(JSON.stringify(util.mapDict(this.params, x => util.callOrReturn(x))))
-  //   }
-  // }
-
-  compute({x, y, theta}) {
+  compute ({x, y}) {
     // Instanciate target values
     let targetLine = util.callOrReturn(this.target)
     let targetTheta = util.callOrReturn(this.theta)
     let lineDistMax = util.callOrReturn(this.lineDistMax)
     let multiplier = util.callOrReturn(this.multiplier)
-    
+
     // Create vectors
     let toLine = Vector.sub({x, y}, targetLine)
-    let toLineScalar = Vector.size(toLine)
     let toLineWithTheta = Vector.rotate(toLine, -targetTheta)
 
-    // Position at line: toLineWithTheta.y
-    // Distance from line: toLineWithTheta.x
-   
     // Output 0 if outside line segment
-    if (this.lineSize && Math.abs(toLineWithTheta.x) > this.lineSize) {
-      // console.log('Outside line segment')
-      return {vx: 0, vy: 0, vtheta: 0}
-    }
+    if (this.lineSize && Math.abs(toLineWithTheta.x) > this.lineSize) return {vx: 0, vy: 0, vtheta: 0}
 
     // Output 0 if on the other side of the line and single side is active
-    if (this.lineSizeSingleSide && toLineWithTheta.x < 0) {
-      // console.log('On other side of line size')
-      return {vx: 0, vy: 0, vtheta: 0}
-    }
+    if (this.lineSizeSingleSide && toLineWithTheta.x < 0) return {vx: 0, vy: 0, vtheta: 0}
 
     // Output 0 if outside maximum distance
-    if (lineDistMax && Math.abs(toLineWithTheta.y) > lineDistMax) {
-      // console.log('Outside maximum distance')
-      return {vx: 0, vy: 0, vtheta: 0}
-    }
+    if (lineDistMax && Math.abs(toLineWithTheta.y) > lineDistMax) return {vx: 0, vy: 0, vtheta: 0}
 
     // Output 0 if on the other side of the line and single side is active
-    if (this.lineDistSingleSide && toLineWithTheta.y < 0) {
-      // console.log('on other side of line dist')
-      return {vx: 0, vy: 0, vtheta: 0}
-    }
-    
+    if (this.lineDistSingleSide && toLineWithTheta.y < 0) return {vx: 0, vy: 0, vtheta: 0}
+
     // Normalizing vector
     let toLineNorm = Vector.norm(Vector.rotate({y: toLineWithTheta.y, x: 0}, targetTheta))
 
     // Normalized Scalar
     let toLineScalarNorm = Math.max(0, Math.min(1, (Math.abs(toLineWithTheta.y) / this.lineDist)))
-    //console.log(toLineNorm, toLineScalarNorm, )
 
     // Apply decay function to normalized distance from the beginning to the end of the field
     let force = util.applyReflectedDecay(this.decay, toLineScalarNorm)
 
     return {
-      // Returning result vector times the multiplier as output. 
+      // Returning result vector times the multiplier as output.
       vx: toLineNorm.x * force * multiplier,
       vy: toLineNorm.y * force * multiplier,
       vtheta: 0
     }
   }
-}
\ No newline at end of file
+}
diff --git a/Intention/LookAtIntention.js b/Intention/LookAtIntention.js
index 7db1779..3edef81 100644
--- a/Intention/LookAtIntention.js
+++ b/Intention/LookAtIntention.js
@@ -1,47 +1,37 @@
-/******************************************
- *            Project Neon 2017           *
- ******************************************
-
-To see more of the documentation visit: 
-
-https://github.com/Project-Neon/NoPlan/blob/master/Intention/README.md
-
-*/
 const util = require('./util')
 const Intention = require('./')
 const assert = require('assert')
 const Vector = require('../lib/Vector')
 
-module.exports = class LookAtIntention extends Intention{
-  constructor(name, params) {
+module.exports = class LookAtIntention extends Intention {
+  constructor (name, params) {
     super(name, params)
-
-    // Asserting that the params exist    
+    // Asserting that the params exist
     assert(params)
     this.params = params
 
     // Either target or theta has to be declared
     assert.notEqual(this.params.theta || this.params.target, null)
-    this.theta = this.params.theta
-    this.target = this.params.target
-
     // Decay has to be declared
     assert.notEqual(this.params.decay, null)
+
     this.decay = this.params.decay
+    this.theta = this.params.theta
+    this.target = this.params.target
 
     // If multiplier is not declared it is 1
     this.multiplier = this.params.multiplier || 1
   }
 
-  getIntentionInfo() {
+  getIntentionInfo () {
     return {
       'type': LookAtIntention.name,
       'name': this.name,
-      'params': JSON.parse(JSON.stringify(util.mapDict(this.params, x => util.callOrReturn(x))))// util.mapDict(this.params , function(v, k, o) { return util.callOrReturn(v)})
+      'params': JSON.parse(JSON.stringify(util.mapDict(this.params, x => util.callOrReturn(x))))
     }
   }
 
-  compute({x, y, theta}) {
+  compute ({x, y, theta}) {
     // Instaciate theta values
     let absRobotAngle = theta
     let absTargetAngle = util.callOrReturn(this.theta)
@@ -49,9 +39,9 @@ module.exports = class LookAtIntention extends Intention{
     // If no theta was used but target was:
     if (absTargetAngle == null) {
       let targetLookAt = util.callOrReturn(this.target)
-      absTargetAngle = Vector.angle(Vector.sub(targetLookAt, {x,y}))
+      absTargetAngle = Vector.angle(Vector.sub(targetLookAt, {x, y}))
     }
-    
+
     // The difference between angles.
     let deltaAngle = Vector.normalRelativeAngle(absRobotAngle - absTargetAngle)
 
@@ -73,4 +63,4 @@ module.exports = class LookAtIntention extends Intention{
       vtheta: vtheta * this.multiplier
     }
   }
-}
\ No newline at end of file
+}
diff --git a/Intention/OrbitalIntention.js b/Intention/OrbitalIntention.js
index cd2d04c..56c0873 100644
--- a/Intention/OrbitalIntention.js
+++ b/Intention/OrbitalIntention.js
@@ -1,19 +1,10 @@
-/******************************************
- *            Project Neon 2017           *
- ******************************************
-
-To see more of the documentation visit:
-
-https://github.com/Project-Neon/NoPlan/blob/master/Intention/README.md
-
-*/
 const util = require('./util')
 const Intention = require('./')
 const assert = require('assert')
 const Vector = require('../lib/Vector')
 
-module.exports = class OrbitalIntention extends Intention{
-  constructor(name, params) {
+module.exports = class OrbitalIntention extends Intention {
+  constructor (name, params) {
     super(name, params)
 
     // Asserting that the parameters exist
@@ -27,35 +18,48 @@ module.exports = class OrbitalIntention extends Intention{
     assert.notEqual(this.params.clockwise, null)
     this.clockwise = this.params.clockwise
 
+    assert.notEqual(this.params.decay, null)
+    this.decay = this.params.decay
+
     // Radius of the orbitation movement
     assert.notEqual(this.params.radius, null)
     this.radius = this.params.radius
 
+    // Is there a maximum radius?
+    this.radiusMax = this.params.radiusMax || false
+
     // If multiplier is not declared it is 1
     this.multiplier = this.params.multiplier || 1
   }
 
-  compute({x, y, theta}) {
+  compute ({x, y}) {
     // Instanciate target values
     let target = util.callOrReturn(this.target)
-    let multiplier = util.callOrReturn(this.multiplier)
     let clockwise = util.callOrReturn(this.clockwise)
-
-    let angleToTarget = -Math.atan2(target.y - y, x - target.x);
-    let K = 100
+    let angleToTarget = Math.atan2(target.y - y, target.x - x)
+    let K = 1/200
     let distanceBetweenTarget = Vector.distBetween({x, y}, target)
     let endAngle
+    let radiusMax = this.radiusMax
+
+        // Out of max radius ? output is 0
+    if (radiusMax && distanceBetweenTarget > radiusMax) return {vx: 0, vy: 0, vtheta: 0}
+
     if (distanceBetweenTarget > this.radius) {
-      endAngle = angleToTarget + clockwise * Math.PI/2 * (2 + (this.radius + K)/(distanceBetweenTarget + K))
+      endAngle = angleToTarget + clockwise * (Math.PI / 2) * (2 - ((this.radius + K) / (distanceBetweenTarget + K)))
     } else {
-      endAngle = angleToTarget + clockwise * Math.PI/2 * Math.sqrt(distanceBetweenTarget/this.radius)
+      endAngle = angleToTarget + clockwise * (Math.PI / 2) * Math.sqrt(distanceBetweenTarget / this.radius)
     }
+
+    let toTargetScalarNorm = Math.max(0, Math.min(1, distanceBetweenTarget / (this.radius)))
     let finalVector = Vector.norm(Vector.fromTheta(endAngle))
 
+    let force = util.applyReflectedDecay(this.decay, toTargetScalarNorm)
+
     return {
       // Returning result vector times the multiplier as output.
-      vx: finalVector.x * this.multiplier,
-      vy: finalVector.y * this.multiplier,
+      vx: finalVector.x * force * this.multiplier,
+      vy: finalVector.y * force * this.multiplier,
       vtheta: 0
     }
   }
diff --git a/Intention/PointIntention.js b/Intention/PointIntention.js
index cf1a057..acd3415 100644
--- a/Intention/PointIntention.js
+++ b/Intention/PointIntention.js
@@ -1,19 +1,10 @@
-/******************************************
- *            Project Neon 2017           *
- ******************************************
-
-To see more of the documentation visit: 
-
-https://github.com/Project-Neon/NoPlan/blob/master/Intention/README.md
-
-*/
 const util = require('./util')
 const Intention = require('./')
 const assert = require('assert')
 const Vector = require('../lib/Vector')
 
-module.exports = class PointIntention extends Intention{
-  constructor(name, params) {
+module.exports = class PointIntention extends Intention {
+  constructor (name, params) {
     super(name, params)
 
     // Asserting that the parameters exist
@@ -29,7 +20,7 @@ module.exports = class PointIntention extends Intention{
     this.decay = this.params.decay
 
     // Radius has to be exist
-    assert.notEqual(this.params.radius , null)
+    assert.notEqual(this.params.radius, null)
     this.radius = this.params.radius || this.radiusMax
 
     // Is there a maximum radius?
@@ -39,7 +30,7 @@ module.exports = class PointIntention extends Intention{
     this.multiplier = this.params.multiplier || 1
   }
 
-  getIntentionInfo() {
+  getIntentionInfo () {
     return {
       'type': PointIntention.name,
       'name': this.name,
@@ -47,7 +38,7 @@ module.exports = class PointIntention extends Intention{
     }
   }
 
-  compute({x, y, theta}) {
+  compute ({x, y, theta}) {
     // Instaciate target values
     let targetGoto = util.callOrReturn(this.target)
     let radiusMax = util.callOrReturn(this.radiusMax)
@@ -57,22 +48,18 @@ module.exports = class PointIntention extends Intention{
     let toTarget = Vector.sub(targetGoto, {x, y})
     let toTargetScalar = Vector.size(toTarget)
 
-    // Out of max radius ? output is 0 
-    if (radiusMax && toTargetScalar > radiusMax) {
-      // console.log('Outside radius')
-      return {vx: 0, vy: 0, vtheta: 0}
-    }
+    // Out of max radius ? output is 0
+    if (radiusMax && toTargetScalar > radiusMax) return {vx: 0, vy: 0, vtheta: 0}
 
     // Normalized Vector
     let toTargetNorm = Vector.norm(toTarget)
-    
+
     // Normalized Scalar
     let toTargetScalarNorm = Math.max(0, Math.min(1, toTargetScalar / (this.radius)))
 
     // Apply decay to normalized scalar distance
     let force = util.applyReflectedDecay(this.decay, toTargetScalarNorm)
 
-    // console.log("Name: ",this.name, force)
     return {
       // Returning result vector times the multiplier as output
       vx: -1 * toTargetNorm.x * force * multiplier,
@@ -80,4 +67,4 @@ module.exports = class PointIntention extends Intention{
       vtheta: 0
     }
   }
-}
\ No newline at end of file
+}
diff --git a/Intention/index.js b/Intention/index.js
index 2fd1eea..cf122af 100644
--- a/Intention/index.js
+++ b/Intention/index.js
@@ -6,9 +6,8 @@ const STABILIZED_MIN_LINEAR = 30
 const STABILIZED_MIN_ANGULAR = 0.5
 
 module.exports = class Intention {
-  constructor(name, params) {
+  constructor (name, params) {
     params = params || {}
-
     this.name = name
     this.time = 0
     this.weight = (params.weight == null ? 1 : params.weight)
@@ -16,77 +15,61 @@ module.exports = class Intention {
     this.intentions = []
   }
 
-  addIntetion(intention) {
-    // Avoid same object twice in list
-    if (this.intentions.includes(intention))
-      return;
-
+  addIntetion (intention) {
+    if (this.intentions.includes(intention)) return
     this.intentions.push(intention)
-
     return intention
   }
 
-  getIntentionInfo() {
+  getIntentionInfo () {
     return this.intentions.map(x => x.getIntentionInfo())
   }
 
-  isStabilized() {
-    // Is Last compute too old?
-    if (Date.now() > this.time + FRESH_OUTPUT_TIME) return false;
-    // Has it been computed yet?
-    if (!this.output) return false;
-    // Is it active?
-    if (!this.active) return false;
-
-    // Is it stabilized with outputs?
-    if (Math.abs(this.output.vx) > STABILIZED_MIN_LINEAR) return false;
-    if (Math.abs(this.output.vy) > STABILIZED_MIN_LINEAR) return false;
-    if (Math.abs(this.output.vtheta) > STABILIZED_MIN_ANGULAR) return false;
-    
+  isStabilized () {
+    if (Date.now() > this.time + FRESH_OUTPUT_TIME) return false
+    if (!this.output) return false
+    if (!this.active) return false
+
+    if (Math.abs(this.output.vx) > STABILIZED_MIN_LINEAR) return false
+    if (Math.abs(this.output.vy) > STABILIZED_MIN_LINEAR) return false
+    if (Math.abs(this.output.vtheta) > STABILIZED_MIN_ANGULAR) return false
+
     return true
   }
 
-  get active() {
+  get active () {
     return this.weight > MIN_WEIGHT_ACTIVE
   }
 
-  compute(input) {
+  compute (input) {
     let outputSum = {vx: 0, vy: 0, vtheta: 0}
     let outputSumWeight = 0
 
     for (let intention of this.intentions) {
-      if (!intention.active)
-        continue
+      if (!intention.active) continue
 
       let weight = util.callOrReturn(intention.weight)
-
       let output = intention.compute(input)
 
-      // Save inside intention the lastOutput
       intention.output = output
-
       if (!output) {
         console.log('Fudeo o role:', intention.name, 'com: ', output)
-        continue;
+        continue
       }
 
       outputSumWeight += weight
-
       for (let key in outputSum) {
-        // console.log(`int: ${intention.name} weight: ${intention.weight} key,val: ${key},${output[key]}`)
         outputSum[key] += output[key] * Math.min(1, Math.max(0, weight))
       }
     }
 
-    // Make sure weights are ok, or return nothing
     if (outputSumWeight <= MIN_WEIGHT_ACTIVE) {
       outputSum = {vx: 0, vy: 0, vtheta: 0}
     }
 
-    // Save current time and summed output
     this.time = Date.now()
     this.output = outputSum
 
     return outputSum
   }
-}
\ No newline at end of file
+}
diff --git a/Intention/util.js b/Intention/util.js
index 7afac14..ab28cbf 100644
--- a/Intention/util.js
+++ b/Intention/util.js
@@ -1,22 +1,19 @@
 // Checks if the object is a function or a value
-exports.callOrReturn = function callOrReturn(value){
-  return (typeof value === "function") ? value() : value
+exports.callOrReturn = function callOrReturn (value) {
+  return (typeof value === 'function') ? value() : value
 }
 // Applies the decay from -1 to 1
-exports.applyReflectedDecay = function applyReflectedDecay(decayFn, value) {
-  if (!decayFn) return value;
-
+exports.applyReflectedDecay = function applyReflectedDecay (decayFn, value) {
+  if (!decayFn) return value
   let out = decayFn(Math.abs(value))
-
   // Re-reverse out function based on initial value
   return (value < 0 ? -out : out)
 }
-
-exports.mapDict = function mapDict(o, f, ctx) {
-    ctx = ctx || this;
-    var result = {};
-    Object.keys(o).forEach(function(k) {
-        result[k] = f.call(ctx, o[k], k, o); 
-    });
-    return result;
-}
\ No newline at end of file
+exports.mapDict = function mapDict (o, f, ctx) {
+  ctx = ctx || this
+  var result = {}
+  Object.keys(o).forEach(function (k) {
+    result[k] = f.call(ctx, o[k], k, o)
+  })
+  return result
+}
diff --git a/README.md b/README.md
index ada8bb8..4865fca 100644
--- a/README.md
+++ b/README.md
@@ -2,9 +2,9 @@
 
 NoPlan is the software used to guide our Very Small Size Soccer Robots.
 
-With NoPlan, we aim to create a project that can be developed by as many team members as possible at the same time. To improve productivity, we follow part of the Git - flow cheat sheet. We use Master as our "competition" code and develop as our main branch. Also, we created "legacy" as old code of "LARC-2017" branch, a safe point to return.
+With NoPlan, we aim to create a project that can be developed by as many team members as possible at the same time. To improve productivity, we follow part of the [Gitflow cheat sheet](https://danielkummer.github.io/git-flow-cheatsheet/index.pt_BR.html). We use Master as our "competition" code and develop as our main devopment branch.
 
-## Tech
+## Dependencies
 
 If you are new on this project, you might like to take a look on these stuff:
 
@@ -15,33 +15,20 @@ If you are new on this project, you might like to take a look on these stuff:
 
 ## Install
 
-To install this project you just need to `git clone`. Come on, I know you can do that.
+ To install this project you just need to:
+ -  `git clone`
+ - `yarn install` inside repository to install all node dependencies
 
 ## Requirements
   - `Node > 8.4.0`
-  - Being able to sudo, in other words, **YOU FUCKING NEED A LINUX DISTRO**
   - Have SSL-Vision installed
 
-## Contributing
-
-Before you start to mess with our code base:
- * [install .editorconfig plugin in your editor](https://editorconfig.org/#download)
- * [install standard (linter) plugin in your editor](https://standardjs.com/index.html#are-there-text-editor-plugins)
-
-
 ## Running
 
-Just type `sudo node server` and press enter in your terminal. Remember to start SSL-Vision `./bin/vision` before do that.
+Just type `sudo RUN_MODE=1 node server` and press enter in your terminal. Remember to start SSL-Vision `./bin/vision` before do that.
 
 ### SSL-Vision
   - Remember to set the field control points and configure collors correct
 
 ### Simulated Version
-  - To run the position simulator use `sudo SIMULATED=1 node server`
-
-### Running The Game Manager
-  - To run use  `sudo node server`
-
-
-### TODO
-  - Inside Intention/index.js try normalizing weight instead of cropping
+  - To run the position simulator use `sudo RUN_MODE=2 node server`. Make sure to have [NoPlanVssSimulator](https://github.com/project-neon/NoPlanVssSimulator)
diff --git a/config.json b/config.json
index 03dfb72..fb24a5e 100644
--- a/config.json
+++ b/config.json
@@ -1,20 +1,28 @@
 {
   "vision": "ssl-vision",
   "driver": "serial-driver",
-  "internal-simulator": true,
+  "startSide": "left",
+  "startColor": "blue",
   "ssl-vision": {
     "class": "ssl-vision",
     "port": 10006,
     "host": "224.5.23.2"
   },
-  "vss-vision": {},
+  "simple-simulation-vision": {
+    "class": "./VSSVision"
+  },
   "serial-driver": {
     "class": "./SerialClient",
     "default-port": "/dev/ttyUSB0",
     "debug": false,
     "baud-rate": 115200
   },
-  "mocked-vision": {},
+  "simple-simulation-driver": {
+    "class": "./VSSserialClient"
+  },
+  "mock-driver": {
+    "class": "./MockDriver"
+  },
   "ui": {
     "sockets": {
       "port": 8080
diff --git a/entities/FieldConstraints.js b/entities/FieldConstraints.js
index 9df97c7..340c2c1 100644
--- a/entities/FieldConstraints.js
+++ b/entities/FieldConstraints.js
@@ -2,37 +2,35 @@ module.exports = {
   LEFT: {
     x0: -720,
     y0: -2000,
-    x1: 720,
-    y1: 0
-  },
-  SMALL_AREA_LEFT: {
-    x0: -720,
-    y0: 300,
-    x1: -550,
-    y1: 600
+    x1: -500,
+    y1: -150
   },
   RIGHT: {
-    x0: 0,
-    y0: 0,
-    x1: 750,
+    x0: -720,
+    y0: 150,
+    x1: -500,
     y1: 2000
   },
-  SMALL_AREA_RIGHT: {
-    x0: -720,
-    y0: -602,
+  GOAL_INNER_AREA: {
+    x0: -2000,
+    y0: -520,
+    x1: -300,
+    y1: 520
+  },
+  SMALL_AREA: {
+    x0: -2000,
+    y0: -350,
     x1: -550,
-    y1: -300
+    y1: 350
   },
-  CENTER: {
-    x0: 0,
-    y0: 301,
-    x1: 700,
-    y1: 602
+  GP: {// Traves
+    x: 750,
+    y: 200
   },
-  SMALL_AREA_CENTER: {
-    x0: -720,
-    y0: -300,
-    x1: -500,
-    y1: 300
+  OUR_AREA: {
+    x0: -2000,
+    y0: -720,
+    x1: 0,
+    y1: 720
   }
 }
diff --git a/lib/Coach.js b/lib/Coach.js
index 90701ff..46cc32f 100644
--- a/lib/Coach.js
+++ b/lib/Coach.js
@@ -1,5 +1,4 @@
 const _ = require('lodash')
-
 const GoalKeeper = require('../players/experimental/GoalkeeperMain')
 const GoalKeeperSides = require('../players/experimental/GoalkeeperSides')
 const GoalKeeperPush = require('../players/experimental/GoalkeeperPush')
@@ -8,66 +7,54 @@ const Attacker = require('../players/experimental/Attacker')
 const AttackerFoward = require('../players/experimental/AttackerFoward')
 const AttackerSides = require('../players/experimental/AttackerSides')
 const AttackerAvoidSides = require('../players/experimental/AttackerAvoidSides')
-const midfielderAttacker = require('../players/experimental/MidFieldAttacker')
-const midfielderDefender = require('../players/experimental/MidFieldDefender')
+const MidfielderAttacker = require('../players/experimental/MidFieldAttacker')
+const MidfielderDefender = require('../players/experimental/MidFieldDefender')
 const RulesPlay = require('../players/experimental/RulePlays')
-
 const Vector = require('../lib/Vector')
 
 module.exports = class Coach {
-  constructor(dependencies) {
-      this.match = dependencies.match
-      this.robotsProperties = this.match.robotsProperties
-
-      this.currentOrder = {}
-
-      this.init()
+  constructor (dependencies) {
+    this.match = dependencies.match
+    this.robotsProperties = this.match.robotsProperties
+    this.currentOrder = {}
+    this.init()
   }
 
-  async init() {
-    /*
-    Inicializa algoritmos e estruturas auxiliares para tomar decisões
-    */
-   this.goalkeeperId = null
-   this.attackerId = null
-   this.midfieldId = null
-
-   this.attackerRobot = null
-
-   this.Rules = new RulesPlay(0, this.match, null),
-
-   this.goalkeeper = {
-     main: new GoalKeeper(0, this.match, null),
-     push: new GoalKeeperPush(0, this.match, null),
-     side: new GoalKeeperSides(0, this.match, null)
-   }
-
+  async init () {
+    // Inicializa algoritmos e estruturas auxiliares para tomar decisões
+    this.goalkeeperId = null
+    this.attackerId = null
+    this.midfieldId = null
+    this.attackerRobot = null
+    this.Rules = new RulesPlay(0, this.match, null)
+
+    this.goalkeeper = {
+      main: new GoalKeeper(0, this.match, null),
+      push: new GoalKeeperPush(0, this.match, null),
+      side: new GoalKeeperSides(0, this.match, null)
+    }
     this.attacker = {
       main: new Attacker(0, this.match, null),
       foward: new AttackerFoward(0, this.match, null),
       sides: new AttackerSides(0, this.match, null),
       avoidSides: new AttackerAvoidSides(0, this.match, null)
     }
-
     this.midfielder = {
-      inAttack: new midfielderAttacker(0, this.match, null),
-      inDefense: new midfielderDefender(0, this.match, null),
+      inAttack: new MidfielderAttacker(0, this.match, null),
+      inDefense: new MidfielderDefender(0, this.match, null),
       sides: new AttackerSides(0, this.match, null),
-      avoidSides: new AttackerAvoidSides(0, this.match, null) 
+      avoidSides: new AttackerAvoidSides(0, this.match, null)
     }
-
-
-
   }
 
   insideFieldConstraint (fieldConstraint, ball) {
     if (ball == null) return false
-    if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
-      && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+    if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1 &&
+        ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
     return false
   }
 
-  async decide(data, robots) {
+  async decide (data, robots) {
     /*
     Metodo principal de decisão do coach para os robos, atribui aos objetos de
     robots:
@@ -84,10 +71,10 @@ module.exports = class Coach {
     // id
 
     let distFromBallCandidateGK = 100000
-    
+
     if (!this.goalkeeperId) {
       _.values(robots).map(robot => {
-        if(robot.robots.self.position) {
+        if (robot.robots.self.position) {
           const distToGoalCenter = Vector.distBetween({x: -700, y: 0}, robot.robots.self.position)
           if (distFromBallCandidateGK > distToGoalCenter) {
             this.goalkeeperId = robot.radioId
@@ -98,13 +85,11 @@ module.exports = class Coach {
     }
 
     let distToBallCandidateATK = 1000000
-
     const ball = this.match.dataManager.ball
-
     _.values(robots).map(robot => {
-      if (robot.radioId != this.goalkeeperId) {
-        if(robot.robots.self.position) {
-          if (!ball){ 
+      if (robot.radioId !== this.goalkeeperId) {
+        if (robot.robots.self.position) {
+          if (!ball) {
             this.attackerId = robot.radioId
           } else {
             const distToBall = Vector.distBetween(ball, robot.robots.self.position)
@@ -118,7 +103,7 @@ module.exports = class Coach {
     })
 
     _.values(robots).map(robot => {
-      if(robot.radioId == this.goalkeeperId) {
+      if (robot.radioId === this.goalkeeperId) {
         if (!ball) {
           robot.runningPlay = this.goalkeeper.main
           this.goalkeeper.main.setRobot(robot)
@@ -126,18 +111,15 @@ module.exports = class Coach {
         if (this.insideFieldConstraint(FieldConstraints.SMALL_AREA_CENTER, ball)) {
           robot.runningPlay = this.goalkeeper.push
           this.goalkeeper.push.setRobot(robot)
-
-        } else if (this.insideFieldConstraint(FieldConstraints.SMALL_AREA_LEFT, ball)
-          || this.insideFieldConstraint(FieldConstraints.SMALL_AREA_RIGHT, ball)) {
+        } else if (this.insideFieldConstraint(FieldConstraints.SMALL_AREA_LEFT, ball) ||
+          this.insideFieldConstraint(FieldConstraints.SMALL_AREA_RIGHT, ball)) {
           robot.runningPlay = this.goalkeeper.side
           this.goalkeeper.side.setRobot(robot)
-
         } else {
           robot.runningPlay = this.goalkeeper.main
           this.goalkeeper.main.setRobot(robot)
         }
-      }
-      else if(robot.radioId == this.attackerId) {
+      } else if (robot.radioId === this.attackerId) {
         this.attackerRobot = robot
         let robotPos = robot.robots.self.position
         let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
@@ -148,21 +130,17 @@ module.exports = class Coach {
           if (robotPos.x < ball.x) {
             robot.runningPlay = this.attacker.sides
             this.attacker.sides.setRobot(robot)
-
           } else {
             robot.runningPlay = this.attacker.avoidSides
             this.attacker.avoidSides.setRobot(robot)
-
           }
-
-        } else if(Math.abs(angle) < 25) {
+        } else if (Math.abs(angle) < 25) {
           robot.runningPlay = this.attacker.foward
           this.attacker.foward.setRobot(robot)
         } else {
           robot.runningPlay = this.attacker.main
           this.attacker.main.setRobot(robot)
         }
-
       } else {
         // MEIO CAMPISTA
         let robotPos = robot.robots.self.position
@@ -178,13 +156,12 @@ module.exports = class Coach {
               robot.runningPlay = this.midfielder.avoidSides
               this.midfielder.avoidSides.setRobot(robot)
             }
-          }else{
+          } else {
             robot.runningPlay = this.midfielder.inDefense
             this.midfielder.inDefense.setRobot(robot)
           }
         }
       }
-
     })
   }
 }
diff --git a/lib/Comm.js b/lib/Comm.js
index 5b99ff3..bf259f1 100644
--- a/lib/Comm.js
+++ b/lib/Comm.js
@@ -1,8 +1,4 @@
-const _ = require('lodash')
-const path = require('path')
-
-module.exports = function(match, options){
-
+module.exports = function (match, options) {
   var express = require('express')
   var app = express()
   var path = require('path')
@@ -11,40 +7,33 @@ module.exports = function(match, options){
   var favicon = require('serve-favicon')
 
   server.listen(options.PORT)
-
-  app.use(favicon(path.join(__dirname,'/../static/favicon.ico')))
-
-  app.use(express.static(path.join(__dirname,'/../static')))
-
+  app.use(favicon(path.join(__dirname, '/../static/favicon.ico')))
+  app.use(express.static(path.join(__dirname, '/../static')))
   app.get('/', function (req, res) {
-    res.sendFile(path.join(__dirname + '/../static/index.html'))
+    res.sendFile(path.join(__dirname, '/../static/index.html'))
   })
-
-  match.dataManager.vision.on('detection',(detection) => {
-    // console.log(mapDict(match.worker.workers, x => x.getIntentionsInfo())['robo_1'])
+  match.dataManager.vision.on('detection', (detection) => {
     io.sockets.emit(
-        'detection',
-        {
-          'detection': detection,
-          'intentions': {}//mapDict(match.worker.workers, x => x.getIntentionsInfo())
-        }
-      )
-
+      'detection',
+      {
+        'detection': detection,
+        'intentions': {}
+      }
+    )
   })
-
   io.on('connection', function (socket) {
     socket.on('state', function (data) {
-      if (data.state == "toggle") {
-        if(match.state.state.status == "running"){
-          match.state.setState({status:"stopped"})
-          } else {
-          match.state.setState({status:"running"})
+      if (data.state === 'toggle') {
+        if (match.state.state.status === 'running') {
+          match.state.setState({status: 'stopped'})
+        } else {
+          match.state.setState({status: 'running'})
         }
       }
-      if (data.type == "side") {
+      if (data.type === 'side') {
         match.state.setState({side: data.state})
       }
-      if (data.type == "color") {
+      if (data.type === 'color') {
         match.state.setState({team: data.state})
       }
     })
diff --git a/lib/DataManager.js b/lib/DataManager.js
index f889513..6fb7169 100644
--- a/lib/DataManager.js
+++ b/lib/DataManager.js
@@ -1,28 +1,25 @@
-const _ = require('lodash')
 const EventEmitter = require('events')
 const Vector = require('./Vector')
 
-module.exports = class DataManager extends EventEmitter{
-  constructor(match) {
-		super()
-
+module.exports = class DataManager extends EventEmitter {
+  constructor (match) {
+    super()
     this.match = match
     this.robots = null
-		this.coach = null
+    this.coach = null
 
-		this.frameHistory = {
-			size: 15,
-			frames: []
-		}
+    this.frameHistory = {
+      size: 15,
+      frames: []
+    }
 
-    // this.vision = vision.impl
-    // this.driver = driver.impl
     this.visionParams = match.options.vision.params
     this.driverParams = match.options.driver.params
   }
 
-  	async init () {
-    this.vision = require(this.visionParams.class)
+ async init () {
+	this.vision = require(this.visionParams.class)
+	
     this.driver = require(this.driverParams.class)
 
     this.vision = new this.vision(this.visionParams.host, this.visionParams.port)
@@ -36,39 +33,58 @@ module.exports = class DataManager extends EventEmitter{
 		this.vision.on('detection', this.emitVision.bind(this))
 	}
 
-	getBallProjection(goalLine=-630) {
+	getBallProjection(goalLine=-680, robot) {
 		let ballPos = {x: this.ball.x, y: this.ball.y}
-		let ballSpeed = this.ball.speed	
+		let ballSpeed = this.ball.speed
 		let ballDir = Vector.norm(ballSpeed)
 		let BallAngle = Math.abs(Vector.angle(ballDir))
+
+								//   1||-1						* angulo da bola (em y) * 
 		let ballProjectY = -1 * (ballDir.y/Math.abs(ballDir.y)) * Math.tan(BallAngle) * Math.abs(ballPos.x - goalLine) + ballPos.y
-		
 		return {x: goalLine, y: ballProjectY}
 	}
 
+	getLastBall() {
+		if(this.frameHistory.frames.length > 0) {
+			return this.frameHistory.frames[0].balls[0]
+		}
+		return {'x': 0, 'y': 0}
+	}
+
 	emitVision (frame) {
+		// let side = this.match.state.state.side
+		// cleanData['right'] = this.fixFrame(frame, 'right')
+		// cleanData['left'] = this.fixFrame(frame, 'left')
 		let data = frame
-		let side = this.match.state.state.side
-		data = this.fixFrame(data, side)
 		this.updateFrameHistory(frame)
 
 		data['cleanData'] = {}
 		// TODO quando houverem mais tratamentos fazer algo mais elaborado
 
 		if (data.balls.length > 0) {
-			data['cleanData']['ball'] = {
-				'x': data.balls[0]['x'], 
-				'y': data.balls[0]['y'], 
-				'speed': this.calculateBallSpeed()
-			}
+			this.ball = frame.balls[0]
+		}else {
+			this.ball = this.getLastBall()
+		}
 
-			this.ball = data['cleanData']['ball']
-			if (this.frameHistory.frames.length > 1){
-				let ballProjection = this.getBallProjection()
-				this.ball['projection'] = ballProjection
-			}
+		this.ball = {
+			'x': this.ball['x'],
+			'y': this.ball['y'],
+			'speed': this.calculateBallSpeed()
 		}
-		
+
+		if (this.frameHistory.frames.length > 1){
+			let ballProjection = this.getBallProjection()
+			this.ball['projection'] = ballProjection
+		}
+
+		data['cleanData']['ball'] = this.ball
+
+		data = {
+			'right': this.fixFrame(frame, 'right'),
+			'left': this.fixFrame(frame, 'left')
+		}
+
 		this.emit('detection', data)
 	}
 
@@ -84,72 +100,18 @@ module.exports = class DataManager extends EventEmitter{
 		//1551562891.27858 - 1551562891.246445/
 
 	}
-	calculateBallSpeed () {
-		if (this.frameHistory.frames.length <= 1) return
-    	// TODO: zip e clone poderiam estar num arquivo de metodos uteis
-		let zip = (rows) => rows[0].map((_,c) => rows.map(row => row[c]))
-
-		let clone = (obj) => {
-			if (null == obj || "object" != typeof obj) return obj
-			var copy = obj.constructor()
-			for (var attr in obj) {
-				if (obj.hasOwnProperty(attr)) copy[attr] = obj[attr]
-			}
-			return copy
-		}
-		let frameHistoryShifted = clone(this.frameHistory.frames)
-		frameHistoryShifted.shift()
-		let zipFrames = zip([this.frameHistory.frames, frameHistoryShifted])
-		zipFrames.pop()
-
-		// const direction = Vector.norm({
-		// 	x: (zipFrames[0][0].balls[0].x + 10000) - (zipFrames[0][1].balls[0].x + 10000),
-		// 	y: (zipFrames[0][0].balls[0].y + 10000) - (zipFrames[0][1].balls[0].y + 10000)
-		// })
-
-		let speeds = []
-		for (let pairs in zipFrames) {
-			// pairs[0]
-			// pairs[1]
-			let ballPosF = {
-				x: zipFrames[pairs][0].balls[0].x,
-				y: zipFrames[pairs][0].balls[0].y
-			}
-			let ballPosI = {
-				x: zipFrames[pairs][1].balls[0].x,
-				y: zipFrames[pairs][1].balls[0].y
-			}
-
-			// const deltaPos = Math.abs(
-			// 	Math.sqrt(Math.pow(ballPosF.x - ballPosI.x, 2) + Math.pow(ballPosF.y - ballPosI.y, 2))
-			// )
-
-			const deltaPos = {x: ballPosF.x - ballPosI.x, y: ballPosF.y - ballPosI.y}
-
-			let frameTimeF = zipFrames[pairs][0].t_capture
-			let frameTimeI = zipFrames[pairs][1].t_capture
-			const deltaTime = (frameTimeF - frameTimeI)*10 //to Seconds
-			const speed = {
-				x: (deltaPos.x) / deltaTime,
-				y: (deltaPos.y) / deltaTime
-			} // [mm/s]
-			speeds.push(speed)
-		}
-		speeds.shift()
-		let finalSpeed = speeds.reduce(function(a, b) { return {x: a.x + b.x, y: a.y + b.y};}, {x: 0, y:0})
-		finalSpeed = {x: finalSpeed.x/speeds.length, y: finalSpeed.y/speeds.length}
-		const direction = Vector.norm(finalSpeed)
-		return finalSpeed
-		}
 
-	fixFrame(frame, side) {
+	fixFrame(frame_, side) {
 		// Fix position and orientation from robots and ball:
 		// Position just multiply by -1 (since the center of the field is the origin)
 		// Orientation just sum PI (a 180 degrees rotation)
+
+		let frame = JSON.parse(JSON.stringify(frame_))
 		if(side == 'left') {
 			let yellow_team = frame['robots_yellow']
 			let blue_team = frame['robots_blue']
 			let balls = frame['balls']
+			let cleanData = frame.cleanData
 
 			if (blue_team.length > 0) {
 				for(let robot in blue_team) {
@@ -173,11 +135,79 @@ module.exports = class DataManager extends EventEmitter{
 				}
 			}
 
+			if (cleanData.ball) {
+				let ball = cleanData.ball
+				ball.x *= -1
+				ball.y *= -1
+				if(ball.speed){
+					ball.speed = Vector.mult(ball.speed, -1)
+				}
+				if(ball.projection) {
+					ball.projection = Vector.mult(ball.projection, -1)
+				}
+			}
+
 			frame['robots_yellow'] = yellow_team
 			frame['robots_blue'] = blue_team
 			frame['balls'] = balls
+      }
 
+      return frame
     }
-		return frame
-	}
-}
+
+  updateFrameHistory (frame) {
+    if (frame.balls.length === 0) return
+    // Ponto final no cálculo do vetor é a primeira posição do array
+    if (this.frameHistory.frames.length === this.frameHistory.size) {
+      this.frameHistory.frames.pop()
+      this.frameHistory.frames.unshift(frame)
+    } else {
+      this.frameHistory.frames.unshift(frame)
+    }
+  }
+  calculateBallSpeed () {
+    if (this.frameHistory.frames.length <= 1) return
+    // TODO: zip e clone poderiam estar num arquivo de metodos uteis
+    let zip = (rows) => rows[0].map((_, c) => rows.map(row => row[c]))
+
+    let clone = (obj) => {
+      if (obj == null || typeof obj !== 'object') return obj
+      var copy = obj.constructor()
+      for (var attr in obj) {
+        if (obj.hasOwnProperty(attr)) copy[attr] = obj[attr]
+      }
+      return copy
+    }
+    let frameHistoryShifted = clone(this.frameHistory.frames)
+    frameHistoryShifted.shift()
+    let zipFrames = zip([this.frameHistory.frames, frameHistoryShifted])
+    zipFrames.pop()
+
+    let speeds = []
+    for (let pairs in zipFrames) {
+      let ballPosI = {
+        x: zipFrames[pairs][0].balls[0].x,
+        y: zipFrames[pairs][0].balls[0].y
+      }
+      let ballPosF = {
+        x: zipFrames[pairs][1].balls[0].x,
+        y: zipFrames[pairs][1].balls[0].y
+      }
+
+      const deltaPos = {x: ballPosF.x - ballPosI.x, y: ballPosF.y - ballPosI.y}
+
+      let frameTimeF = zipFrames[pairs][0].t_capture
+      let frameTimeI = zipFrames[pairs][1].t_capture
+      const deltaTime = (frameTimeF - frameTimeI) * 10 // to Seconds
+      const speed = {
+        x: (deltaPos.x) / deltaTime,
+        y: (deltaPos.y) / deltaTime
+      }
+      speeds.push(speed)
+    }
+    let finalSpeed = speeds.reduce(function (a, b) { return {x: a.x + b.x, y: a.y + b.y} }, {x: 0, y: 0})
+    finalSpeed = {x: finalSpeed.x / speeds.length, y: finalSpeed.y / speeds.length}
+    return finalSpeed
+  }
+
+}
\ No newline at end of file
diff --git a/lib/DumbCoach.js b/lib/DumbCoach.js
new file mode 100644
index 0000000..572ea87
--- /dev/null
+++ b/lib/DumbCoach.js
@@ -0,0 +1,76 @@
+const _ = require('lodash')
+
+const TestPlay = require('../players/tests/PointIntentionPlayer')
+const GoalKeeper = require('../roles/GoalkeeperRole')
+const Attacker = require('../roles/AttackerRole')
+
+
+
+module.exports = class Coach {
+  constructor(dependencies) {
+      this.match = dependencies.match
+      this.robotsProperties = this.match.robotsProperties
+
+      this.currentOrder = {}
+
+      this.goalKeeper = null
+
+      this.init()
+  }
+
+
+  insideFieldConstraint (fieldConstraint, ball) {
+    if (ball == null) return false
+    if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
+      && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+    return false
+  }
+
+  async init() {
+    /*
+    Inicializa algoritmos e estruturas auxiliares para tomar decisões
+    */
+   this.dumbRobots = [
+     new TestPlay(0, this.match, null),
+     new TestPlay(0, this.match, null),
+     new TestPlay(0, this.match, null),
+     new TestPlay(0, this.match, null),
+     new TestPlay(0, this.match, null),
+     new TestPlay(0, this.match, null)
+   ]
+
+    this.goalKeeper = new GoalKeeper(this.match)
+    this.attacker = new Attacker(this.match)
+
+    this.attacker2 = new Attacker(this.match)
+  }
+
+  async decide(data, robots) {
+    /*
+    Metodo principal de decisão do coach para os robos, atribui aos objetos de
+    robots:
+      - running_play: a Play vigente que sera executada pelo robot naquela iteração
+      - robots: um dicionario contento 3 elementos relativos aos dados dos robos:
+        * self: dados referentes ao proprio robo
+        * teammate: lista de elementos referentes aos dados dos robos de mesmo time
+        * foes: lista de elementos robos referentes aos dados dos robos adversarios
+
+    @param data     Dados tratados pelo dataManager
+    @param robots   ultima iteração de robots.
+    */
+    // options {visionId, radioId}
+    // id
+
+    let it = 0
+    _.values(robots).map(robot => {
+      if (robot.radioId == 1) {
+        this.goalKeeper.decidePlay(robot, data)
+      } else if (robot.radioId == 2) {
+        this.attacker.decidePlay(robot, data)
+      } else {
+        this.attacker2.decidePlay(robot, data)
+      }
+      it += 1
+    })
+  }
+}
diff --git a/lib/GameManager.js b/lib/GameManager.js
index 44559ad..f0c2482 100644
--- a/lib/GameManager.js
+++ b/lib/GameManager.js
@@ -1,21 +1,16 @@
 const _ = require('lodash')
-const dataManager = require('./DataManager')
-
 module.exports = class GameManager {
-  constructor(match) {
+  constructor (match) {
     this.match = match
-
     this.robotsProperties = this.match.robotsProperties
-
-
     this.dataManager = this.match.dataManager
-
     this.robots = null
-    this.coach = null
+    this.coaches = []
   }
 
-  async startRobot(id, property) {
-    this.robots[id] = {
+  async startRobot (id, property, teamId) {
+    this.robots[id + 100*teamId] = {
+      teamId: teamId,
       radioId: property.radio_id,
       visionId: property.vision_id,
       runningPlay: null,
@@ -24,56 +19,79 @@ module.exports = class GameManager {
         self: {},
         teammate: [],
         foes: []
-      },
+      }
     }
   }
 
-  async init() {
-    // Make sure to initialize only once
-    // if (this.initialized)
-    //   throw new Error('Cannot re-initialize RobotWorkers')
-    // this.initialized = true
-
+  async init () {
     // Initialize robots
     this.robots = {}
-    for (let id in this.robotsProperties) {
-      console.log('RobotWorkers', 'start', id)
-      await this.startRobot(id, this.robotsProperties[id])
+    for (let teamId in this.robotsProperties){
+      for (let id in this.robotsProperties[teamId]) {
+        console.log('RobotWorkers', 'start', 'robot :'+id, 'team :'+teamId)
+        await this.startRobot(id, this.robotsProperties[teamId][id], teamId)
+      }
     }
 
-    this.coach = new this.match.options.coach({match: this.match})
-
+    for (let teamId in this.match.options.coaches){
+      this.coaches[teamId] = new this.match.options.coaches[teamId]({match: this.match})
+    }
     // Bind: Everytime vision detects something, call update inside
     this.dataManager.on('detection', this.update.bind(this))
   }
 
   // Calls update on all robots
-  async update(data) {
-    // // Fix position and orientation based on side
+  async update (data) {
+    // Fix position and orientation based on side
     // Get team color
-    let team = this.match.state.state.team
-    // console.log(side)
-    let robots_pos = data['robots_' + team]
-    // Iterare all workers
+    let mainTeamSide = this.match.state.state.side
+    let rivalTeamSide = mainTeamSide == 'right' ? 'left' : 'right'
+    let sides = [mainTeamSide, rivalTeamSide]
+
+    let mainTeamColor = this.match.state.state.team
+    let rivalTeamColor = mainTeamColor == 'blue' ? 'yellow' : 'blue'
+    // Iterare all robots
+    let mainTeamRobots = []
+    let rivalTeamRobots = []
+
     _.values(this.robots).map(robot => {
       // Find specific robot state
-      let detection = _.find(robots_pos, {robot_id: robot.visionId})
+      let teamId = robot.teamId
+      let teamData = data[sides[teamId]]
+      if (teamId == 0) {
+        mainTeamRobots.push(robot)
+      } else {
+        rivalTeamRobots.push(robot)
+      }
+
+      let teamColor = teamId == 0? mainTeamColor : rivalTeamColor
+      let robotsPos = teamData['robots_' + teamColor]
+
+      let detection = _.find(robotsPos, {robot_id: robot.visionId})
       // Set worker position and orientation
       if (detection) {
         robot.robots.self['position'] = {x: detection.x, y: detection.y}
         robot.robots.self['orientation'] = detection.orientation
         robot.robots.self['detection'] = detection
       }
-      if (data) {
-        robot.robots.self.frame = data
+      if (teamData) {
+        robot.robots.self.frame = teamData
       }
     })
 
-    await this.coach.decide(data, this.robots)
+    await this.coaches[0].decide(data[sides[0]], mainTeamRobots)
+
+    if (this.coaches.length > 1){
+      await this.coaches[1].decide(data[sides[1]], rivalTeamRobots)
+    }
 
     let promises = _.values(this.robots).map(robot => {
+      let teamId = robot.teamId
+      let teamData = data[sides[teamId]]
+      let teamColor = teamId == 0? mainTeamColor : rivalTeamColor
+      let robotsPos = teamData['robots_' + teamColor]
 
-      let detection = _.find(robots_pos, {robot_id: robot.visionId})
+      let detection = _.find(robotsPos, {robot_id: robot.visionId})
 
       if (detection) {
         robot.runningPlay.position = {x: detection.x, y: detection.y}
@@ -83,19 +101,16 @@ module.exports = class GameManager {
       } else {
         robot.runningPlay.active = false
       }
-      if (data) {
-        robot.runningPlay.frame = data
+      if (teamData) {
+        robot.runningPlay.frame = teamData
       }
       // Delegate update method to robots
       return robot.runningPlay.update()
     })
 
     // Wait all promises to finish
-    Promise.all(promises).then(data => {
-      console.log(data)
-      this.dataManager.driver.send(data)
+    Promise.all(promises).then(robotData => {
+      this.dataManager.driver.send(robotData)
     })
   }
-
-
 }
diff --git a/lib/Match.js b/lib/Match.js
index ab67ac1..6a1b3a7 100644
--- a/lib/Match.js
+++ b/lib/Match.js
@@ -1,36 +1,29 @@
 const _ = require('lodash')
-const SSLVision = require('ssl-vision')
 const StateManager = require('./StateManager')
-const SerialClient = require('./SerialClient')
-const RobotWorkers = require('./RobotWorkers')
-
 const DataManager = require('./DataManager')
 const GameManager = require('./GameManager')
 
 module.exports = class Match {
-  constructor(options) {
+  constructor (options) {
     // Match tem que ter uma instancia de GameManager, DataManager, state
     this.options = _.defaults(options, {
       driver: {},
       vision: {},
       coach: {},
-      robotsProperties: {}
+      robotsProperties: {},
+      matchParams : {}
     })
 
     this.state_ = null
-
+    this.matchParams = options.matchParams
     this.dataManager = null
     this.gameManager = null
-
     this.robotsProperties = options.robotsProperties
   }
 
-  async init() {
-    if (this.initialized)
-      throw new Error('Cannot re-initialize Match')
-
+  async init () {
+    if (this.initialized) throw new Error('Cannot re-initialize Match')
     this.initialized = true
-
     console.log('Match init')
     await this.initState()
     console.log('DataManager init')
@@ -40,54 +33,22 @@ module.exports = class Match {
     console.log('Finished init')
   }
 
-  async initState() {
+  async initState () {
     this.state = new StateManager({
       status: 'stopped',
-      team: 'blue',
-      side: 'left',
+      team: this.matchParams.startColor,
+      side: this.matchParams.startSide
     })
   }
 
-  async initGameManager() {
+  async initGameManager () {
     this.gameManager = new GameManager(this)
-
     this.gameManager.init()
   }
 
-  async initDataManager() {
-
+  async initDataManager () {
     this.dataManager = new DataManager(this)
-
     this.dataManager.init()
   }
 
-  // async initDriver() {
-  //   this.driver = new SerialClient(this.options.driver)
-  //   // Wait be ready
-  //   await this.driver.connect()
-  //   console.log('Waiting driver startup')
-  //   await this.driver.ready()
-  //   console.log('Startup complete')
-
-  // }
-
-  // async initVision() {
-  //   // let options = this.options.vision
-  //   // this.vision = new SSLVision(options.HOST, options.PORT)
-  //   // // Wait be ready
-  //   // await this.vision.connect()
-
-  //   this.vision = new VSSVision('localhost', options.PORT)
-  //   await this.vision.connect()
-  // }
-
-  // async initWorkers() {
-  //   this.worker = new RobotWorkers(this, this.options.robots)
-  //   // Wait be ready
-  //   await this.worker.init()
-  // }
-
-  // async initSocket() {
-  //   this.socket = new Socket()
-  // }
 }
diff --git a/lib/MatchSimulated.js b/lib/MatchSimulated.js
index e87dece..e5f924a 100644
--- a/lib/MatchSimulated.js
+++ b/lib/MatchSimulated.js
@@ -1,25 +1,19 @@
 const _ = require('lodash')
-// const SSLVision = require('ssl-vision')
-
 const EventEmitter = require('events')
-
 const StateManager = require('./StateManager')
-const SerialClient = require('./SerialClient')
 const RobotWorkers = require('./RobotWorkers')
 
 module.exports = class Match {
-  constructor(options) {
+  constructor (options) {
     this.options = _.defaults(options, {
       driver: {},
       vision: {simulation_step: 0.03},
-      robots: {},
+      robots: {}
     })
-
     this.state = null
     this.driver = null
     this.vision = null
     this.workers = null
-
     this.ball = {
       confidence: 0.7377133369445801,
       area: 118,
@@ -31,12 +25,9 @@ module.exports = class Match {
     }
   }
 
-  async init() {
-    if (this.initialized)
-      throw new Error('Cannot re-initialize MatchSimulated')
-
+  async init () {
+    if (this.initialized) throw new Error('Cannot re-initialize MatchSimulated')
     this.initialized = true
-
     console.log('Match init')
     await this.initState()
     console.log('Driver init')
@@ -48,36 +39,34 @@ module.exports = class Match {
     console.log('Finished init')
   }
 
-  async initState() {
+  async initState () {
     this.state = new StateManager({
       status: 'stopped',
       team: 'blue',
-      side: 'right',
+      side: 'right'
     })
   }
 
-  async initDriver() {
+  async initDriver () {
     this.driver = {
       send: async (robotId, robotState, linearSpeed, angularSpeed) => {}
     }
   }
 
-  async initVision() {
-    let simulation_step = this.options.vision.simulation_step || 0.03
+  async initVision () {
+    let simulationStep = this.options.vision.simulation_step || 0.03
     this.vision = new EventEmitter()
 
     let frame = 0
     let time = 0
     setInterval(() => {
       let robots = this.worker.workers
-
       let robotPackets = []
       for (let key in robots) {
         let robot = robots[key]
         if (robot.simulate) {
           // Simulate the robot
-          robot.simulate(simulation_step)
-
+          robot.simulate(simulationStep)
           // Build robot packet
           robotPackets.push({
             confidence: 1,
@@ -92,7 +81,7 @@ module.exports = class Match {
       }
 
       // Build root packet
-      time += simulation_step
+      time += simulationStep
       let packet = {
         frame_number: frame++,
         t_capture: time,
@@ -102,21 +91,16 @@ module.exports = class Match {
           this.ball
         ],
         robots_yellow: [],
-        robots_blue: robotPackets,
+        robots_blue: robotPackets
       }
-
       // Emit Detection packet
       this.vision.emit('detection', packet)
-    }, simulation_step * 1000)
+    }, simulationStep * 1000)
   }
 
-  async initWorkers() {
+  async initWorkers () {
     this.worker = new RobotWorkers(this, this.options.robots)
     // Wait be ready
     await this.worker.init()
   }
-
-  async initSocket() {
-    this.socket = new Socket()
-  }
 }
diff --git a/lib/MatchVSSSimulated.js b/lib/MatchVSSSimulated.js
index 302eb20..61174e6 100644
--- a/lib/MatchVSSSimulated.js
+++ b/lib/MatchVSSSimulated.js
@@ -1,17 +1,15 @@
 const _ = require('lodash')
-const SSLVision = require('ssl-vision')
-
 const VSSVision = require('./VSSVision')
 const StateManager = require('./StateManager')
 const VSSSerialClient = require('./VSSserialClient')
 const RobotWorkers = require('./RobotWorkers')
 
 module.exports = class Match {
-  constructor(options) {
+  constructor (options) {
     this.options = _.defaults(options, {
       driver: {},
       vision: {},
-      robots: {},
+      robots: {}
     })
 
     this.state = null
@@ -20,9 +18,8 @@ module.exports = class Match {
     this.workers = null
   }
 
-  async init() {
-    if (this.initialized)
-      throw new Error('Cannot re-initialize Match')
+  async init () {
+    if (this.initialized) { throw new Error('Cannot re-initialize Match') }
 
     this.initialized = true
 
@@ -37,31 +34,27 @@ module.exports = class Match {
     console.log('Finished init')
   }
 
-  async initState() {
+  async initState () {
     this.state = new StateManager({
       status: 'stopped',
       team: 'yellow',
-      side: 'left',
+      side: 'left'
     })
   }
 
-  async initDriver() {
+  async initDriver () {
     this.driver = new VSSSerialClient({PORT: 5778, HOST: 'localhost'})
     this.driver.connect()
   }
 
-  async initVision() {
+  async initVision () {
     this.vision = new VSSVision('localhost', 5777)
     await this.vision.connect()
   }
 
-  async initWorkers() {
+  async initWorkers () {
     this.worker = new RobotWorkers(this, this.options.robots)
     // Wait be ready
     await this.worker.init()
   }
-
-  async initSocket() {
-    this.socket = new Socket()
-  }
 }
diff --git a/lib/MockDriver.js b/lib/MockDriver.js
new file mode 100644
index 0000000..7e8ce24
--- /dev/null
+++ b/lib/MockDriver.js
@@ -0,0 +1,18 @@
+
+const _ = require('lodash')
+
+const EventEmitter = require('events')
+
+module.exports = class SerialClient extends EventEmitter {
+  constructor (options) {
+    super()
+  }
+
+  async ready() {}
+
+  async connect (serialPort) {}
+
+  async send (data) {
+      console.log(data)
+  }
+}
diff --git a/lib/RobotWorkers.js b/lib/RobotWorkers.js
index 04e9396..f47cf98 100644
--- a/lib/RobotWorkers.js
+++ b/lib/RobotWorkers.js
@@ -1,42 +1,33 @@
 const _ = require('lodash')
-// const dataManager = require('./DataManager')
 
 module.exports = class RobotWorkers {
-  constructor(match, robots) {
+  constructor (match, robots) {
     this.match = match
     this.robots = robots
     this.workers = {}
-    // this.dataManager = new dataManager
   }
 
-  async init() {
+  async init () {
     // Make sure to initialize only once
-    if (this.initialized)
-      throw new Error('Cannot re-initialize RobotWorkers')
+    if (this.initialized) throw new Error('Cannot re-initialize RobotWorkers')
     this.initialized = true
-
     // Initialize robots
     for (let id in this.robots) {
       console.log('RobotWorkers', 'start', id)
       await this.start(id, this.robots[id])
     }
-
     // Bind: Everytime vision detects something, call update inside
     this.match.vision.on('detection', this.update.bind(this))
   }
 
   // Calls update on all robots
-  async update(frame) {
+  async update (frame) {
     // Fix position and orientation based on side
     let side = this.match.state.state.side
-    console.log(side)
     frame = this.dataManager.fixFrame(frame, side)
     // Get team color
     let team = this.match.state.state.team
-    // console.log(side)
     let robots = frame['robots_' + team]
-    // console.log(frame)
-
     // Iterare all workers
     let promises = _.values(this.workers).map(worker => {
       // Find specific robot state
@@ -64,14 +55,10 @@ module.exports = class RobotWorkers {
     })
   }
 
-  async start(id, options) {
-    if (this.workers[id]) {
-      throw new Error('Cannot start process. Process  already running:' + id)
-    }
-
+  async start (id, options) {
+    if (this.workers[id]) throw new Error('Cannot start process. Process  already running:' + id)
     // Instantiate RobotWorker class
     let worker = new options.class(id, this.match, options)
-
     // Register worker inside
     this.workers[id] = worker
   }
diff --git a/lib/SerialClient.js b/lib/SerialClient.js
index daeefc5..2ec009d 100644
--- a/lib/SerialClient.js
+++ b/lib/SerialClient.js
@@ -199,4 +199,4 @@ async function getPort(prefered) {
   })
 
   return answer.port
-}
+}
\ No newline at end of file
diff --git a/lib/SimpleSimulationVision.js b/lib/SimpleSimulationVision.js
new file mode 100644
index 0000000..b102065
--- /dev/null
+++ b/lib/SimpleSimulationVision.js
@@ -0,0 +1,92 @@
+const dgram = require('dgram')
+const EventEmitter = require('events')
+
+module.exports = class VSSVision extends EventEmitter {
+
+  constructor(HOST, PORT, dataManager) {
+    super()
+    this.robotPackets
+    this.dataManager = dataManager
+    this.data = null
+    this.frame = 0
+    this.time = 0
+    this.ball = {
+        confidence: 1,
+        area: 120,
+        x: 0,
+        y: 0,
+        z: 0,
+        pixel_x: 323.2542419433594,
+        pixel_y: 387.22882080078125
+    }
+  }
+
+  connect () {
+    return new Promise((resolve, reject) => {})
+  }
+
+  _init() {
+    let simulation_step = 0.03
+    setInterval(() => {
+        let robots = this.dataManager.match.gameManager.robots
+        for (let key in robots) {
+            let robot = robots[key]
+            // if (robot.simulate) {
+            // Simulate the robot
+            robot.running_play.simulate(simulation_step)
+
+            // Build robot packet
+            this.robotPackets.push({
+            confidence: 1,
+            robot_id: robot.visionId,
+            x: robot.robots.self['position'].position.x,
+            y: robot.robots.self['position'].position.y,
+            orientation: robot.robots.self['position'].orientation,
+            pixel_x: 0,
+            pixel_y: 0
+            })
+            // }
+        }
+        this.time += simulation_step
+        let packet = {
+          frame_number: this.frame++,
+          t_capture: this.time,
+          t_sent: this.time,
+          camera_id: 1,
+          balls: [
+              this.ball
+            ],
+            robots_yellow: [],
+            robots_blue: this.robotPackets,
+        }
+
+        this._message(packet)
+      }, simulation_step * 1000)
+    }
+
+  _bind() {
+  }
+
+  _message(data) {
+    try {
+      this.data = JSON.parse(data.toString())
+
+      // Skip if frame is null
+      if (!this.data)
+        return
+
+      // Emit data
+      this.emit('data', this.data)
+
+      // Emit detection only if set
+      if (this.data.detection)
+        this.emit('detection', this.data.detection)
+
+      // Emit geometry only if set
+      if (this.data.geometry)
+        this.emit('geometry', this.data.geometry)
+    } catch (e) {
+      this.emit('error', e)
+    }
+  }
+}
diff --git a/lib/Simulation.js b/lib/Simulation.js
deleted file mode 100644
index 91e1939..0000000
--- a/lib/Simulation.js
+++ /dev/null
@@ -1,4 +0,0 @@
-module.exports = class Simulation {
-
-
-}
diff --git a/lib/StateManager.js b/lib/StateManager.js
index ff4afce..98d9ed0 100644
--- a/lib/StateManager.js
+++ b/lib/StateManager.js
@@ -1,20 +1,19 @@
 const EventEmitter = require('events')
 
-module.exports = class StateManager extends EventEmitter{
+module.exports = class StateManager extends EventEmitter {
   constructor (initialState) {
     super()
     this._state = initialState
   }
 
-  setState(object) {
+  setState (object) {
     for (let key in object) {
       this._state[key] = object[key]
     }
-    
     this.emit('change', this._state)
   }
 
-  get state() {
+  get state () {
     return this._state
   }
-}
\ No newline at end of file
+}
diff --git a/lib/TensorMath.js b/lib/TensorMath.js
index 02390f6..6fe9179 100644
--- a/lib/TensorMath.js
+++ b/lib/TensorMath.js
@@ -1,5 +1,5 @@
 class TensorMath {
-  static get new() {
+  static get new () {
     return new TensorMath()
   }
 
@@ -7,118 +7,127 @@ class TensorMath {
     this.operations = []
   }
 
-  run(x) {
-    return this.operations.reduce((anterior, op) => op(anterior), x) 
+  run (x) {
+    return this.operations.reduce((anterior, op) => op(anterior), x)
   }
 
-  sum(val) {
+  sum (val) {
     this.operations.push(x => x + val)
     return this
   }
 
-  sub(val) {
+  sub (val) {
     this.operations.push(x => x - val)
     return this
   }
 
-  mult(val) {
+  mult (val) {
     this.operations.push(x => x * val)
     return this
   }
 
-  div(val) {
+  div (val) {
     this.operations.push(x => x / val)
     return this
   }
 
-  constant(val) {
+  constant (val) {
     this.operations.push(x => val)
     return this
   }
 
-  max(val) {
+  max (val) {
     this.operations.push(x => Math.max(x, val))
     return this
   }
-  
-  min(val) {
+
+  min (val) {
     this.operations.push(x => Math.min(x, val))
     return this
   }
 
-  inverse() {
+  inverse () {
     this.operations.push(x => 1 / x)
     return this
   }
 
-  pow(val = 2) {
+  pow (val = 2) {
     this.operations.push(x => Math.pow(x, val))
     return this
   }
 
-  sqrt(val) {
+  sqrt (val) {
     this.operations.push(x => Math.sqrt(x))
     return this
   }
 
-  constant(val) {
+  constant (val) {
     this.operations.push(x => val)
     return this
   }
 
-  map(minIn, maxIn, minOut, maxOut) {
+  map (minIn, maxIn, minOut, maxOut) {
     this.operations.push(x => (x - minIn) * (maxOut - minOut) / (maxIn - minIn) + minOut)
     return this
   }
 
-  deadWidth(w) {
+  deadWidth (w) {
     // w = w / 2
     this.operations.push(x => {
-      if (x <= w)
-        return 0;
-      return x;
+      if (x <= w) { return 0 }
+      return x
     })
     return this
   }
 
-  constrain(max, min = -max) {
+  constrain (max, min = -max) {
     console.log('max:', max, 'min:', min)
     this.operations.push(x => x < 0 ? Math.max(x, min) : Math.min(x, max))
     return this
   }
 
-  crop(max, min = -max) {
+  crop (max, min = -max) {
     this.operations.push(x => x < min ? 0 : (x > max ? 0 : x))
     return this
   }
+  // Rampa de aceleração para se aproximar da bola
+  sigmoid () {
+    this.operations.push(x => (1/(1 + Math.exp(-(10*x -6)))))
+    return this
+  }
 
-  toFixed(n) {
+  sin () {
+    this.operations.push(x => Math.sin(x))
+    return this
+  }
+
+  toFixed (n) {
     this.operations.push(x => x.toFixed(n))
     return this
   }
 
-  binarize(max) {
+  binarize (max) {
     this.operations.push(x => x < 0 ? -max : (x > 0 ? max : 0))
     return this
   }
 
-  easeInOut() {
+  easeInOut () {
     this.operations.push(t => t * t * (3 - (2 * t)))
     return this
   }
 
-  abs() {
+  abs () {
     this.operations.push(x => Math.abs(x))
-    return this 
+    return this
   }
 
-  get finish() {
+  get finish () {
     return this.run.bind(this)
   }
 
-  static buildTensor(start, end, step = 0.01) {
+  static buildTensor (start, end, step = 0.01) {
     let tensor = []
-    for(let k = start; k < end; k += step) {
+    for (let k = start; k < end; k += step) {
       tensor.push(k)
     }
     tensor.apply = (fn) => tensor.map(fn)
@@ -126,4 +135,4 @@ class TensorMath {
   }
 }
 
-module.exports = TensorMath
\ No newline at end of file
+module.exports = TensorMath
diff --git a/lib/TrainingCoach.js b/lib/TrainingCoach.js
new file mode 100644
index 0000000..6ffe12d
--- /dev/null
+++ b/lib/TrainingCoach.js
@@ -0,0 +1,52 @@
+const _ = require('lodash')
+
+const PointTestPlay = require('../players/tests/PointIntentionPlayer')
+const LineTestPlay = require('../players/tests/LineIntentionPlayer')
+const LookAtTestPlay = require('../players/tests/LookAtIntentionPlayer')
+
+
+
+module.exports = class Coach {
+  constructor(dependencies) {
+      this.match = dependencies.match
+      this.robotsProperties = this.match.robotsProperties
+
+      this.currentOrder = {}
+
+      this.init()
+  }
+
+
+  insideFieldConstraint (fieldConstraint, ball) {
+    if (ball == null) return false
+    if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
+      && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+    return false
+  }
+
+  async init() {
+    /*
+    Inicializa algoritmos e estruturas auxiliares para tomar decisões
+    */
+
+    this.point = new PointTestPlay(0, this.match, null)
+    this.line = new LineTestPlay(0, this.match, null)
+    this.lookat = new LookAtTestPlay(0, this.match, null)
+  }
+
+  async decide(data, robots) {
+    // let actualTest = this.point
+    // let actualTest = this.line
+    let actualTest = this.lookat
+
+    let it = 0
+
+    _.values(robots).map(robot => {
+      if (it == 0) {
+        robot.runningPlay = actualTest
+        actualTest.setRobot(robot)
+      }
+      it += 1
+    })
+  }
+}
diff --git a/lib/VSSClient.js b/lib/VSSClient.js
index 3dc5707..8318135 100644
--- a/lib/VSSClient.js
+++ b/lib/VSSClient.js
@@ -2,14 +2,11 @@ const dgram = require('dgram')
 const EventEmitter = require('events')
 
 module.exports = class VSSClient extends EventEmitter {
-
-  constructor(HOST, PORT) {
+  constructor (HOST, PORT) {
     super()
-
     this.HOST = HOST || 'localhost'
     this.PORT = PORT || 5777
     this.client = null
-
     // Public state variables
     this.data = null
   }
@@ -19,49 +16,35 @@ module.exports = class VSSClient extends EventEmitter {
       if (this.client) {
         throw new Error('Client is already open. Close the connection first')
       }
-
       // Create Client
       this.client = dgram.createSocket('udp4')
-
       // Bind message
       this._bind()
-
       // Wait to bind
       this.client.bind(this.PORT, this.HOST, () => {
         // Initialize connection
         this._init()
-
         // Resolve
         resolve()
       })
     })
   }
 
-  _init() {
-    var address = this.client.address()
-  }
-
-  _bind() {
+  _bind () {
     this.client.on('message', this._message.bind(this))
   }
 
-  _message(data, remote) {
+  _message (data) {
     try {
       this.data = JSON.parse(data.toString('utf8'))
       // Skip if frame is null
-      if (!this.data)
-        return
-
+      if (!this.data) return
       // Emit data
       this.emit('data', this.data)
-
       // Emit detection only if set
-      if (this.data.detection)
-        this.emit('detection', this.data.detection)
-
+      if (this.data.detection) this.emit('detection', this.data.detection)
       // Emit geometry only if set
-      if (this.data.geometry)
-        this.emit('geometry', this.data.geometry)
+      if (this.data.geometry) this.emit('geometry', this.data.geometry)
     } catch (e) {
       this.emit('error', e)
     }
diff --git a/lib/VSSVision.js b/lib/VSSVision.js
index f88cf4b..3bd7667 100644
--- a/lib/VSSVision.js
+++ b/lib/VSSVision.js
@@ -2,15 +2,12 @@ const dgram = require('dgram')
 const EventEmitter = require('events')
 
 module.exports = class VSSVision extends EventEmitter {
-
-  constructor(HOST, PORT) {
+  constructor (HOST, PORT) {
     super()
 
     this.HOST = HOST || 'localhost'
     this.PORT = PORT || 5777
     this.client = null
-
-    // Public state variables
     this.data = null
   }
 
@@ -18,10 +15,8 @@ module.exports = class VSSVision extends EventEmitter {
     return new Promise((resolve, reject) => {
       // Create Client
       this.client = dgram.createSocket('udp4')
-
       // Bind message
       this._bind()
-
       // Wait to bind
       this.client.bind(this.PORT, this.HOST, () => {
         // Initialize connection
@@ -33,32 +28,26 @@ module.exports = class VSSVision extends EventEmitter {
     })
   }
 
-  _init() {
+  _init () {
     this.client.setBroadcast(true)
   }
 
-  _bind() {
+  _bind () {
     this.client.on('message', this._message.bind(this))
   }
 
-  _message(data, remote) {
+  _message (data) {
     try {
       this.data = JSON.parse(data.toString())
 
       // Skip if frame is null
-      if (!this.data)
-        return
-
+      if (!this.data) { return }
       // Emit data
       this.emit('data', this.data)
-
       // Emit detection only if set
-      if (this.data.detection)
-        this.emit('detection', this.data.detection)
-
+      if (this.data.detection) { this.emit('detection', this.data.detection) }
       // Emit geometry only if set
-      if (this.data.geometry)
-        this.emit('geometry', this.data.geometry)
+      if (this.data.geometry) { this.emit('geometry', this.data.geometry) }
     } catch (e) {
       this.emit('error', e)
     }
diff --git a/lib/VSSserialClient.js b/lib/VSSserialClient.js
index 09b0f84..2ed5820 100644
--- a/lib/VSSserialClient.js
+++ b/lib/VSSserialClient.js
@@ -1,30 +1,29 @@
 
 const _ = require('lodash')
-const chalk = require('chalk')
+
 const dgram = require('dgram')
 const EventEmitter = require('events')
 
-module.exports = class SerialClient extends EventEmitter{
+module.exports = class SerialClient extends EventEmitter {
   constructor (options) {
     super()
-
     this.options = _.defaults(options || {}, {
       PORT: 5778,
       HOST: 'localhost'
     })
 
-    this.PORT =  this.options.PORT
-    this.HOST =  this.options.HOST
-
+    this.PORT = this.options.PORT
+    this.HOST = this.options.HOST
     this.client = null
-
   }
 
+  async ready() {}
+
   async connect (serialPort) {
     this.client = dgram.createSocket('udp4')
   }
 
-  async send(data) {
+  async send (data) {
     this.data = Buffer.from(JSON.stringify(data))
     this.client.send(this.data, this.PORT, this.HOST)
   }
diff --git a/lib/Vector.js b/lib/Vector.js
index b57984a..634becb 100644
--- a/lib/Vector.js
+++ b/lib/Vector.js
@@ -1,103 +1,91 @@
-// 
+//
 // Vector Utils
 //
-var Vector = {};
+var Vector = {}
 
 const PI = Math.PI
 const TWO_PI = PI * 2
 
-Vector.sum = function (v1, v2){
-	return {x:(v1.x + v2.x), y:(v1.y + v2.y)}
+Vector.sum = function (v1, v2) {
+  return {x: (v1.x + v2.x), y: (v1.y + v2.y)}
 }
 
-Vector.sub = function (v1, v2){
-	return {x:(v1.x - v2.x), y:(v1.y - v2.y)}
+Vector.sub = function (v1, v2) {
+  return {x: (v1.x - v2.x), y: (v1.y - v2.y)}
 }
 
-Vector.distBetween = function(v1, v2) {
-	return Math.sqrt(Math.pow(v1.x - v2.x, 2) + Math.pow(v1.y - v2.y, 2))
+Vector.distBetween = function (v1, v2) {
+  return Math.sqrt(Math.pow(v1.x - v2.x, 2) + Math.pow(v1.y - v2.y, 2))
 }
 
 // Oposite
 Vector.mult = function (v1, c) {
-	return {x:(v1.x * c), y:(v1.y * c)}
+  return {x: (v1.x * c), y: (v1.y * c)}
 }
 
 // Oposite
 Vector.div = function (v1, c) {
-	return { x:(v1.x / c), y:(v1.y / c)}
+  return {x: (v1.x / c), y: (v1.y / c)}
 }
 
 // Normalize
 Vector.norm = function (v1) {
-	var l = Math.sqrt(Math.pow(v1.x, 2) + Math.pow(v1.y, 2))
+  var l = Math.sqrt(Math.pow(v1.x, 2) + Math.pow(v1.y, 2))
 
-	if(l == 0.0)
-		return {x:0,y:0}
+  if (l === 0.0) { return {x: 0, y: 0} }
 
-	return {x:(v1.x / l), y:(v1.y / l)};
+  return {x: (v1.x / l), y: (v1.y / l)}
 }
 
 // Create vector from theta
-Vector.fromTheta = function (theta){
-	return {x:Math.cos(theta), y:Math.sin(theta)}
+Vector.fromTheta = function (theta) {
+  return {x: Math.cos(theta), y: Math.sin(theta)}
 }
 
-Vector.size = function (v){
-	return Math.sqrt(Math.pow(v.x, 2) + Math.pow(v.y, 2))
+Vector.size = function (v) {
+  return Math.sqrt(Math.pow(v.x, 2) + Math.pow(v.y, 2))
 }
 
 Vector.angle = function (v) {
-	return Math.atan2(v.y, v.x);
+  return Math.atan2(v.y, v.x)
 }
 
-Vector.angleBetween = function(v1, v2){
-	return Vector.normalRelativeAngle(Vector.angle(v2)-Vector.angle(v1))
+Vector.angleBetween = function (v1, v2) {
+  return Vector.normalRelativeAngle(Vector.angle(v2) - Vector.angle(v1))
 }
 
-// Vector.relative = function(a){
-// 	while(a >  180) a = a - 360;
-// 	while(a < -180) a = a + 360;
-// 	return a	
-// }
-
-Vector.direction = function(dir){
-	if(dir == "up"){
-		return Math.PI / 2
-	}
-	else if(dir == "down"){
-		return - Math.PI / 2
-	}
-	else if(dir == "left"){
-		return Math.PI
-	}
-	else if(dir == "right"){
-		return 0
-	}
+Vector.direction = function (dir) {
+  if (dir === 'up') {
+    return Math.PI / 2
+  } else if (dir === 'down') {
+    return -Math.PI / 2
+  } else if (dir === 'left') {
+    return Math.PI
+  } else if (dir === 'right') {
+    return 0
+  }
 }
 
 Vector.normalRelativeAngle = function (angle) {
-	return (angle %= TWO_PI) >= 0 ? (angle < PI) ? angle : angle - TWO_PI : (angle >= -PI) ? angle : angle + TWO_PI;
+  return (angle %= TWO_PI) >= 0 ? (angle < PI) ? angle : angle - TWO_PI : (angle >= -PI) ? angle : angle + TWO_PI
 }
 
 // Normalize
 Vector.rotate = function (v, theta) {
-	var currentTheta = Math.atan2(v.y, v.x)
-	var currentNorm = Math.sqrt(v.x*v.x + v.y*v.y)
-
-	// Creates vector with new Angle
-	var vect = Vector.fromTheta(currentTheta + theta)
-
-	// Un-normalize vector
-	return Vector.mult(vect, currentNorm)
+  var currentTheta = Math.atan2(v.y, v.x)
+  var currentNorm = Math.sqrt(v.x * v.x + v.y * v.y)
+  // Creates vector with new Angle
+  var vect = Vector.fromTheta(currentTheta + theta)
+  // Un-normalize vector
+  return Vector.mult(vect, currentNorm)
 }
 
 Vector.toDegrees = function (rads) {
-	return rads * (180/Math.PI);
+  return rads * (180 / Math.PI)
 }
 
 Vector.toRadians = function (degs) {
-	return degs * (Math.PI/180)
+  return degs * (Math.PI / 180)
 }
 
-module.exports = Vector;
+module.exports = Vector
diff --git a/package-lock.json b/package-lock.json
new file mode 100644
index 0000000..fe8e81d
--- /dev/null
+++ b/package-lock.json
@@ -0,0 +1,4480 @@
+{
+  "name": "NoPlan",
+  "version": "1.0.0",
+  "lockfileVersion": 1,
+  "requires": true,
+  "dependencies": {
+    "@babel/code-frame": {
+      "version": "7.5.5",
+      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.5.5.tgz",
+      "integrity": "sha512-27d4lZoomVyo51VegxI20xZPuSHusqbQag/ztrBC7wegWoQ1nLREPVSKSW8byhTlzTKyNE4ifaTA6lCp7JjpFw==",
+      "dev": true,
+      "requires": {
+        "@babel/highlight": "^7.0.0"
+      }
+    },
+    "@babel/highlight": {
+      "version": "7.5.0",
+      "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.5.0.tgz",
+      "integrity": "sha512-7dV4eu9gBxoM0dAnj/BCFDW9LFU0zvTrkq0ugM7pnHEgguOEeOz1so2ZghEdzviYzQEED0r4EAgpsBChKy1TRQ==",
+      "dev": true,
+      "requires": {
+        "chalk": "^2.0.0",
+        "esutils": "^2.0.2",
+        "js-tokens": "^4.0.0"
+      },
+      "dependencies": {
+        "chalk": {
+          "version": "2.4.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-2.4.2.tgz",
+          "integrity": "sha512-Mti+f9lpJNcwF4tWV8/OrTTtF1gZi+f8FqlyAdouralcFWFQWF2+NgCHShjkCb+IFBLq9buZwE1xckQU4peSuQ==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.1",
+            "escape-string-regexp": "^1.0.5",
+            "supports-color": "^5.3.0"
+          }
+        }
+      }
+    },
+    "@serialport/parser-byte-length": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-byte-length/-/parser-byte-length-1.0.5.tgz",
+      "integrity": "sha512-GCz/v/KG2Wv7SdQ2nv8jYGBY6D4h5tibj9bs0+pnryCDAr8xmmvnesFW15FIu4rwOMgsKhCHyp7roD8bRGs63A==",
+      "requires": {
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "@serialport/parser-cctalk": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-cctalk/-/parser-cctalk-1.0.5.tgz",
+      "integrity": "sha512-VdoG1rRXb5deHM1c9Akn9djoJuHn030v7owYHEqpJeS6Rs6wrC4Hrkw8NxvV9ZPlMqAJ+5uJCaAUzB1tbVd3rA==",
+      "requires": {
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "@serialport/parser-delimiter": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-delimiter/-/parser-delimiter-1.0.5.tgz",
+      "integrity": "sha512-srDzeNwGM/GjtqK/nFDRIDpcZ6XDgkakFMXBtNDSI+XP6fqO1ynEZok8ljKJxM2ay0CNG83C6/X2xIOHvWhFYQ==",
+      "requires": {
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "@serialport/parser-readline": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-readline/-/parser-readline-1.0.5.tgz",
+      "integrity": "sha512-QkZoCQPHwdZOMQk7SHz3QSp7xqK4jdNql9M80oXqWt7kNhFvNXguWzf17FfQrPRIb0qiz+96+P6uAOIi02Yxbg==",
+      "requires": {
+        "@serialport/parser-delimiter": "^1.0.5",
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "@serialport/parser-ready": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-ready/-/parser-ready-1.0.5.tgz",
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+      "requires": {
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "@serialport/parser-regex": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/@serialport/parser-regex/-/parser-regex-1.0.5.tgz",
+      "integrity": "sha512-sX3tRuwwwGV+CZbKEUAKZD/wtG8ZRcGxbiDIm8nyzsPCGv52ck3RlQ9Vp4K8fYjcrGGwm3BWizC4uSzaTLOk1A==",
+      "requires": {
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "abs": {
+      "version": "1.3.13",
+      "resolved": "https://registry.npmjs.org/abs/-/abs-1.3.13.tgz",
+      "integrity": "sha512-VgsJF4AZDoxLwTRx+TlZ6gpHfSaRUcg1Vhyruqxzpr6lTmh3JMO9667AHAVUGHUD3Li9QqjX2WaTXR6pkGFU+Q==",
+      "requires": {
+        "ul": "^5.0.0"
+      }
+    },
+    "accepts": {
+      "version": "1.3.5",
+      "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.5.tgz",
+      "integrity": "sha1-63d99gEXI6OxTopywIBcjoZ0a9I=",
+      "requires": {
+        "mime-types": "~2.1.18",
+        "negotiator": "0.6.1"
+      }
+    },
+    "acorn": {
+      "version": "5.7.3",
+      "resolved": "https://registry.npmjs.org/acorn/-/acorn-5.7.3.tgz",
+      "integrity": "sha512-T/zvzYRfbVojPWahDsE5evJdHb3oJoQfFbsrKM7w5Zcs++Tr257tia3BmMP8XYVjp1S9RZXQMh7gao96BlqZOw=="
+    },
+    "acorn-jsx": {
+      "version": "5.1.0",
+      "resolved": "https://registry.npmjs.org/acorn-jsx/-/acorn-jsx-5.1.0.tgz",
+      "integrity": "sha512-tMUqwBWfLFbJbizRmEcWSLw6HnFzfdJs2sOJEOwwtVPMoH/0Ay+E703oZz78VSXZiiDcZrQ5XKjPIUQixhmgVw==",
+      "dev": true
+    },
+    "after": {
+      "version": "0.8.2",
+      "resolved": "https://registry.npmjs.org/after/-/after-0.8.2.tgz",
+      "integrity": "sha1-/ts5T58OAqqXaOcCvaI7UF+ufh8="
+    },
+    "ajv": {
+      "version": "6.10.2",
+      "resolved": "https://registry.npmjs.org/ajv/-/ajv-6.10.2.tgz",
+      "integrity": "sha512-TXtUUEYHuaTEbLZWIKUr5pmBuhDLy+8KYtPYdcV8qC+pOZL+NKqYwvWSRrVXHn+ZmRRAu8vJTAznH7Oag6RVRw==",
+      "dev": true,
+      "requires": {
+        "fast-deep-equal": "^2.0.1",
+        "fast-json-stable-stringify": "^2.0.0",
+        "json-schema-traverse": "^0.4.1",
+        "uri-js": "^4.2.2"
+      }
+    },
+    "ansi-bgblack": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgblack/-/ansi-bgblack-0.1.1.tgz",
+      "integrity": "sha1-poulAHiHcBtqr74/oNrf36juPKI=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bgblue": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgblue/-/ansi-bgblue-0.1.1.tgz",
+      "integrity": "sha1-Z73ATtybm1J4lp2hlt6j11yMNhM=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bgcyan": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgcyan/-/ansi-bgcyan-0.1.1.tgz",
+      "integrity": "sha1-WEiUJWAL3p9VBwaN2Wnr/bUP52g=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bggreen": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bggreen/-/ansi-bggreen-0.1.1.tgz",
+      "integrity": "sha1-TjGRJIUplD9DIelr8THRwTgWr0k=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bgmagenta": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgmagenta/-/ansi-bgmagenta-0.1.1.tgz",
+      "integrity": "sha1-myhDLAduqpmUGGcqPvvhk5HCx6E=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bgred": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgred/-/ansi-bgred-0.1.1.tgz",
+      "integrity": "sha1-p2+Sg4OCukMpCmwXeEJPmE1vEEE=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
+    "ansi-bgwhite": {
+      "version": "0.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-bgwhite/-/ansi-bgwhite-0.1.1.tgz",
+      "integrity": "sha1-ZQRlE3elim7OzQMxmU5IAljhG6g=",
+      "requires": {
+        "ansi-wrap": "0.1.0"
+      }
+    },
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+    },
+    "window-size": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/window-size/-/window-size-1.1.1.tgz",
+      "integrity": "sha512-5D/9vujkmVQ7pSmc0SCBmHXbkv6eaHwXEx65MywhmUMsI8sGqJ972APq1lotfcwMKPFLuCFfL8xGHLIp7jaBmA==",
+      "requires": {
+        "define-property": "^1.0.0",
+        "is-number": "^3.0.0"
+      },
+      "dependencies": {
+        "is-number": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/is-number/-/is-number-3.0.0.tgz",
+          "integrity": "sha1-JP1iAaR4LPUFYcgQJ2r8fRLXEZU=",
+          "requires": {
+            "kind-of": "^3.0.2"
+          }
+        }
+      }
+    },
+    "wordwrap": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-1.0.0.tgz",
+      "integrity": "sha1-J1hIEIkUVqQXHI0CJkQa3pDLyus="
+    },
+    "wrappy": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+      "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8="
+    },
+    "write": {
+      "version": "1.0.3",
+      "resolved": "https://registry.npmjs.org/write/-/write-1.0.3.tgz",
+      "integrity": "sha512-/lg70HAjtkUgWPVZhZcm+T4hkL8Zbtp1nFNOn3lRrxnlv50SRBv7cR7RqR+GMsd3hUXy9hWBo4CHTbFTcOYwig==",
+      "dev": true,
+      "requires": {
+        "mkdirp": "^0.5.1"
+      }
+    },
+    "ws": {
+      "version": "6.1.4",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-6.1.4.tgz",
+      "integrity": "sha512-eqZfL+NE/YQc1/ZynhojeV8q+H050oR8AZ2uIev7RU10svA9ZnJUddHcOUZTJLinZ9yEfdA2kSATS2qZK5fhJA==",
+      "requires": {
+        "async-limiter": "~1.0.0"
+      }
+    },
+    "xmlhttprequest-ssl": {
+      "version": "1.5.5",
+      "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-1.5.5.tgz",
+      "integrity": "sha1-wodrBhaKrcQOV9l+gRkayPQ5iz4="
+    },
+    "xtend": {
+      "version": "4.0.1",
+      "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz",
+      "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68="
+    },
+    "yeast": {
+      "version": "0.1.2",
+      "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz",
+      "integrity": "sha1-AI4G2AlDIMNy28L47XagymyKxBk="
+    }
+  }
+}
diff --git a/package.json b/package.json
index 06b677f..b6ddfc7 100644
--- a/package.json
+++ b/package.json
@@ -21,5 +21,13 @@
     "serve-favicon": "^2.4.5",
     "socket.io": "^2.1.1",
     "ssl-vision": "^1.0.2"
+  },
+  "devDependencies": {
+    "eslint": "^6.6.0",
+    "eslint-config-standard": "^11.0.0",
+    "eslint-plugin-import": "^2.11.0",
+    "eslint-plugin-node": "^6.0.1",
+    "eslint-plugin-promise": "^3.7.0",
+    "eslint-plugin-standard": "^3.0.1"
   }
 }
diff --git a/players/Attacker.js b/players/Attacker.js
index b971cc3..5767509 100644
--- a/players/Attacker.js
+++ b/players/Attacker.js
@@ -4,20 +4,18 @@ const Intention = require('../Intention')
 const IntentionPlayer = require('./IntentionPlayer')
 const LineIntention = require('../Intention/LineIntention')
 const PointIntention = require('../Intention/PointIntention')
-const LookAtIntention = require('../Intention/LookAtIntention')
 
-// const FORWARD_SPEED = 500 // ~4.3s
-const FORWARD_SPEED = 500 // ~4.3s
-
-const ANGULAR_MULTIPLIER = 10
+const AvoidWallDecay = TensorMath.new.mult(-1).sum(1).finish
+const AvoidWallSpeed = 100
+const AvoidWallCorridor = 200
+const OffsetBallDistance = 75
 
 const Direction = {
   UP: Math.PI / 2,
-  DOWN: - Math.PI / 2,
+  DOWN: -(Math.PI / 2),
   RIGHT: 0,
-  LEFT: Math.PI,
+  LEFT: Math.PI
 }
-
 const Field = {
   width: 1700,
   TopLeft: {x: -775, y: 675},
@@ -26,247 +24,131 @@ const Field = {
   BottomRight: {x: 775, y: -675}
 }
 
-const AvoidWall_Decay = TensorMath.new.mult(-1).sum(1).finish
-const AvoidWall_Speed = 100
-const AvoidWall_Corridor = 200
-
-const OffsetBallDistance = 75
-const MinAttackSpeed = 150
-
 module.exports = class Attacker extends IntentionPlayer {
-  setup(){
-    
-    let ball = () => this.ball
+  setup () {
+    const ball = this.ball
 
     this.orientation = Math.PI / 2
     this.position = {x: 0, y: 40}
 
-    // this.$goGoalUp = new Intention('goGoalUp')
-    // this.$goGoalUp.addIntetion(new LineIntention('goal', {
-    //   // target: ball,
-    //   target: {x: 700, y: 0},
-    //   lineDist:200,
-    //   lineDistMax:650,
-    //   lineSize:false,
-    //   theta:Math.PI/2,
-    //   decay: TensorMath.new.mult(-1).finish,
-    //   multiplier: FORWARD_SPEED,
-    // }))
-
-    // ============================================== Avoid Robots
+    // Avoid Robots
     this.$avoidRobots = new Intention('avoidRobots')
     this.addIntetion(this.$avoidRobots)
 
-    // for (let i = 0; i < 3; i ++) {
-    //   this.$avoidRobots.addIntetion(new PointIntention('avoidRobot#'+i, {
-    //     // target: ball,
-    //     target: (),
-    //     theta: Direction.RIGHT,
-    //     lineSize: Field.width, // Largura do segmento de reta
-    //     lineSizeSingleSide: true,
-
-    //     lineDist: 300, // Tamanho da repelência
-    //     lineDistMax: 300, // Tamanho da repelência
-    //     lineDistSingleSide: true,
-        
-    //     decay: TensorMath.new.mult(-1).finish,
-    //     multiplier: 300,
-    //   }))
-    // }
-
-
-    // ============================================== Avoid Walls
+    // Avoid Walls
     this.$avoidWalls = new Intention('avoidWalls')
     this.addIntetion(this.$avoidWalls)
 
     this.$avoidWalls.addIntetion(new LineIntention('topWall', {
-      // target: ball,
       target: Field.TopLeft,
       theta: Direction.RIGHT,
-      lineSize: Field.width, // Largura do segmento de reta
-      // lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridor,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
-
     this.$avoidWalls.addIntetion(new LineIntention('bottomWall', {
-      // target: ball,
       target: Field.BottomRight,
       theta: Direction.LEFT,
-      lineSize: Field.width, // Largura do segmento de reta
-      // lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridor,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
 
-    // ============================================== Prepare Attack
+    // Prepare Attack
     this.$prepareAttack = new Intention('prepareAttack')
     this.addIntetion(this.$prepareAttack)
 
     this.$prepareAttack.addIntetion(new LineIntention('avoidBallOwnGoal', {
       target: ball,
       theta: Direction.DOWN,
-      lineSize: 50, // Largura do segmento de reta
-      lineDist: 180, // Tamanho da repelência
-      lineDistMax: 180, // Tamanho da repelência
+      lineSize: 50,
+      lineDist: 180,
+      lineDistMax: 180,
       lineDistSingleSide: true,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 700,
+      multiplier: 700
     }))
 
     this.$prepareAttack.addIntetion(new LineIntention('openBallSpaceFromOtherSide', {
       target: ball,
       theta: Direction.RIGHT,
-      lineSize: 350, // Largura do segmento de reta
+      lineSize: 350,
       lineSizeSingleSide: true,
-      lineDist: 250, // Tamanho da repelência
-      lineDistMax: 250, // Tamanho da repelência
+      lineDist: 250,
+      lineDistMax: 250,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 600,
+      multiplier: 600
     }))
 
     this.$prepareAttack.addIntetion(new PointIntention('followBall', {
       target: () => {
-        return {x: this.ball.x - OffsetBallDistance, y: this.ball.y} 
+        return {x: this.ball.x - OffsetBallDistance, y: this.ball.y}
       },
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.finish,
-      multiplier: 700,
+      multiplier: 700
     }))
 
-    // ============================================== Rules
+    // Rules
     this.$rules = new LineIntention('avoid_defence_fault', {
-      target: {x: -850 , y: 0},
+      target: {x: -850, y: 0},
       theta: Direction.UP,
-      lineSize: 100000, //360,
+      lineSize: 100000,
       lineDist: 650,
       lineDistMax: 650,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 2200,
+      multiplier: 2200
     })
     this.addIntetion(this.$rules)
 
-    // ============================================== Attack with Acceleration
-    // this.$attackAccelerated = new Intention('attackAccelerated')
-    // this.addIntetion(this.$attackAccelerated)
-
     this.$attackAccelerated = this.addIntetion(new PointIntention('goBall', {
       target: () => {
-
-        // let prop = Vector.size(Vector.sub(this.ball, this.position))
-        // if (prop < 100) {
-        //   return {x: 800, y: 0}
-        // }
-        // console.log('dist', prop.toFixed(0))
-        return {x: this.ball.x, y: this.ball.y} 
+        return {x: this.ball.x, y: this.ball.y}
       },
       radius: OffsetBallDistance + 150,
       radiusMax: OffsetBallDistance + 150,
       decay: TensorMath.new.constant(1).finish,
-      multiplier: this.currentAttackMultiplier.bind(this),
+      multiplier: this.currentAttackMultiplier.bind(this)
     }))
 
     this.$goGoal = this.addIntetion(new PointIntention('goGoal', {
       target: {x: 800, y: 30},
-      // () => {
-      //   // let prop = Vector.size(Vector.sub(this.ball, this.position))
-      //   // if (prop < 100) {
-      //     return {x: 800, y: 0}
-      //   // }
-      //   // console.log('dist', prop.toFixed(0))
-      //   // return {x: this.ball.x, y: this.ball.y} 
-      // },
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.finish,
-      multiplier: 800,
+      multiplier: 800
     }))
-
-    // this.$goGoal = this.addIntetion(new LineIntention('goGoal', {
-    //   target: {x: 900, y: 0},
-    //   theta: Direction.LEFT,
-
-    //   lineSize: 100000, //360,
-    //   lineDist: 650,
-    //   lineDistMax: 650,
-    //   decay: TensorMath.new.mult(-1).sum(1).finish,
-    //   multiplier: 800,
-    //   // () => {
-    //   //   // let prop = Vector.size(Vector.sub(this.ball, this.position))
-    //   //   // if (prop < 100) {
-    //   //     return {x: 800, y: 0}
-    //   //   // }
-    //   //   // console.log('dist', prop.toFixed(0))
-    //   //   // return {x: this.ball.x, y: this.ball.y} 
-    //   // },
-    //   // radius: 150,
-    //   // radiusMax: false,
-    //   // decay: TensorMath.new.finish,
-    //   // multiplier: 600,
-    // }))
-
   }
 
-  currentAttackMultiplier(dist) {
-    // this.$prepareAttack.weight = 0
-
-    let speed = Math.max(260, Vector.size(this.ballSpeed)*2.0 + 260)
-    // console.log('speed', speed.toFixed(0))
+  currentAttackMultiplier () {
+    let speed = Math.max(260, Vector.size(this.ballSpeed) * 2.0 + 260)
     return speed
   }
 
-
   loop () {
     let toBall = Vector.sub({x: this.ball.x, y: this.ball.y}, this.position)
     let toBallDist = Vector.size(toBall)
     let toBallAngle = Vector.toDegrees(Vector.angle(toBall))
     let withinAttackArea = (toBall.x > 0) && Math.abs(toBallAngle) < (35) // 35
-    
+
     if (!withinAttackArea) {
       this.$prepareAttack.weight = 1
       this.$attackAccelerated.weight = 0
       this.$goGoal.weight = 0
-      // console.log('outside', (toBallAngle).toFixed(0))
     } else {
       this.$prepareAttack.weight = 0.5
       this.$attackAccelerated.weight = 1
-
       if (toBallDist > 300 || (toBallDist < 120 && this.ballSpeed.x > 300)) {
-        console.log('inside GO GOAL!', toBallDist.toFixed(0) + '\t'+this.ballSpeed.x.toFixed(0))
         this.$goGoal.weight = 1
       } else {
-        console.log('inside         ', toBallDist.toFixed(0) + '\t'+this.ballSpeed.x.toFixed(0))
         this.$goGoal.weight = 0
       }
-// >>>>>>> Stashed changes
+      this.$avoidWalls.weight = 0.3
     }
-
-    // this.$prepareAttack.weight = 0
-
-    // let speed = Math.max(160, Vector.size(this.ballSpeed) + 70) * 2
-    // console.log('speed', speed.toFixed(0))
-    // return speed
-
-// <<<<<<< Updated upstream
-//     this.$avoidWalls.weight = 1
-//     console.log(this.getIntentionsInfo())
-// =======
-
-    this.$avoidWalls.weight = 0.3
-// >>>>>>> Stashed changes
-    // this.$prepareAttack.weight = 1
-    // this.$attackAccelerated.weight = 1
-    // console.log(this.intentionGroup.output)
   }
-}
\ No newline at end of file
+}
diff --git a/players/Attacker2.js b/players/Attacker2.js
index 1d0b9ba..94ee610 100644
--- a/players/Attacker2.js
+++ b/players/Attacker2.js
@@ -4,20 +4,13 @@ const Intention = require('../Intention')
 const IntentionPlayer = require('./IntentionPlayer')
 const LineIntention = require('../Intention/LineIntention')
 const PointIntention = require('../Intention/PointIntention')
-const LookAtIntention = require('../Intention/LookAtIntention')
-
-// const FORWARD_SPEED = 500 // ~4.3s
-const FORWARD_SPEED = 500 // ~4.3s
-
-const ANGULAR_MULTIPLIER = 10
 
 const Direction = {
   UP: Math.PI / 2,
-  DOWN: - Math.PI / 2,
+  DOWN: -(Math.PI / 2),
   RIGHT: 0,
-  LEFT: Math.PI,
+  LEFT: Math.PI
 }
-
 const Field = {
   width: 1700,
   TopLeft: {x: -775, y: 675},
@@ -26,258 +19,146 @@ const Field = {
   BottomRight: {x: 775, y: -675}
 }
 
-const AvoidWall_Decay = TensorMath.new.mult(-1).sum(1).finish
-const AvoidWall_Speed = 100
-const AvoidWall_Corridor = 200
-
+const AvoidWallDecay = TensorMath.new.mult(-1).sum(1).finish
+const AvoidWallSpeed = 100
+const AvoidWallCorridor = 200
 const OffsetBallDistance = 75
-const MinAttackSpeed = 150
 
 module.exports = class Attacker2 extends IntentionPlayer {
-  setup(){
-    
-    let ball = () => this.ball
-
+  setup () {
+    const ball = this.ball
     this.orientation = Math.PI / 2
     this.position = {x: 0, y: 40}
 
-    // this.$goGoalUp = new Intention('goGoalUp')
-    // this.$goGoalUp.addIntetion(new LineIntention('goal', {
-    //   // target: ball,
-    //   target: {x: 700, y: 0},
-    //   lineDist:200,
-    //   lineDistMax:650,
-    //   lineSize:false,
-    //   theta:Math.PI/2,
-    //   decay: TensorMath.new.mult(-1).finish,
-    //   multiplier: FORWARD_SPEED,
-    // }))
-
-    // ============================================== Avoid Robots
+    // Avoid Robots
     this.$avoidRobots = new Intention('avoidRobots')
     this.addIntetion(this.$avoidRobots)
 
-    // for (let i = 0; i < 3; i ++) {
-    //   this.$avoidRobots.addIntetion(new PointIntention('avoidRobot#'+i, {
-    //     // target: ball,
-    //     target: (),
-    //     theta: Direction.RIGHT,
-    //     lineSize: Field.width, // Largura do segmento de reta
-    //     lineSizeSingleSide: true,
-
-    //     lineDist: 300, // Tamanho da repelência
-    //     lineDistMax: 300, // Tamanho da repelência
-    //     lineDistSingleSide: true,
-        
-    //     decay: TensorMath.new.mult(-1).finish,
-    //     multiplier: 300,
-    //   }))
-    // }
-
-
-    // ============================================== Avoid Walls
+    // Avoid Walls
     this.$avoidWalls = new Intention('avoidWalls')
     this.addIntetion(this.$avoidWalls)
-
     this.$avoidWalls.addIntetion(new LineIntention('topWall', {
-      // target: ball,
       target: Field.TopLeft,
       theta: Direction.RIGHT,
-      lineSize: Field.width, // Largura do segmento de reta
-      // lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridor,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
 
     this.$avoidWalls.addIntetion(new LineIntention('bottomWall', {
-      // target: ball,
       target: Field.BottomRight,
       theta: Direction.LEFT,
-      lineSize: Field.width, // Largura do segmento de reta
-      // lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridor,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
 
-    // ============================================== Prepare Attack
+    // Prepare Attack
     this.$prepareAttack = new Intention('prepareAttack')
     this.addIntetion(this.$prepareAttack)
-
     this.$prepareAttack.addIntetion(new LineIntention('avoidBallOwnGoal', {
       target: ball,
       theta: Direction.DOWN,
-      lineSize: 50, // Largura do segmento de reta
-      lineDist: 180, // Tamanho da repelência
-      lineDistMax: 180, // Tamanho da repelência
+      lineSize: 50,
+      lineDist: 180,
+      lineDistMax: 180,
       lineDistSingleSide: true,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 500,
+      multiplier: 500
     }))
-
     this.$prepareAttack.addIntetion(new LineIntention('openBallSpaceFromOtherSide', {
       target: ball,
       theta: Direction.RIGHT,
-      lineSize: 350, // Largura do segmento de reta
+      lineSize: 350,
       lineSizeSingleSide: true,
-      lineDist: 250, // Tamanho da repelência
-      lineDistMax: 250, // Tamanho da repelência
+      lineDist: 250,
+      lineDistMax: 250,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 400,
+      multiplier: 400
     }))
 
     this.$prepareAttack.addIntetion(new PointIntention('followBall', {
       target: () => {
-        return {x: this.ball.x - OffsetBallDistance, y: this.ball.y} 
+        return {x: this.ball.x - OffsetBallDistance, y: this.ball.y}
       },
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.finish,
-      multiplier: 500,
+      multiplier: 500
     }))
 
-    // ============================================== Rules
+    // Rules
     this.$rules = new LineIntention('avoid_defence_fault', {
-      target: {x: -850 , y: 0},
+      target: {x: -850, y: 0},
       theta: Direction.UP,
-      lineSize: 100000, //360,
+      lineSize: 100000,
       lineDist: 650,
       lineDistMax: 650,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 2200,
+      multiplier: 2200
     })
     this.$rulesAttack = new LineIntention('avoid_defence_fault', {
-      target: {x: 850 , y: 0},
+      target: {x: 850, y: 0},
       theta: Direction.DOWN,
-      lineSize: 100000, //360,
+      lineSize: 100000,
       lineDist: 650,
       lineDistMax: 650,
       decay: TensorMath.new.mult(-1).sum(1).finish,
-      multiplier: 2200,
+      multiplier: 2200
     })
-    
+
     this.addIntetion(this.$rules)
     this.addIntetion(this.$rulesAttack)
 
-    // ============================================== Attack with Acceleration
-    // this.$attackAccelerated = new Intention('attackAccelerated')
-    // this.addIntetion(this.$attackAccelerated)
-
     this.$attackAccelerated = this.addIntetion(new PointIntention('goBall', {
       target: () => {
-
-        // let prop = Vector.size(Vector.sub(this.ball, this.position))
-        // if (prop < 100) {
-        //   return {x: 800, y: 0}
-        // }
-        // console.log('dist', prop.toFixed(0))
-        return {x: this.ball.x, y: this.ball.y} 
+        return {x: this.ball.x, y: this.ball.y}
       },
       radius: OffsetBallDistance + 150,
       radiusMax: OffsetBallDistance + 150,
       decay: TensorMath.new.constant(1).finish,
-      multiplier: this.currentAttackMultiplier.bind(this),
+      multiplier: this.currentAttackMultiplier.bind(this)
     }))
 
     this.$goGoal = this.addIntetion(new PointIntention('goGoal', {
       target: {x: 900, y: 0},
-      // () => {
-      //   // let prop = Vector.size(Vector.sub(this.ball, this.position))
-      //   // if (prop < 100) {
-      //     return {x: 800, y: 0}
-      //   // }
-      //   // console.log('dist', prop.toFixed(0))
-      //   // return {x: this.ball.x, y: this.ball.y} 
-      // },
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.finish,
-      multiplier: 600,
+      multiplier: 600
     }))
-
-    // this.$goGoal = this.addIntetion(new LineIntention('goGoal', {
-    //   target: {x: 900, y: 0},
-    //   theta: Direction.LEFT,
-
-    //   lineSize: 100000, //360,
-    //   lineDist: 650,
-    //   lineDistMax: 650,
-    //   decay: TensorMath.new.mult(-1).sum(1).finish,
-    //   multiplier: 800,
-    //   // () => {
-    //   //   // let prop = Vector.size(Vector.sub(this.ball, this.position))
-    //   //   // if (prop < 100) {
-    //   //     return {x: 800, y: 0}
-    //   //   // }
-    //   //   // console.log('dist', prop.toFixed(0))
-    //   //   // return {x: this.ball.x, y: this.ball.y} 
-    //   // },
-    //   // radius: 150,
-    //   // radiusMax: false,
-    //   // decay: TensorMath.new.finish,
-    //   // multiplier: 600,
-    // }))
-
   }
 
-  currentAttackMultiplier(dist) {
-    // this.$prepareAttack.weight = 0
-
-    let speed = Math.max(260, Vector.size(this.ballSpeed)*2.0 + 260)
-    // console.log('speed', speed.toFixed(0))
-    return speed
+  currentAttackMultiplier () {
+    return Math.max(260, Vector.size(this.ballSpeed) * 2.0 + 260)
   }
 
-
-  loop(){
+  loop () {
     let toBall = Vector.sub({x: this.ball.x + 50, y: this.ball.y}, this.position)
     let toBallDist = Vector.size(toBall)
     let toBallAngle = Vector.toDegrees(Vector.angle(toBall))
     let withinAttackArea = (toBall.x > 0) && Math.abs(toBallAngle) < (35) // 35
-    
+
     if (!withinAttackArea) {
       this.$prepareAttack.weight = 1
       this.$attackAccelerated.weight = 0
       this.$goGoal.weight = 0
-      // console.log('outside', (toBallAngle).toFixed(0))
     } else {
       this.$prepareAttack.weight = 0.5
       this.$attackAccelerated.weight = 1
 
       if (toBallDist > 300 || (toBallDist < 120 && this.ballSpeed.x > 300)) {
-        console.log('inside GO GOAL!', toBallDist.toFixed(0) + '\t'+this.ballSpeed.x.toFixed(0))
+        console.log('inside GO GOAL!', toBallDist.toFixed(0) + '\t' + this.ballSpeed.x.toFixed(0))
         this.$goGoal.weight = 1
       } else {
-        console.log('inside         ', toBallDist.toFixed(0) + '\t'+this.ballSpeed.x.toFixed(0))
+        console.log('inside         ', toBallDist.toFixed(0) + '\t' + this.ballSpeed.x.toFixed(0))
         this.$goGoal.weight = 0
       }
-// >>>>>>> Stashed changes
     }
-
-    // this.$prepareAttack.weight = 0
-
-    // let speed = Math.max(160, Vector.size(this.ballSpeed) + 70) * 2
-    // console.log('speed', speed.toFixed(0))
-    // return speed
-
-// <<<<<<< Updated upstream
-//     this.$avoidWalls.weight = 1
-//     console.log(this.getIntentionsInfo())
-// =======
-
     this.$avoidWalls.weight = 0.3
-// >>>>>>> Stashed changes
-    // this.$prepareAttack.weight = 1
-    // this.$attackAccelerated.weight = 1
-    // console.log(this.intentionGroup.output)
   }
-}
\ No newline at end of file
+}
diff --git a/players/BasePlayer.js b/players/BasePlayer.js
index 2f921bc..d6fda07 100644
--- a/players/BasePlayer.js
+++ b/players/BasePlayer.js
@@ -1,8 +1,5 @@
 const Vector = require('../lib/Vector')
 
-let fail = 0
-const MAX_ANGULAR = Vector.toRadians(999)
-
 module.exports = class BasePlayer {
   // TODO Renomear/Reestruturar necessidade de passar id
   constructor (id, match, options) {
@@ -10,41 +7,27 @@ module.exports = class BasePlayer {
     this.match = match
     this.options = options
     this.state = {id: id, class: this.name}
-    this.ball = {x:0,y:0}
+    this.ball = {x: 0, y: 0}
     this.linear = 0
     this.angular = 0
-    
-    this.position = {x : 0, y : 0}
+    this.position = {x: 0, y: 0}
     this.orientation = 0
-
-    // if (options.predict) {
-    //   console.log('Enabled prediction for', id)
-    //   setInterval(() => {
-    //     // Skip if no frame has arrived yet
-    //     if (!this.position.x)
-    //       return;
-
-    //     this.simulate()
-    //     this.update()
-    //   }, 5)
-    // }
   }
 
-  get visionId() {
+  get visionId () {
     return this.options.visionId
   }
 
-  get radioId() {
+  get radioId () {
     return this.options.radioId
   }
 
-  setRobot(robot) {
+  setRobot (robot) {
     this.options = robot
   }
 
-  // Update robot state (linear and angular) targets
-  async send(_state, _linear, _angular) {
-    if (_state == 1) {
+  async send (_state, _linear, _angular) {
+    if (_state === 1) {
       this.linear = _linear
       this.angular = _angular
     } else {
@@ -53,41 +36,22 @@ module.exports = class BasePlayer {
     }
   }
 
-  // isActive() {
-  //   if (!this.frame) {
-  //     return false
-  //   }
-  //   // frame_number: 308954,
-  //   // t_capture: 33517.520055,
-  //   // t_sent: 1513650099.136511,
-  //   // camera_id: 1,
-  //   let delta = Date.now() / 1000 - this.frame.t_sent
-  //   console.log(this.id, 'delta:', this.detection)
-
-  //   return Math.abs(delta) < 4
-  // }
-
-  simulate(dt) {
+  simulate (dt) {
     // Compute dt if not assigned
     if (!dt) {
       let now = Date.now()
       dt = (now - this.lastTime) / 1000
       this.lastTime = now
     }
-
     if (dt > 0.05) {
       console.error('Dt weird:', dt)
       return
     }
-
     let deltaPos = Vector.mult(Vector.fromTheta(this.orientation), dt * -this.linear)
     let deltaTheta = this.angular * dt
     if (deltaTheta) {
-      this.orientation = this.orientation - deltaTheta * Math.PI/180
+      this.orientation = this.orientation - deltaTheta * Math.PI / 180
     }
-
-    if (deltaPos)
-      this.position = Vector.sum(this.position, deltaPos)
-    // console.log('delta: ', Math.round(Vector.toDegrees(deltaTheta)))
+    if (deltaPos) this.position = Vector.sum(this.position, deltaPos)
   }
-}
\ No newline at end of file
+}
diff --git a/players/Defender.js b/players/Defender.js
index f69e111..4d373e2 100644
--- a/players/Defender.js
+++ b/players/Defender.js
@@ -3,26 +3,18 @@ const TensorMath = require('../lib/TensorMath')
 const Intention = require('../Intention')
 const LineIntention = require('../Intention/LineIntention')
 const PointIntention = require('../Intention/PointIntention')
-const LookAtIntention = require('../Intention/LookAtIntention')
 const Vector = require('../lib/Vector')
-// const FORWARD_SPEED = 500 // ~4.3s
-const FORWARD_SPEED = 500 // ~4.3s
-
-const ANGULAR_MULTIPLIER = 10
 
 const Direction = {
   UP: Math.PI / 2,
-  DOWN: - Math.PI / 2,
+  DOWN: -(Math.PI / 2),
   RIGHT: 0,
-  LEFT: Math.PI,
+  LEFT: Math.PI
 }
-
-const AvoidWall_Decay = TensorMath.new.finish
-const AvoidWall_Speed = 980
-const AvoidWall_Corridor_max = 100
-const AvoidWall_Corridor = 100
-const OffsetBallDistance = 130
-
+const AvoidWallDecay = TensorMath.new.finish
+const AvoidWallSpeed = 980
+const AvoidWallCorridorMax = 100
+const AvoidWallCorridor = 100
 const Field = {
   width: 1700,
   TopLeft: {x: -775, y: 675},
@@ -32,39 +24,33 @@ const Field = {
 }
 
 module.exports = class Defender extends IntentionPlayer {
-  setup(){
-    let ball = () => {
-      return {x: this.ball.x,
-              y: this.ball.y}
-    }
-    // ============================================== Follow Ball in Y while Being in an X
+  setup () {
+    // Follow Ball in Y while Being in an X
     this.$followYIntetion = new Intention('goalkeeper_following')
     this.addIntetion(this.$followYIntetion)
-    
+
     this.$followYIntetion.addIntetion(new LineIntention('follow_Y', {
-      target: () => { return {x:this.ball.x-100, y:this.ball.y}},
+      target: () => { return {x: this.ball.x - 100, y: this.ball.y} },
       theta: Direction.RIGHT,
       lineSize: 1700,
       lineDist: 80,
       decay: TensorMath.new.pow(2).mult(-1).finish,
-      multiplier: 600,
+      multiplier: 600
     }))
 
     this.$followYIntetion.addIntetion(new LineIntention('follow_X', {
-      target: {x: -250 , y: 0},
+      target: {x: -250, y: 0},
       theta: Direction.UP,
       lineSize: 1700,
       lineDist: 200,
       decay: TensorMath.new.pow(2).mult(-1).finish,
-      multiplier: 600,
+      multiplier: 600
     }))
 
-
     this.$kickBall = new Intention('pushBall')
     this.addIntetion(this.$kickBall)
-
     this.$kickBall.addIntetion(new PointIntention('pushBall', {
-      target: () => { return {x:this.ball.x , y:this.ball.y}},
+      target: () => { return {x: this.ball.x, y: this.ball.y} },
       radius: 200,
       radiusMax: 200,
       decay: TensorMath.new.constant(1).finish,
@@ -73,46 +59,32 @@ module.exports = class Defender extends IntentionPlayer {
 
     this.$avoidWalls = new Intention('avoid_walls')
     this.addIntetion(this.$avoidWalls)
-    
-
     this.$avoidWalls.addIntetion(new LineIntention('topWall', {
-      // target: ball,
       target: Field.TopRight,
       theta: Direction.RIGHT,
-      lineSize: Field.width, // Largura do segmento de reta
-      // lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridorMax,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
 
     this.$avoidWalls.addIntetion(new LineIntention('bottomWall', {
-      // target: ball,
       target: Field.BottomLeft,
       theta: Direction.LEFT,
-      lineSize: Field.width, // Largura do segmento de reta
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineSize: Field.width,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridorMax,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
-   
-
-  
   }
 
-  loop(){
+  loop () {
     let toBall = Vector.sub({x: this.ball.x, y: this.ball.y}, this.position)
-    let toBallDist = Vector.size(toBall)
     let toBallAngle = Vector.toDegrees(Vector.angle(toBall))
-
     if (Math.abs(toBallAngle) < 10) {
-      console.log("Inside")
+      console.log('Inside')
     }
-   
   }
-}
\ No newline at end of file
+}
diff --git a/players/GoalKeeper.js b/players/GoalKeeper.js
index 69d4957..c605151 100644
--- a/players/GoalKeeper.js
+++ b/players/GoalKeeper.js
@@ -3,24 +3,14 @@ const TensorMath = require('../lib/TensorMath')
 const Intention = require('../Intention')
 const LineIntention = require('../Intention/LineIntention')
 const PointIntention = require('../Intention/PointIntention')
-const LookAtIntention = require('../Intention/LookAtIntention')
-
-// const FORWARD_SPEED = 500 // ~4.3s
-const FORWARD_SPEED = 500 // ~4.3s
-
-const ANGULAR_MULTIPLIER = 10
 
 const Direction = {
   UP: Math.PI / 2,
-  DOWN: - Math.PI / 2,
+  DOWN: -(Math.PI / 2),
   RIGHT: 0,
-  LEFT: Math.PI,
+  LEFT: Math.PI
 }
 
-const AvoidWall_Decay = TensorMath.new.finish
-const AvoidWall_Speed = 980
-const AvoidWall_Corridor_max = 420
-const AvoidWall_Corridor = 420
 const OffsetBallDistance = 130
 
 const Field = {
@@ -32,13 +22,11 @@ const Field = {
 }
 
 module.exports = class GoalKeeper extends IntentionPlayer {
-  setup(){
+  setup () {
     let ball = () => {
-      return {x: this.ball.x,
-              y: this.ball.y}
+      return {x: this.ball.x, y: this.ball.y}
     }
-       
-    // ============================================== Follow Ball in y
+    // Follow Ball in y
     this.$followXIntetion = new Intention('goalkeeper_following')
     this.$followXIntetion.addIntetion(new LineIntention('follow_y', {
       target: ball,
@@ -46,7 +34,7 @@ module.exports = class GoalKeeper extends IntentionPlayer {
       lineSize: 1700,
       lineDist: 80,
       decay: TensorMath.new.mult(-1).finish,
-      multiplier: 900,
+      multiplier: 900
     }))
 
     this.$prepareAttack = new Intention('prepareAttack')
@@ -57,58 +45,21 @@ module.exports = class GoalKeeper extends IntentionPlayer {
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.constant(1).finish,
-      multiplier: 900,
+      multiplier: 900
     })
 
     this.$prepareAttack.addIntetion(this.$keepCenterGoal)
-
     this.$followXIntetion.addIntetion(new LineIntention('follow_goalline', {
-      target: {x: this.CENTER_OWN_GOAL + 180 , y: 0},
+      target: {x: this.CENTER_OWN_GOAL + 180, y: 0},
       theta: Direction.UP,
       lineSize: 1700,
       lineDist: 200,
-      //lineDistMax: 200,
-      // lineDist: 80,
-      // lineDistMax: 200,
       decay: TensorMath.new.mult(-1).finish,
-      multiplier: 900,
+      multiplier: 900
     }))
     this.addIntetion(this.$followXIntetion)
-    // ============================================== Avoid Walls
-
-    // this.$avoidWalls = new Intention('avoid_walls')
-    // this.$avoidWalls.addIntetion(new LineIntention('topWall', {
-    //   // target: ball,
-    //   target: Field.TopRight,
-    //   theta: Direction.RIGHT,
-    //   lineSize: Field.width, // Largura do segmento de reta
-    //   // lineSizeSingleSide: true,
 
-    //   lineDist: AvoidWall_Corridor, // Tamanho da repelência
-    //   lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-    //   // lineDistSingleSide: true,
-      
-    //   decay: AvoidWall_Decay,
-    //   multiplier: AvoidWall_Speed,
-    // }))
-
-    // this.$avoidWalls.addIntetion(new LineIntention('bottomWall', {
-    //   // target: ball,
-    //   target: Field.BottomLeft,
-    //   theta: Direction.LEFT,
-    //   lineSize: Field.width, // Largura do segmento de reta
-    //   // lineSizeSingleSide: true,
-
-    //   lineDist: AvoidWall_Corridor, // Tamanho da repelência
-    //   lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-    //   // lineDistSingleSide: true,
-      
-    //   decay: AvoidWall_Decay,
-    //   multiplier: AvoidWall_Speed,
-    // }))
-    // this.addIntetion(this.$avoidWalls)
-
-    // ============================================== comportamento de libero
+    // comportamento de libero
     this.$attackAccelerated = new Intention('attackAccelerated')
     this.addIntetion(this.$attackAccelerated)
 
@@ -117,13 +68,12 @@ module.exports = class GoalKeeper extends IntentionPlayer {
       radius: OffsetBallDistance * 2,
       radiusMax: OffsetBallDistance * 2,
       decay: TensorMath.new.constant(1).finish,
-      multiplier: 1200,
+      multiplier: 1200
     }))
-
   }
 
-  loop(){
-    if (this.ball.x > Field.width/3) {
+  loop () {
+    if (this.ball.x > Field.width / 3) {
       this.$followXIntetion.weight = 0
       this.$keepCenterGoal.weight = 1
     } else {
@@ -131,4 +81,4 @@ module.exports = class GoalKeeper extends IntentionPlayer {
       this.$keepCenterGoal.weight = 0
     }
   }
-}
\ No newline at end of file
+}
diff --git a/players/IntentionPlayer.js b/players/IntentionPlayer.js
index 8d83051..8b13707 100644
--- a/players/IntentionPlayer.js
+++ b/players/IntentionPlayer.js
@@ -1,22 +1,11 @@
-const _ = require('lodash')
-
-//  Math and vector libs
 const Vector = require('../lib/Vector')
 const TensorMath = require('../lib/TensorMath')
-
-// Intentions libs
 const Intention = require('../Intention')
-const LineIntention = require('../Intention/LineIntention')
-
-// Base player lib
 const BasePlayer = require('./BasePlayer')
 
 module.exports = class IntentionPlayer extends BasePlayer {
   constructor (id, match, options) {
     super(id, match, options)
-    // Constants
-
-    // Position of Field Edges
     this.Field = {
       width: 1700,
       TopLeft: {x: -775, y: 675},
@@ -24,55 +13,38 @@ module.exports = class IntentionPlayer extends BasePlayer {
       BottomLeft: {x: -775, y: -675},
       BottomRight: {x: 775, y: -675}
     }
-
-    // Util function to sleep
-    this.sleep = ms => new Promise((res, rej) => setTimeout(res, ms))
-
     // The Offset between the real ball position and the position that robot will follow
     this.AtkOffsetBallDistance = 150
-
     // Centers of your own goal and enemy goal
+    const SPEED_IMPORTANCE_MIN = 10
+    const SPEED_IMPORTANCE_MAX = 35
     this.CENTER_OWN_GOAL = -835
     this.CENTER_ENEMY_GOAL = 835
-
-    // Self-explanatory
-    this.MAX_ROBOT_SPEED=500
-
-    const SPEED_IMPORTANCE_MIN=10
-    const SPEED_IMPORTANCE_MAX=15
-
-
-    this.speedImportance = TensorMath.new.map(
-      SPEED_IMPORTANCE_MIN, SPEED_IMPORTANCE_MAX, 0, 1).min(1).max(0).finish
-    // =======================
+    this.MAX_ROBOT_SPEED = 500
+    this.speedImportance = TensorMath.new.map(SPEED_IMPORTANCE_MIN, SPEED_IMPORTANCE_MAX, 0, 1).min(1).max(0).finish
     this.intentionGroup = new Intention('RootIntentionGroup')
-
     this.lastBall = null
     this.ballSpeed = {x: 0, y: 0}
     this._ballSpeedsRaw = []
 
     this.setup()
-    // this.orientation = 0
   }
 
-  addIntetion(intention) {
+  addIntetion (intention) {
     this.intentionGroup.addIntetion(intention)
     return intention
   }
 
-  getIntentionsInfo() {
+  getIntentionsInfo () {
     return this.intentionGroup.intentions.map(x => x.getIntentionInfo())
   }
 
-  setup() {}
-  loop() {}
-
-  computeRobotModelForIntention({vx, vy, vtheta}) {
+  computeRobotModelForIntention ({vx, vy, vtheta}) {
     // Create Vector From Received Speed
     let targetSpeedVector = {x: vx, y: vy}
     // Escalar
     let targetSpeed = Vector.size(targetSpeedVector)
-    //console.log(targetSpeedVector, targetSpeed)
+
     // Limit to robot limit
     if (targetSpeed > this.MAX_ROBOT_SPEED) {
       targetSpeed = this.MAX_ROBOT_SPEED
@@ -85,49 +57,38 @@ module.exports = class IntentionPlayer extends BasePlayer {
     let linear = robotWorldSpeed.x
 
     // To work with the two robot fronts
-    if(robotWorldSpeed.x < 0.0) {
-      robotWorldSpeed.y = -robotWorldSpeed.y;
-      robotWorldSpeed.x = -robotWorldSpeed.x;
+    if (robotWorldSpeed.x < 0.0) {
+      robotWorldSpeed.y = -robotWorldSpeed.y
+      robotWorldSpeed.x = -robotWorldSpeed.x
     }
 
     // Use speed vector as robot angle
     let robotAngleToSpeed = -Vector.angle(robotWorldSpeed)
-
     let speedWeight = this.speedImportance(targetSpeed)
     let vthetaWeight = 1 - speedWeight
-    // console.log(vthetaWeight)
-    let angular = (robotAngleToSpeed * 120 * speedWeight) + (vtheta * vthetaWeight)
-    //console.log(linear, angular)
+    let angular = (robotAngleToSpeed * 160 * speedWeight) + (vtheta * vthetaWeight)
     return {linear, angular}
   }
 
-  async update() {
-    if(this.match.state._state.status == 'stopped'){
+  async update () {
+    if (this.match.state._state.status === 'stopped') {
       this.send(0, 0, 0)
       return [this.radioId, 0, 0, 0]
     }
 
-    if(this.frame){
+    if (this.frame) {
       let frame = this.frame
-      // Update ball position
-      // console.log(frame)
-      if(frame.balls[0]){
+      if (frame.balls[0]) {
         this.lastBall = this.ball
-
-        let dt = this.frame.t_capture - this.lastBallTimestamp
+        const dt = this.frame.t_capture - this.lastBallTimestamp
         this.lastBallTimestamp = this.frame.t_capture
-
         this.ball = frame.balls[0]
-
         if (dt && dt < 0.04 && this.lastBall) {
-
           this._ballSpeedsRaw.unshift({
             x: (this.ball.x - this.lastBall.x) / dt,
-            y: (this.ball.y - this.lastBall.y) / dt,
+            y: (this.ball.y - this.lastBall.y) / dt
           })
-
           this._ballSpeedsRaw = this._ballSpeedsRaw.slice(0, 10)
-
           let avgSpeed = this._ballSpeedsRaw.reduce((last, speed) => {
             return {x: last.x + speed.x, y: last.y + speed.y}
           }, {x: 0, y: 0})
@@ -136,30 +97,21 @@ module.exports = class IntentionPlayer extends BasePlayer {
           avgSpeed.y = avgSpeed.y / this._ballSpeedsRaw.length
 
           this.ballSpeed = avgSpeed
-
-          // console.log(dt + '\t' + avgSpeed.x.toFixed(0) + '\t' + avgSpeed.y.toFixed(0))
         }
-        // Compute ball average speed
-        // let sum = this.lastBalls.reduce((prev, ball) => {prev})
       }
-    } else{
-      console.error("Frame not present in IntentionPlayer")
+    } else {
+      console.error('Frame not present in IntentionPlayer')
     }
     await this.loop()
-
-    // Prepare input for intentions
     let input = {
       x: this.position.x,
       y: this.position.y,
-      theta: this.orientation,
+      theta: this.orientation
     }
-
     // Get intention output
     let output = this.intentionGroup.compute(input)
-
     // Convert to robot model
     let {linear, angular} = this.computeRobotModelForIntention(output)
-
     // Apply to robot
     this.send(1, linear, angular)
     return [this.radioId, 1, linear, angular]
diff --git a/players/NewAttacker.js b/players/NewAttacker.js
index 4bdef77..9d0e514 100644
--- a/players/NewAttacker.js
+++ b/players/NewAttacker.js
@@ -1,8 +1,5 @@
-// Math and vetor libs
 const Vector = require('../lib/Vector')
 const TensorMath = require('../lib/TensorMath')
-
-// Intentions lib
 const Intention = require('../Intention')
 const IntentionPlayer = require('./IntentionPlayer')
 const LineIntention = require('../Intention/LineIntention')
@@ -10,50 +7,39 @@ const PointIntention = require('../Intention/PointIntention')
 const LookAtIntention = require('../Intention/LookAtIntention')
 
 module.exports = class NewAttacker extends IntentionPlayer {
-  setup(){
-    
-    let ball = () => {return this.ball}
+  setup () {
+    const ball = () => this.ball
     this.orientation = Math.PI / 2
     this.position = {x: 0, y: 40}
 
-
-
-
-
-    // ============================================== Prepare Attack
+    // Prepare Attack
     this.$prepareAttack = new Intention('prepareAttack')
     this.addIntetion(this.$prepareAttack)
 
-    this.$prepareAttack.addIntetion(new LineIntention('angularAvoidOwnGoal1', 
+    this.$prepareAttack.addIntetion(new LineIntention('angularAvoidOwnGoal1',
       {
         target: ball,
-        theta: Vector.direction("right"),
+        theta: Vector.direction('right'),
         lineSize: 400,
         lineSizeSingleSide: true,
         lineDist: 120,
         lineDistMax: 120,
         decay: TensorMath.new.sub(1).mult(-1).finish,
-        multiplier: 450,
+        multiplier: 450
       }
     ))
 
     this.$prepareAttack.addIntetion(new PointIntention('followBall', {
       target: () => {
-        return {x: this.ball.x -100, y: this.ball.y}
+        return {x: this.ball.x - 100, y: this.ball.y}
       },
       radius: 400,
       radiusMax: 2000,
       decay: TensorMath.new.finish,
       multiplier: 500
-      }))
-
-
-
-
-
-
-    // ============================================== Make Goal
-    this.$makeGoal = new Intention("makeGoal")
+    }))
+    // Make Goal
+    this.$makeGoal = new Intention('makeGoal')
     this.addIntetion(this.$makeGoal)
 
     this.$makeGoal = this.addIntetion(new PointIntention('goGoal', {
@@ -61,7 +47,7 @@ module.exports = class NewAttacker extends IntentionPlayer {
       radius: 800,
       radiusMax: 2000,
       decay: TensorMath.new.sub(1).mult(-2).finish,
-      multiplier: 500,
+      multiplier: 500
     }))
 
     this.$makeGoal.addIntetion(new LineIntention('followYBall', {
@@ -76,19 +62,13 @@ module.exports = class NewAttacker extends IntentionPlayer {
       decay: TensorMath.new.finish
     }))
 
-
-
-
-
-// ======================
-
-    this.$pushBall = new Intention("pushBall")
+    this.$pushBall = new Intention('pushBall')
     this.addIntetion(this.$pushBall)
 
     this.$pushBall = this.addIntetion(new LookAtIntention('lookball', {
       target: ball,
       decay: TensorMath.new.finish,
-      multiplier: 10,
+      multiplier: 10
     }))
 
     this.$pushBall.addIntetion(new PointIntention('followBall', {
@@ -100,84 +80,37 @@ module.exports = class NewAttacker extends IntentionPlayer {
       decay: TensorMath.new.finish
     }))
 
-    // this.ballSpeedInit = this.ballSpeed
-
-    this.$followBallOnBoarder = new Intention("followBallOnBoarder")
-
-    // this.$followBallOnBoarder = this.addIntetion(new PointIntention('followBallOnBoard', {
-    //   target: ball,
-    //   radius: 700,
-    //   radiusMax: false,
-    //   decay: TensorMath.new.sub(1).mult(-2).finish,
-    //   multiplier: () => {
-    //     return Vector.size(this.ballSpeed) * 2 + 300
-    //   },
-    // }))
-
+    this.$followBallOnBoarder = new Intention('followBallOnBoarder')
     this.$rules = new Intention('rules')
-
-    // this.$rules = this.addIntetion(new PointIntention('avoidGoalArea', {
-    //   target: {x: -300, y: 0},
-    //   theta: Vector.direction('up'),
-    //   radius: 250,
-    //   decay: TensorMath.new.finish,
-    //   multiplier: 4000
-    // }))
   }
 
-  loop(){
-    
+  loop () {
     let toBall = Vector.sub(this.ball, this.position)
-    let toBallDist = Vector.size(toBall)
-    
     let toBallAngle = Vector.toDegrees(Vector.angle(toBall))
     let toGoalAngle = Vector.toDegrees(Vector.angle({x: this.CENTER_ENEMY_GOAL, y: this.position.y}))
-
-    let diffBetweenAngles =  toGoalAngle+toBallAngle
-
+    let diffBetweenAngles = toGoalAngle + toBallAngle
     let absoluteDiffAngles = Math.abs(diffBetweenAngles)
-    // if(absoluteDiffAngles < 20) {
-    //   let goalWeight = (30 - absoluteDiffAngles)/30
-    //   if (goalWeight < 0.1) {
-    //     // this.$makeGoal.weight = 1  
-    //   }else {
-    //     // this.$makeGoal.weight = goalWeight
-    //   }
-    // } else {
-    //   // this.$makeGoal.weight = 0
-    // }
-    if(absoluteDiffAngles < 30) {
+
+    if (absoluteDiffAngles < 30) {
       this.$makeGoal.weight = 1
       this.$prepareAttack.weight = 0
       this.$pushBall.weight = 0
-      console.log("Inside Make")
-
-    }else if(absoluteDiffAngles >= 30 && absoluteDiffAngles < 60){
+      console.log('Inside Make')
+    } else if (absoluteDiffAngles >= 30 && absoluteDiffAngles < 60) {
       this.$makeGoal.weight = 0
       this.$prepareAttack.weight = 0
       this.$pushBall.weight = 1
-      console.log("Inside Push")
-    }
-    else{
+      console.log('Inside Push')
+    } else {
       this.$makeGoal.weight = 0
       this.$prepareAttack.weight = 1
       this.$pushBall.weight = 0
-      console.log("Inside Prepare")
+      console.log('Inside Prepare')
     }
-
-
-    // if(this.ball.x < -400) {
-    //   this.$rules.weight = 1
-    //   this.$prepareAttack.weight = 0
-    // } else {
-    //   this.$rules.weight = 0
-    //   this.$prepareAttack.weight = 1
-    // }
-
-    if(Math.abs(this.ball.y) > 640) {
+    if (Math.abs(this.ball.y) > 640) {
       this.$pushBall.weight = 1
     } else {
       this.$pushBall.weight = 0
     }
   }
-}
\ No newline at end of file
+}
diff --git a/players/NewGoalKeeper.js b/players/NewGoalKeeper.js
index 41d81c3..1576db1 100644
--- a/players/NewGoalKeeper.js
+++ b/players/NewGoalKeeper.js
@@ -1,8 +1,6 @@
 // Math and vetor libs
 const Vector = require('../lib/Vector')
 const TensorMath = require('../lib/TensorMath')
-
-// Intentions lib
 const Intention = require('../Intention')
 const IntentionPlayer = require('./IntentionPlayer')
 const LineIntention = require('../Intention/LineIntention')
@@ -10,119 +8,96 @@ const PointIntention = require('../Intention/PointIntention')
 const LookAtIntention = require('../Intention/LookAtIntention')
 
 const MIN_BASE_LINEAR_SPEED = 300
-const AvoidWall_Decay = TensorMath.new.constant(1).finish
-const AvoidWall_Speed = 980
-const AvoidWall_Corridor_max = 430
-const AvoidWall_Corridor = 430
+const AvoidWallDecay = TensorMath.new.constant(1).finish
+const AvoidWallSpeed = 980
+const AvoidWallCorridorMax = 430
+const AvoidWallCorridor = 430
 const OffsetBallDistance = 130
 
 module.exports = class NewGoalKeeper extends IntentionPlayer {
-  setup(){
-    
-    let ball = () => {return this.ball}
+  setup () {
+    const ball = () => { return this.ball }
     this.orientation = Math.PI / 2
     this.position = {x: 0, y: 40}
-
-    // ============================================== Defend the goal
+    // Defend the goal
     this.$defend = new Intention('defend')
     this.addIntetion(this.$defend)
-    // --------------------------- Follow the y of the ball fixed on a x
-    this.$defend.addIntetion(new LineIntention("followBallToDefend", {
+    // Follow the y of the ball fixed on a x
+    this.$defend.addIntetion(new LineIntention('followBallToDefend', {
       target: () => {
-            return {x: this.CENTER_OWN_GOAL + 200, y: this.ball.y } 
-          },
-      theta: Vector.direction("right"),
+        return {x: this.CENTER_OWN_GOAL + 200, y: this.ball.y}
+      },
+      theta: Vector.direction('right'),
       multiplier: MIN_BASE_LINEAR_SPEED,
       decay: TensorMath.new.mult(-1).finish,
       lineSize: 1700,
       lineDist: 80
     }))
-    // ---------------------------- Look to the ball
-    this.$defend.addIntetion(new LookAtIntention('lookAtBall', 
-    {
-      target: () => {return {x: this.ball.x - 50, y: this.ball.y}},
+    // Look to the ball
+    this.$defend.addIntetion(new LookAtIntention('lookAtBall', {
+      target: () => { return {x: this.ball.x - 50, y: this.ball.y} },
       decay: TensorMath.new.finish,
       multiplier: 20
     }))
-    // ---------------------------- Maintain in the line X of the goal
+    // Maintain in the line X of the goal
     this.$defend.addIntetion(new LineIntention('follow_goalline', {
-      target: {x: this.CENTER_OWN_GOAL + 200 , y: 0},
-      theta: Vector.direction("up"),
+      target: {x: this.CENTER_OWN_GOAL + 200, y: 0},
+      theta: Vector.direction('up'),
       lineSize: 1700,
       lineDist: 200,
       decay: TensorMath.new.mult(-1).finish,
-      multiplier: MIN_BASE_LINEAR_SPEED + 200,
+      multiplier: MIN_BASE_LINEAR_SPEED + 200
     }))
-    // ============================================ end Defend the goal
-    
-    // ============================================ Repel the Ball
+    // end Defend the goal
+
+    // Repel the Ball
     this.$prepareAttack = new Intention('attackAccelerated')
     this.addIntetion(this.$prepareAttack)
-
     this.$prepareAttack.addIntetion(new PointIntention('goBall', {
       target: ball,
       radius: OffsetBallDistance * 4,
       radiusMax: OffsetBallDistance * 4,
       decay: TensorMath.new.constant(1).finish,
-      multiplier: MIN_BASE_LINEAR_SPEED + 200,
+      multiplier: MIN_BASE_LINEAR_SPEED + 200
     }))
-    // ============================================ end Repel the Ball
+    //  end Repel the Ball
 
-    // ============================================ Dont go to the sides
+    // Dont go to the sides
     this.$avoidWalls = new Intention()
     this.$avoidWalls.addIntetion(new LineIntention('topWall', {
-      // target: ball,
       target: this.Field.TopRight,
-      theta: Vector.direction("left"),
-      lineSize: this.Field.width, // Largura do segmento de reta
+      theta: Vector.direction('left'),
+      lineSize: this.Field.width,
       lineSizeSingleSide: true,
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridorMax,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
-
     this.$avoidWalls.addIntetion(new LineIntention('bottomWall', {
-      // target: ball,
       target: this.Field.BottomLeft,
-      theta: Vector.direction("right"),
-      lineSize: this.Field.width, // Largura do segmento de reta
+      theta: Vector.direction('right'),
+      lineSize: this.Field.width,
       lineSizeSingleSide: true,
-
-      lineDist: AvoidWall_Corridor, // Tamanho da repelência
-      lineDistMax: AvoidWall_Corridor_max, // Tamanho da repelência
-      // lineDistSingleSide: true,
-      
-      decay: AvoidWall_Decay,
-      multiplier: AvoidWall_Speed,
+      lineDist: AvoidWallCorridor,
+      lineDistMax: AvoidWallCorridorMax,
+      decay: AvoidWallDecay,
+      multiplier: AvoidWallSpeed
     }))
     this.addIntetion(this.$avoidWalls)
-    // ============================================ end Dont go to the sides
+    // end Dont go to the sides
     this.ballSpeedInit = this.ballSpeed
   }
 
-  loop(){
-    let toBall = Vector.sub(this.ball, this.position)
-    let toBallDist = Vector.size(toBall)
-
-    let bola = this.ballSpeed
-    let realBallSpeed = Vector.size(Vector.sub(bola,this.ballSpeedInit)).toFixed(1)
-    
-    let toBallAngle = Vector.toDegrees(Vector.angle(toBall))
-    let toGoalAngle = Vector.toDegrees(Vector.angle({x: this.CENTER_ENEMY_GOAL, y: this.position.y}))
-
-    let diffBetweenAngles =  toGoalAngle + toBallAngle
-
+  loop () {
     if (this.ball.x < -380) {
       this.$defend.weight = 0
       this.$prepareAttack.weight = 1
       this.$avoidWalls.weight = 0
-    }else {
+    } else {
       this.$defend.weight = 1
       this.$prepareAttack.weight = 0
       this.$avoidWalls.weight = 1
     }
   }
-}
\ No newline at end of file
+}
diff --git a/players/TestPlayer.js b/players/TestPlayer.js
index d567bbc..48004eb 100644
--- a/players/TestPlayer.js
+++ b/players/TestPlayer.js
@@ -1,104 +1,65 @@
 const IntentionPlayer = require('./IntentionPlayer')
 const TensorMath = require('../lib/TensorMath')
 const Intention = require('../Intention')
-const LineIntention = require('../Intention/LineIntention')
 const PointIntention = require('../Intention/PointIntention')
 const LookAtIntention = require('../Intention/LookAtIntention')
 
 const FORWARD_SPEED = 15 // ~4.3s
-
 const ANGULAR_MULTIPLIER = 200
 
 module.exports = class TestPlayer extends IntentionPlayer {
-  setup(){
-    let ball = () => {
-      return {x: this.ball.x,
-              y: this.ball.y
-             }
-    }
-
-    // ----------------------------- Go Center Up
+  setup () {
+    // Go Center Up
     this.$goCenterUp = new Intention('goCenterUp')
     this.$goCenterUp.addIntetion(new PointIntention('center', {
-      // target: ball,
       target: {x: -600, y: 0},
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.pow(3).finish,
-      multiplier: FORWARD_SPEED,
+      multiplier: FORWARD_SPEED
     }))
-
     this.$goCenterUp.addIntetion(new LookAtIntention('lookUp', {
-      // target: ,
       theta: Math.PI / 2,
       decay: TensorMath.new.finish,
       multiplier: ANGULAR_MULTIPLIER
     }))
-
     this.addIntetion(this.$goCenterUp)
-
-
-    // ----------------------------- Go Goal up
+    // Go Goal up
     this.$goGoalUp = new Intention('goGoalUp')
     this.$goGoalUp.addIntetion(new PointIntention('center', {
-      // target: ball,
       target: {x: 600, y: 0},
       radius: 150,
       radiusMax: false,
       decay: TensorMath.new.pow(3).finish,
-      multiplier: FORWARD_SPEED,
+      multiplier: FORWARD_SPEED
     }))
 
     this.$goGoalUp.addIntetion(new LookAtIntention('lookUp', {
-      // target: ,
       theta: Math.PI / 2,
       decay: TensorMath.new.finish,
-      multiplier: ANGULAR_MULTIPLIER,
+      multiplier: ANGULAR_MULTIPLIER
     }))
 
     this.addIntetion(this.$goGoalUp)
-
-
-    // ----------------------------- Avoidance
+    // Avoidance
     this.$playerAvoidance = new Intention('playerAvoidance')
     this.$playerAvoidance.addIntetion(new PointIntention('center', {
-      // target: ball,
       target: {x: 0, y: 0},
-      radius:150,
+      radius: 150,
       radiusMax: 150,
       decay: TensorMath.new.pow(3).finish,
-      multiplier: -FORWARD_SPEED,
+      multiplier: -FORWARD_SPEED
     }))
-
     this.startTime = Date.now()
     this.states = [this.$goGoalUp, this.$goCenterUp]
-
   }
-  loop(){
-
+  loop () {
     let current = this.states[0]
-    this.states.map(state => state.weight = 0)
+    this.states.map(state => { state.weight = 0 })
     current.weight = 1
-
     if (current.isStabilized()) {
-
-      // let now = Date.now()
-      // let timeTaken = ((now - this.startTime) / 1000).toFixed(2)
-      // this.startTime = now
-      // console.log('completed', current.name, 'in', timeTaken+'s')
-
       current.output = null
       this.states.unshift(this.states.pop())
     }
-    // console.log(this.frame)
-    // if (this.$goGoalUp.active && this.$goGoalUp.isStabilized()) {
-    //   this.$goGoalUp.weight = 0
-    //   this.$goCenterUp.weight = 1
-    // }
-
-    // if (this.$goCenterUp.output) {
-      // console.log(stabilizedIntention(this.$goCenterUp))
-    // }
-    // console.log(this.position)
   }
-}
\ No newline at end of file
+}
diff --git a/players/experimental/Attacker2Base.js b/players/experimental/Attacker2Base.js
new file mode 100644
index 0000000..8bff60c
--- /dev/null
+++ b/players/experimental/Attacker2Base.js
@@ -0,0 +1,47 @@
+// const IntentionPlayer = require('../IntentionPlayer')
+// const TensorMath = require('../../lib/TensorMath')
+// const Intention = require('../../Intention')
+// const LineIntention = require('../../Intention/LineIntention')
+// const PointIntention = require('../../Intention/PointIntention')
+// const LookAtIntention = require('../../Intention/LookAtIntention')
+// const OrbitalIntention = require('../../Intention/OrbitalIntention')
+// const Vector = require('../../lib/Vector')
+// const RulePlays = require('./RulePlays')
+
+// const BASE_SPEED = 65
+
+// module.exports = class Attacker2Base extends RulePlays {
+//     setup () {
+//         super.setup()
+//         let ballAntecipation = () => {
+//             let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+//             let ballToCenterGoal = Vector.sub({x: 700, y: 0}, ball)
+//             let ballToCenterGoalNorm = Vector.norm(ballToCenterGoal)
+//             let antecipation = {
+//                 x: ballToCenterGoalNorm.x * 110,
+//                 y: ballToCenterGoalNorm.y * 110
+//             }
+//             antecipation = {x: ball.x - antecipation.x, y: ball.y - antecipation.y}
+//             return antecipation
+//         }
+
+//         let ball = () => {
+//             let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+//             return ball
+//         }
+
+//         this.addIntetion(new LineIntention('avoidFromOwnGoal', {
+//             target: {x: -700, y: 0},
+//             theta: Vector.direction("down"),
+//             lineSize: 400, // Largura do segmento de reta
+//             lineDist: 150, // Tamanho da repelência
+//             lineDistMax: 150,
+//             lineDistSingleSide: true,
+//             decay: TensorMath.new.mult(-1).finish,
+//             multiplier: 100
+//         }))
+
+//       }
+//       loop(){
+//       }
+// }
diff --git a/players/experimental/AttackerConduct.js b/players/experimental/AttackerConduct.js
new file mode 100644
index 0000000..d6ebd56
--- /dev/null
+++ b/players/experimental/AttackerConduct.js
@@ -0,0 +1,88 @@
+const Vector = require('../../lib/Vector')
+const TensorMath = require('../../lib/TensorMath')
+const PointIntention = require('../../Intention/PointIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
+const LineIntention = require('../../Intention/LineIntention')
+
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 65
+
+let robot_saw_the_ball_multiplier = 1.3
+
+module.exports = class AttackerConduct extends RulePlays {
+    setup(){
+        super.setup()
+        let ball = () => {
+            
+            return {
+                x: this.frame.cleanData.ball.x, 
+                y: this.frame.cleanData.ball.y
+            }
+        }
+
+        let ballToGoalNormal = () => {
+            let b = this.frame.cleanData.ball
+            let c = {x: 680, y: 0}
+
+            let ballToGoal = Vector.sub(b, c)
+
+            // Vector normal
+            ballToGoal = Vector.norm({x: ballToGoal.x, y: -ballToGoal.y})
+            
+            return Vector.angle(ballToGoal)
+        }
+
+        this.addIntetion(new PointIntention('KeepOnBall', {
+            target: ball,
+            radius: 110,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED
+        }))
+
+        this.addIntetion(new LineIntention('ConductBall', {
+            target: ball,
+            theta: ballToGoalNormal,
+            lineSize: 75,
+            lineSizeMax: 75,
+            lineDist: 100,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * robot_saw_the_ball_multiplier
+        }))
+
+        // Impedir bater na parede
+        this.avoidFieldWalls1 = new LineIntention('avoidFieldWalls', {
+            target: {x:0, y: 610},
+            theta: Vector.direction("left"),
+            lineSize: 1700,
+            lineDist: 30,
+            lineDistMax: 30,
+            decay: TensorMath.new.sum(1).mult(-1).finish,
+            multiplier: BASE_SPEED * 2
+        })
+
+        this.addIntetion(this.avoidFieldWalls1)
+
+        // Impedir bater na parede
+        this.avoidFieldWalls2 = new LineIntention('avoidFieldWalls', {
+            target: {x:0, y: -610},
+            theta: Vector.direction("left"),
+            lineSize: 1700,
+            lineDist: 30,
+            lineDistMax: 30,
+            decay: TensorMath.new.sum(1).mult(-1).finish,
+            multiplier: BASE_SPEED * 2
+        })
+        this.addIntetion(this.avoidFieldWalls2)
+
+        this.lookToBall = new LookAtIntention('look_to_ball', {
+            target: ball,
+            decay: TensorMath.new.pow(1/2).finish,
+            multiplier: 640
+        })
+        this.addIntetion(this.lookToBall)
+      }
+      loop(){
+    }
+
+}
diff --git a/players/experimental/AttackerHold.js b/players/experimental/AttackerHold.js
new file mode 100644
index 0000000..057c96c
--- /dev/null
+++ b/players/experimental/AttackerHold.js
@@ -0,0 +1,60 @@
+const Vector = require('../../lib/Vector')
+const TensorMath = require('../../lib/TensorMath')
+const OrbitalIntention = require('../../Intention/OrbitalIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
+const LineIntention = require('../../Intention/LineIntention')
+
+const RulePlays = require('./RulePlays')
+const BASE_SPEED = 50
+
+module.exports = class AttackerHold extends RulePlays {
+    setup () {
+        super.setup()
+        let ballProjection = () => {
+          return {
+              x: -200,
+              y: this.frame.cleanData.ball.y * 2
+          }
+        }
+
+        this.addIntetion(new PointIntention('KeepOnBall', {
+            target: ballProjection,
+            radius: 110,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED
+        }))
+
+        // Impedir bater na parede
+        this.avoidFieldWalls1 = new LineIntention('avoidFieldWalls', {
+            target: {x:0, y: 610},
+            theta: Vector.direction("left"),
+            lineSize: 1700,
+            lineDist: 30,
+            lineDistMax: 30,
+            decay: TensorMath.new.sum(1).mult(-1).finish,
+            multiplier: BASE_SPEED * 2
+        })
+
+        this.addIntetion(this.avoidFieldWalls1)
+
+        // Impedir bater na parede
+        this.avoidFieldWalls2 = new LineIntention('avoidFieldWalls', {
+            target: {x:0, y: -610},
+            theta: Vector.direction("left"),
+            lineSize: 1700,
+            lineDist: 30,
+            lineDistMax: 30,
+            decay: TensorMath.new.sum(1).mult(-1).finish,
+            multiplier: BASE_SPEED * 2
+        })
+        this.addIntetion(this.avoidFieldWalls2)
+
+      }
+      loop () {
+        let ball = {
+          x: this.frame.cleanData.ball.x,
+          y: this.frame.cleanData.ball.y
+        }
+      }
+}
diff --git a/players/experimental/AttackerMain.js b/players/experimental/AttackerMain.js
new file mode 100644
index 0000000..081ce0d
--- /dev/null
+++ b/players/experimental/AttackerMain.js
@@ -0,0 +1,126 @@
+const Vector = require('../../lib/Vector')
+const TensorMath = require('../../lib/TensorMath')
+const OrbitalIntention = require('../../Intention/OrbitalIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const LineIntention = require('../../Intention/LineIntention')
+
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 50
+
+module.exports = class AttackerMain extends RulePlays {
+    setup(){
+        super.setup()
+        let ball = () => {
+
+            return {
+                x: this.frame.cleanData.ball.x,
+                y: this.frame.cleanData.ball.y
+            }
+        }
+
+        let ballShiftedP = () => {
+            let ball = {
+                x: this.frame.cleanData.ball.x - 40,
+                y: this.frame.cleanData.ball.y + 150
+            }
+            return ball
+        }
+
+        let ballShiftedN = () => {
+            let ball = {
+                x: this.frame.cleanData.ball.x - 40,
+                y: this.frame.cleanData.ball.y - 150
+            }
+            return ball
+        }
+
+        let ballToGoalNormal = () => {
+            let b = this.frame.cleanData.ball
+            let c = {x: 680, y: 0}
+
+            let ballToGoal = Vector.sub(b, c)
+
+            // Vector normal
+            ballToGoal = Vector.norm({x: ballToGoal.x, y: -ballToGoal.y})
+
+            return Vector.angle(ballToGoal)
+        }
+
+        this.orbitalRight = new OrbitalIntention('FollowBall', {
+            target: ballShiftedN,
+            clockwise: -1,
+            radius: 75,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * 0.7
+        })
+
+        this.addIntetion(this.orbitalRight)
+
+        this.orbitalLeft = new OrbitalIntention('FollowBall', {
+            target: ballShiftedP,
+            clockwise: 1,
+            radius: 75,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * 0.7
+        })
+
+        this.addIntetion(this.orbitalLeft)
+
+        /*
+        Aproxima o robo da bola quando ele esta a 10 cm dela.
+        O torna mais rapido e mais preciso na interceptação da mesma.
+        Deve ser mais fraca que o movimento orbial para não cagar.
+        */
+        this.addIntetion(new PointIntention('KeepOnBall', {
+            target: ball,
+            radius: 110,
+            radiusMax: 110,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED
+        }))
+
+        this.addIntetion(new PointIntention('KeepOnBall', {
+            target: ball,
+            radius: 500,
+            decay: TensorMath.new.sin().finish,
+            multiplier: BASE_SPEED * 0.7
+        }))
+
+        this.avoidFieldWalls3 = new LineIntention('avoidFieldWalls3', {
+          target: {x:-780, y: 0},
+          theta: Vector.direction("up"),
+          lineSize: 1700,
+          lineDist: 100,
+          lineDistMax: 100,
+          decay: TensorMath.new.sum(1).mult(-1).finish,
+          multiplier: BASE_SPEED
+        })
+        this.addIntetion(this.avoidFieldWalls3)
+
+      }
+      loop () {
+        console.log(this.frame.cleanData.ball.y)
+        const FIELD_ORBITAL_MARGIN = 200
+
+        let ball = {
+          x: this.frame.cleanData.ball.x,
+          y: this.frame.cleanData.ball.y
+        }
+
+        if (this.position.y < (-650 + FIELD_ORBITAL_MARGIN)) {
+          this.orbitalRight.weight = 0
+          this.orbitalLeft.weight = 1
+        }else if (this.position.y > (650 - FIELD_ORBITAL_MARGIN)) {
+            this.orbitalRight.weight = 1
+            this.orbitalLeft.weight = 0
+
+        } else if (this.position.y > ball.y) {
+            this.orbitalRight.weight = 0
+            this.orbitalLeft.weight = 1
+        } else {
+            this.orbitalRight.weight = 1
+            this.orbitalLeft.weight = 0
+        }
+      }
+}
diff --git a/players/experimental/AttackerTriangle.js b/players/experimental/AttackerTriangle.js
new file mode 100644
index 0000000..9fadf8d
--- /dev/null
+++ b/players/experimental/AttackerTriangle.js
@@ -0,0 +1,74 @@
+const IntentionPlayer = require('../IntentionPlayer')
+const TensorMath = require('../../lib/TensorMath')
+const Intention = require('../../Intention')
+const LineIntention = require('../../Intention/LineIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
+const OrbitalIntention = require('../../Intention/OrbitalIntention')
+const Vector = require('../../lib/Vector')
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 70
+
+module.exports = class AttackerTriangle extends RulePlays {
+  setup () {
+  super.setup()
+
+  let ball = () => {
+    return {
+        x: this.frame.cleanData.ball.x,
+        y: this.frame.cleanData.ball.y
+    }
+  }
+
+  let ballToGoalNormal = () => {
+    let b = this.frame.cleanData.ball
+    let c = {x: 680, y: 0}
+
+    let ballToGoal = Vector.sub(b, c)
+
+    // Vector normal
+    ballToGoal = Vector.norm({x: ballToGoal.x, y: -ballToGoal.y})
+
+    return Vector.angle(ballToGoal)
+}
+
+const ballToGoal = () => {
+  let b = this.frame.cleanData.ball
+  let c = {x: 680, y: 0}
+
+  return Vector.angle(Vector.sub(b, c))
+}
+
+this.addIntetion(new LineIntention('To the goal', {
+  target: ball,
+  theta: ballToGoalNormal,
+  lineSize: 150,
+  lineDist: 200,
+  lineDistMax: 200,
+  decay: TensorMath.new.finish,
+  multiplier: BASE_SPEED,
+  lineDistSingleSide: true
+}))
+
+this.addIntetion(new LineIntention('Keep eye on goal', {
+  target: ball,
+  theta: ballToGoal,
+  lineSize: 2000,
+  lineDist: 200,
+  lineDistMax: 200,
+  decay: TensorMath.new.finish,
+  multiplier: BASE_SPEED * 1.2
+}))
+
+  this.addIntetion(new PointIntention('goBall', {
+    target: ball,
+    radius: 150,
+    decay: TensorMath.new.finish,
+    multiplier: BASE_SPEED,
+  }))
+
+}
+loop(){
+}
+}
diff --git a/players/experimental/BaseMidfielder.js b/players/experimental/BaseMidfielder.js
index dc6bbd2..b7b862d 100644
--- a/players/experimental/BaseMidfielder.js
+++ b/players/experimental/BaseMidfielder.js
@@ -10,19 +10,19 @@ const RulePlays = require('../experimental/RulePlays')
 module.exports = class BaseMidfielder extends RulePlays {
     setup () {
         super.setup()
-        let attacker = () => {
-            let pos = this.match.gameManager.coach.attackerRobot.robots.self.position
-            /*
-            A projeção não é usada nos casos onde:
-            - Não existe vetor projeção (ocorre no primeiro frame de execução)
-            - Velocidade da bola inferior a 1.2 cm/s (praticamente parada)
-            - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol)
-            */
-            return pos
-        }
+        // let attacker = () => {
+        //     let pos = this.match.gameManager.coach.attackerRobot.robots.self.position
+        //     /*
+        //     A projeção não é usada nos casos onde:
+        //     - Não existe vetor projeção (ocorre no primeiro frame de execução)
+        //     - Velocidade da bola inferior a 1.2 cm/s (praticamente parada)
+        //     - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol)
+        //     */
+        //     return pos
+        // }
 
         this.addIntetion(new PointIntention('avoidPartner', {
-            target: attacker,
+            target: {x:0, y:0},
             radius: 400,
             radiusMax: 400,
             decay: TensorMath.new.mult(-1).finish,
diff --git a/players/experimental/GoalKeeperKeep.js b/players/experimental/GoalKeeperKeep.js
new file mode 100644
index 0000000..2c8107d
--- /dev/null
+++ b/players/experimental/GoalKeeperKeep.js
@@ -0,0 +1,39 @@
+const TensorMath = require('../../lib/TensorMath')
+const LineIntention = require('../../Intention/LineIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const Vector = require('../../lib/Vector')
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 40
+const MAX_SPEED = 80
+
+const GOAL_LINE = -670
+
+module.exports = class GoalkeeperKeep extends RulePlays {
+    setup(){
+        super.setup()
+        
+        // Fixar goleiro na linha do gol
+        this.addIntetion(new LineIntention('KeepGoalLine', {
+            target: {x: GOAL_LINE, y: 0},
+            theta: Vector.direction("up"),
+            lineSize: 1700, 
+            lineDist: 260,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * 1.6
+        }))
+
+        this.addIntetion(new PointIntention('followCrossBall', {
+            target: {x: GOAL_LINE, y: 0},
+            radius: 150,
+            radiusMax: false,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED
+          }))
+
+
+      }
+
+      loop(){
+      }
+}
diff --git a/players/experimental/GoalKeeperPush2.js b/players/experimental/GoalKeeperPush2.js
new file mode 100644
index 0000000..547955f
--- /dev/null
+++ b/players/experimental/GoalKeeperPush2.js
@@ -0,0 +1,54 @@
+const TensorMath = require('../../lib/TensorMath')
+const LineIntention = require('../../Intention/LineIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
+const RulePlays = require('./RulePlays')
+const Vector = require('../../lib/Vector')
+
+const BASE_SPEED = 60
+const GOAL_LINE = -670
+
+module.exports = class GoalkeeperPush2 extends RulePlays {
+    setup(){
+        super.setup()
+        let ball = () => {
+            let ball = {x: this.frame.cleanData.ball.x, y: this.frame.cleanData.ball.y}
+            return ball
+        }
+        // Fixar goleiro na linha do gol
+        this.addIntetion(new LineIntention('KeepGoalLine', {
+          target: {x: GOAL_LINE, y: 0},
+          theta: Vector.direction("up"),
+          lineSize: 1700,
+          lineDist: 260,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.6
+      }))
+
+      //Mantem o goleiro fixado na bola, seguindo eixo Y
+      this.addIntetion(new LineIntention('KeepOnBall', {
+          target: ball,
+          theta: Vector.direction("left"),
+          lineSize: 1700,
+          lineDist: 250,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.4
+      }))
+
+      /*
+      Correção na função para o goleiro ter mais velocidade
+      em casos de bola muito proxima do eixo Y
+      */
+      this.addIntetion(new PointIntention('KeepOnBall', {
+          target: ball,
+          radius: 100,
+          radiusMax: 100,
+          decay: TensorMath.new.finish,
+          multiplier: BASE_SPEED * 1.4
+      }))
+    }
+
+    loop(){
+
+    }
+}
diff --git a/players/experimental/GoalkeeperMain.js b/players/experimental/GoalkeeperMain.js
index b55b7fd..c713cdf 100644
--- a/players/experimental/GoalkeeperMain.js
+++ b/players/experimental/GoalkeeperMain.js
@@ -1,9 +1,5 @@
-const IntentionPlayer = require('../IntentionPlayer')
 const TensorMath = require('../../lib/TensorMath')
-const Intention = require('../../Intention')
 const LineIntention = require('../../Intention/LineIntention')
-const PointIntention = require('../../Intention/PointIntention')
-const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 const RulePlays = require('./RulePlays')
 
@@ -13,40 +9,41 @@ module.exports = class GoalkeeperMain extends RulePlays {
     setup(){
         super.setup()
         let ball = () => {
-            let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+            let ball = {x: this.frame.cleanData.ball.x, y: this.frame.cleanData.ball.y}
             return ball
         }
 
         let ballProjection = () => {
-            let pos = this.match.dataManager.ball.projection
-            let ballSpeed = this.match.dataManager.ball.speed
-            let ballPos = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+            let pos = this.frame.cleanData.ball.projection
+            let ballSpeed = this.frame.cleanData.ball.speed
+            let ballPos = {x: this.frame.cleanData.ball.x, y: this.frame.cleanData.ball.y}
             /*
             A projeção não é usada nos casos onde:
             - Não existe vetor projeção (ocorre no primeiro frame de execução)
             - Velocidade da bola inferior a 1.2 cm/s (praticamente parada)
             - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol)
             */
-            if (!pos || Vector.size(ballSpeed) < 1.2 || Math.abs(pos.y) > 300 ) {
-                if (Math.abs(ballPos.y) > 450) {
-                    let ballYSector = ballPos.y/Math.abs(ballPos.y)
-                    return {x: 0, y: ballYSector * 160}
-                } else {
-                    return {x: 0, y: ballPos.y/2}
-                }
+            if (!pos || Vector.size(ballSpeed) < 5 || Math.abs(pos.y) > 300 ) {
+                // if (Math.abs(ballPos.y) > 450) {
+                //     let ballYSector = ballPos.y/Math.abs(ballPos.y)
+                //     return {x: 0, y: ballYSector * 160}
+                // } else {
+                //     console.log('2 :', ballPos.y/2)
+                //     return {x: 0, y: ballPos.y/2}
+                // }
             }
+            if (Vector.size(ballSpeed) < 2) {
+                return ballPos
+            }
+            
+            if (Math.abs(pos.y) > 450 ) {
+                let ballYSector = ballPos.y/Math.abs(ballPos.y)
+                return {x: 0, y: ballYSector * 160}
+            }
+
             return pos
         }
 
-        this.addIntetion(new LineIntention('KeepGoalLine', {
-          target: {x: -670, y: 0},
-          theta: Vector.direction("up"),
-          lineSize: 1700,
-          lineDist: 260,
-          decay: TensorMath.new.finish,
-          multiplier: BASE_SPEED
-        }))
-
         this.addIntetion(new LineIntention('followBallProjection', {
             target: ballProjection,
             theta: Vector.direction("left"),
@@ -54,12 +51,12 @@ module.exports = class GoalkeeperMain extends RulePlays {
             lineDist: 250,
             decay: TensorMath.new.finish,
             multiplier: BASE_SPEED
-          }))
+        }))
 
         this.addIntetion(new LookAtIntention('LookAtBall', {
         target: ball,
-        decay: TensorMath.new.constant(1).finish,
-        multiplier: 100
+        decay: TensorMath.new.pow(1/2).finish,
+        multiplier: 360
         }))
       }
       loop(){
diff --git a/players/experimental/GoalkeeperMain2.js b/players/experimental/GoalkeeperMain2.js
new file mode 100644
index 0000000..cd66a8d
--- /dev/null
+++ b/players/experimental/GoalkeeperMain2.js
@@ -0,0 +1,66 @@
+const TensorMath = require('../../lib/TensorMath')
+const LineIntention = require('../../Intention/LineIntention')
+const LookAtIntention = require('../../Intention/LookAtIntention')
+const Vector = require('../../lib/Vector')
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 50
+const MAX_SPEED = 80
+
+const GOAL_LINE = -650
+
+module.exports = class GoalkeeperMain2 extends RulePlays {
+    setup(){
+        super.setup()
+        let ball = () => {
+            let ball = {
+                x: this.frame.cleanData.ball.x,
+                y: Math.max(Math.min(this.frame.cleanData.ball.y, 200), -200)
+            }
+            return ball
+        }
+
+        // Fixar goleiro na linha do gol
+        this.addIntetion(new LineIntention('KeepGoalLine', {
+            target: {x: GOAL_LINE, y: 0},
+            theta: Vector.direction("up"),
+            lineSize: 1700,
+            lineDist: 260,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * 1.4
+        }))
+
+        //Mantem o goleiro fixado na bola, seguindo eixo Y
+        this.addIntetion(new LineIntention('KeepOnBall', {
+            target: ball,
+            theta: Vector.direction("left"),
+            lineSize: 1700,
+            lineDist: 80,
+            decay: TensorMath.new.pow(2).finish,
+            multiplier: BASE_SPEED
+        }))
+
+        /*
+        Correção na função para o goleiro ter mais velocidade
+        em casos de bola muito proxima do eixo Y
+        */
+        this.addIntetion(new LineIntention('KeepOnBall', {
+            target: ball,
+            theta: Vector.direction("left"),
+            lineSize: 600,
+            lineDist: 200,
+            lineDistMax: 200,
+            decay: TensorMath.new.pow(2).finish,
+            multiplier: BASE_SPEED * 1.4
+        }))
+
+        this.addIntetion(new LookAtIntention('LookAtBall', {
+            target: ball,
+            decay: TensorMath.new.pow(1/2).finish,
+            multiplier: 320
+        }))
+      }
+
+      loop(){
+      }
+}
diff --git a/players/experimental/GoalkeeperPush.js b/players/experimental/GoalkeeperPush.js
index d7ce0a1..581e246 100644
--- a/players/experimental/GoalkeeperPush.js
+++ b/players/experimental/GoalkeeperPush.js
@@ -1,37 +1,13 @@
-const IntentionPlayer = require('../IntentionPlayer')
 const TensorMath = require('../../lib/TensorMath')
 const Intention = require('../../Intention')
 const LineIntention = require('../../Intention/LineIntention')
-const PointIntention = require('../../Intention/PointIntention')
-const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 const RulePlays = require('./RulePlays')
 
 const BASE_SPEED = 60
-
 module.exports = class GoalkeeperPush extends RulePlays {
     setup(){
         super.setup()
-        let ballProjection = () => {
-            let pos = this.match.dataManager.ball.projection
-            let ballSpeed = this.match.dataManager.ball.speed
-            let ballPos = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
-            /*
-            A projeção não é usada nos casos onde:
-            - Não existe vetor projeção (ocorre no primeiro frame de execução)
-            - Velocidade da bola inferior a 1.2 cm/s (praticamente parada)
-            - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol)
-            */
-            if (!pos || Vector.size(ballSpeed) < 1.2 || Math.abs(pos.y) > 300 ) {
-                if (Math.abs(ballPos.y) > 450) {
-                    let ballYSector = ballPos.y/Math.abs(ballPos.y)
-                    return {x: 0, y: ballYSector * 160}
-                } else {
-                    return {x: 0, y: ballPos.y/2}
-                }
-            }
-            return pos
-        }
 
         this.$projectBall = new Intention()
 
diff --git a/players/experimental/GoalkeeperSides.js b/players/experimental/GoalkeeperSides.js
index 9b99c99..ebcf3c7 100644
--- a/players/experimental/GoalkeeperSides.js
+++ b/players/experimental/GoalkeeperSides.js
@@ -7,19 +7,19 @@ const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 const RulePlays = require('./RulePlays')
 
-const BASE_SPEED = 45
+const BASE_SPEED = 60
 
 module.exports = class GoalkeeperSides extends RulePlays {
     setup () {
       super.setup()
       let crossbar = () => {
-        let ballY = this.match.dataManager.ball.y
+        let ballY = this.frame.cleanData.ball.y
         let side = ballY/Math.abs(ballY)
         return {x: -685, y: side * 160}
       }
 
       let ball = () => {
-          let ball = {x: this.match.dataManager.ball.x, y: this.match.dataManager.ball.y}
+          let ball = {x: this.frame.cleanData.x, y: this.frame.cleanData.ball.y}
           return ball
       }
 
@@ -43,7 +43,7 @@ module.exports = class GoalkeeperSides extends RulePlays {
       this.addIntetion(new LookAtIntention('LookAtBall', {
           target: ball,
           decay: TensorMath.new.constant(1).finish,
-          multiplier: 85
+          multiplier: 35
         }))
 
     }
diff --git a/players/experimental/GoalkeeperSides2.js b/players/experimental/GoalkeeperSides2.js
new file mode 100644
index 0000000..5bd3b0f
--- /dev/null
+++ b/players/experimental/GoalkeeperSides2.js
@@ -0,0 +1,44 @@
+const TensorMath = require('../../lib/TensorMath')
+const LineIntention = require('../../Intention/LineIntention')
+const PointIntention = require('../../Intention/PointIntention')
+const Vector = require('../../lib/Vector')
+const RulePlays = require('./RulePlays')
+
+const BASE_SPEED = 40
+const MAX_SPEED = 80
+
+const GOAL_LINE = -670
+
+module.exports = class GoalkeeperSides2 extends RulePlays {
+    setup(){
+        super.setup()
+        
+        let crossbar = () => {
+            let ballY = this.frame.cleanData.ball.y
+            let side = ballY/Math.abs(ballY)
+            return {x: GOAL_LINE - 15, y: side * 160}
+          }
+
+        // Fixar goleiro na linha do gol
+        this.addIntetion(new LineIntention('KeepGoalLine', {
+            target: {x: GOAL_LINE, y: 0},
+            theta: Vector.direction("up"),
+            lineSize: 1700, 
+            lineDist: 260,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED * 1.6
+        }))
+        this.addIntetion(new PointIntention('followCrossBall', {
+            target: crossbar,
+            radius: 150,
+            radiusMax: false,
+            decay: TensorMath.new.finish,
+            multiplier: BASE_SPEED
+          }))
+
+
+      }
+
+      loop(){
+      }
+}
diff --git a/players/experimental/MidFieldAttacker.js b/players/experimental/MidFieldAttacker.js
index 39ee04b..2b148dd 100644
--- a/players/experimental/MidFieldAttacker.js
+++ b/players/experimental/MidFieldAttacker.js
@@ -20,14 +20,14 @@ module.exports = class Midfielder extends BaseMidfielder {
         }
 
         let followAttackerShadow = () => {
-            let pos = this.match.gameManager.coach.attackerRobot.robots.self.position
+            //let pos = this.match.gameManager.coach.attackerRobot.robots.self.position
             /*
             A projeção não é usada nos casos onde:
             - Não existe vetor projeção (ocorre no primeiro frame de execução)
             - Velocidade da bola inferior a 1.2 cm/s (praticamente parada)
             - Quando a bola ira bater longe do gol (acima de 30 cm em relação ao centro do gol)
             */
-            return {x: -250, y: -pos.y/2}
+            return {x: -250, y: -0/2}
         }
 
         this.addIntetion(new LineIntention('KeepGoalLine', {
diff --git a/players/experimental/RulePlays.js b/players/experimental/RulePlays.js
index c2acede..9185cc7 100644
--- a/players/experimental/RulePlays.js
+++ b/players/experimental/RulePlays.js
@@ -8,7 +8,6 @@ const Vector = require('../../lib/Vector')
 
 module.exports = class RulePlays extends IntentionPlayer {
     setup () {
-        super.setup()
         this.addIntetion(new LineIntention('avoidFromGoal', {
             target: {x: 820, y: 0},
             theta: Vector.direction("up"),
@@ -17,7 +16,7 @@ module.exports = class RulePlays extends IntentionPlayer {
             lineDistMax: 150,
             lineDistSingleSide: true,
             decay: TensorMath.new.mult(-1).finish,
-            multiplier: 100
+            multiplier: 20
         }))
 
         this.addIntetion(new LineIntention('avoidFromGoalLateral', {
@@ -27,7 +26,7 @@ module.exports = class RulePlays extends IntentionPlayer {
             lineDist: 200, // Tamanho da repelência
             lineDistMax: 200,
             decay: TensorMath.new.finish,
-            multiplier: 100
+            multiplier: 20
         }))
 
         this.addIntetion(new LineIntention('avoidFromOwnGoal', {
@@ -38,7 +37,7 @@ module.exports = class RulePlays extends IntentionPlayer {
           lineDistMax: 120,
           lineDistSingleSide: true,
           decay: TensorMath.new.mult(-1).finish,
-          multiplier: 150
+          multiplier: 25
       }))
 
       this.addIntetion(new LineIntention('avoidFromGoalOwnLateral', {
@@ -48,7 +47,7 @@ module.exports = class RulePlays extends IntentionPlayer {
           lineDist: 200, // Tamanho da repelência
           lineDistMax: 200,
           decay: TensorMath.new.finish,
-          multiplier: 150
+          multiplier: 15
       }))
     }
     loop () {}
diff --git a/players/tests/LineIntentionPlayer.js b/players/tests/LineIntentionPlayer.js
index 7f665f0..460b1d2 100644
--- a/players/tests/LineIntentionPlayer.js
+++ b/players/tests/LineIntentionPlayer.js
@@ -1,9 +1,6 @@
 const IntentionPlayer = require('../IntentionPlayer')
 const TensorMath = require('../../lib/TensorMath')
-const Intention = require('../../Intention')
 const LineIntention = require('../../Intention/LineIntention')
-const PointIntention = require('../../Intention/PointIntention')
-const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 
 const FORWARD_SPEED = 50
@@ -11,10 +8,11 @@ const FORWARD_SPEED = 50
 module.exports = class LineIntentionPlayer extends IntentionPlayer {
   setup(){
     this.addIntetion(new LineIntention('test', {
-      target: {x: 100, y: 100},
-      theta: Vector.direction("left"),
+      target: {x: 0, y: 0},
+      theta: Vector.direction("up"),
       lineSize: 1700,
       lineDist: 260,
+      lineDistMax: 400,
       decay: TensorMath.new.finish,
       multiplier: FORWARD_SPEED
     }))
diff --git a/players/tests/LookAtIntentionPlayer.js b/players/tests/LookAtIntentionPlayer.js
index f81b81a..9da8239 100644
--- a/players/tests/LookAtIntentionPlayer.js
+++ b/players/tests/LookAtIntentionPlayer.js
@@ -1,12 +1,8 @@
 const IntentionPlayer = require('../IntentionPlayer')
 const TensorMath = require('../../lib/TensorMath')
-const Intention = require('../../Intention')
-const LineIntention = require('../../Intention/LineIntention')
-const PointIntention = require('../../Intention/PointIntention')
 const LookAtIntention = require('../../Intention/LookAtIntention')
-const Vector = require('../../lib/Vector')
 
-const FORWARD_SPEED = 80
+const FORWARD_SPEED = 480
 
 module.exports = class LookAtIntentionPlayer extends IntentionPlayer {
   setup(){
@@ -14,7 +10,7 @@ module.exports = class LookAtIntentionPlayer extends IntentionPlayer {
 
     this.addIntetion(new LookAtIntention('test', {
       target: ball,
-      decay: TensorMath.new.constant(1).finish,
+      decay: TensorMath.new.pow(1/2).finish,
       multiplier: FORWARD_SPEED,
     }))
   }
diff --git a/players/tests/PointIntentionPlayer.js b/players/tests/PointIntentionPlayer.js
index bfc999d..3b7eac9 100644
--- a/players/tests/PointIntentionPlayer.js
+++ b/players/tests/PointIntentionPlayer.js
@@ -1,20 +1,19 @@
 const IntentionPlayer = require('../IntentionPlayer')
 const TensorMath = require('../../lib/TensorMath')
-const Intention = require('../../Intention')
-const LineIntention = require('../../Intention/LineIntention')
 const PointIntention = require('../../Intention/PointIntention')
-const LookAtIntention = require('../../Intention/LookAtIntention')
 const Vector = require('../../lib/Vector')
 
-const FORWARD_SPEED = 50
+const FORWARD_SPEED = 80
 
 module.exports = class PointIntentionPlayer extends IntentionPlayer {
   setup(){
+    let ball = () => {return this.ball}
+
     this.addIntetion(new PointIntention('test', {
-      target: {x: 0, y: 0},
+      target: ball,
       theta: Vector.direction("left"),
-      radius: 100,
-      decay: TensorMath.new.finish,
+      radius: 400, 
+      decay: TensorMath.new.pow(1.35).finish,
       multiplier: FORWARD_SPEED
     }))
   }
diff --git a/roles/AttackerRole.js b/roles/AttackerRole.js
new file mode 100644
index 0000000..a3b9448
--- /dev/null
+++ b/roles/AttackerRole.js
@@ -0,0 +1,71 @@
+const AttackerMain = require('../players/experimental/AttackerMain')
+const AttackerConduct = require('../players/experimental/AttackerConduct')
+const AttackerHold = require('../players/experimental/AttackerHold')
+const attackerTriangle = require('../players/experimental/AttackerTriangle')
+const { SMALL_AREA, GP } = require('../entities/FieldConstraints')
+
+
+module.exports = class AttackerRole {
+    constructor(match) {
+        this.match = match
+        this.init()
+    }
+
+    async init() {
+        this.plays = {
+            main: new AttackerMain(0, this.match, null),
+            conduct: new AttackerConduct(0, this.match, null),
+            hold: new AttackerHold(0, this.match, null),
+            triangle: new attackerTriangle(0, this.match, null)
+        }
+    }
+
+    insideFieldConstraint (fieldConstraint, ball) {
+        if (ball == null) return false
+        if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
+            && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+        return false
+    }
+
+    buildTriangle (robot) {
+      return {
+        x1: GP.x,
+        y1: GP.y - 100,
+        x2: GP.x,
+        y2: -GP.y + 100,
+
+        x3: robot.robots.self.position.x,
+        y3: robot.robots.self.position.y
+      }
+    }
+
+    isInsideTriangle (robot, ball) {
+      const { x1, x2, x3, y1, y2, y3 } = this.buildTriangle(robot)
+      const { x, y } = ball
+
+      var denominator = ((y2 - y3)*(x1 - x3) + (x3 - x2)*(y1 - y3));
+      var a = ((y2 - y3)*(x - x3) + (x3 - x2)*(y - y3)) / denominator;
+      var b = ((y3 - y1)*(x - x3) + (x1 - x3)*(y - y3)) / denominator;
+      var c = 1 - a - b;
+
+      return 0 <= a && a <= 1 && 0 <= b && b <= 1 && 0 <= c && c <= 1;
+    }
+
+    decidePlay(robot, data) {
+        let position = robot.robots.self.position
+        let ball = data.cleanData.ball
+
+        if (this.isInsideTriangle(robot, ball)) {
+          robot.runningPlay = this.plays.triangle
+          this.plays.triangle.setRobot(robot)
+        } else if (this.insideFieldConstraint(SMALL_AREA, ball)) {
+          robot.runningPlay = this.plays.hold
+          this.plays.hold.setRobot(robot)
+        } else {
+          robot.runningPlay = this.plays.main
+          this.plays.main.setRobot(robot)
+        }
+
+        console.log('|robot' + robot.radioId + '| decided play: ' + robot.runningPlay.constructor.name)
+    }
+}
diff --git a/roles/GoalkeeperRole.js b/roles/GoalkeeperRole.js
new file mode 100644
index 0000000..e5c889c
--- /dev/null
+++ b/roles/GoalkeeperRole.js
@@ -0,0 +1,51 @@
+const GoalKeeperMain = require('../players/experimental/GoalkeeperMain2')
+const GoalKeeperSides = require('../players/experimental/GoalkeeperSides2')
+const GoalKeeperPush = require('../players/experimental/GoalKeeperPush2')
+const GoalKeeperKeep = require('../players/experimental/GoalKeeperKeep')
+const FieldConstraints = require('../entities/FieldConstraints')
+
+
+module.exports = class GoalKeeperRole {
+    constructor(match) {
+        this.match = match
+        this.init()
+    }
+
+    async init() {
+        this.plays = {
+            main: new GoalKeeperMain(0, this.match, null),
+            sides: new GoalKeeperSides(0, this.match, null),
+            push: new GoalKeeperPush(0, this.match, null),
+            keep: new GoalKeeperKeep(0, this.match, null)
+        }
+    }
+
+    insideFieldConstraint (fieldConstraint, ball) {
+        if (ball == null) return false
+        if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
+            && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+        return false
+    }
+
+    decidePlay(robot, data) {
+
+        const ball = data.cleanData.ball
+        if(
+            this.insideFieldConstraint(FieldConstraints.SMALL_AREA, ball)
+            ){
+            robot.runningPlay = this.plays.push
+            this.plays.push.setRobot(robot)
+        } else if (
+            this.insideFieldConstraint(FieldConstraints.LEFT, ball)
+            || this.insideFieldConstraint(FieldConstraints.RIGHT, ball)
+            ) {
+            robot.runningPlay = this.plays.sides
+            this.plays.sides.setRobot(robot)
+        } else{
+            robot.runningPlay = this.plays.main
+            this.plays.main.setRobot(robot)
+        }
+
+        console.log('|robot' + robot.radioId + '| decided play: ' + robot.runningPlay.constructor.name)
+    }
+}
diff --git a/roles/_GoalkeeperRole.js b/roles/_GoalkeeperRole.js
new file mode 100644
index 0000000..09957bc
--- /dev/null
+++ b/roles/_GoalkeeperRole.js
@@ -0,0 +1,64 @@
+const GoalKeeper = require('../players/experimental/GoalkeeperMain')
+const GoalKeeperSides = require('../players/experimental/GoalkeeperSides')
+const GoalKeeperPush = require('../players/experimental/GoalkeeperPush')
+const FieldConstraints = require('../entities/FieldConstraints')
+
+
+module.exports = class _GoalKeeperRole {
+    constructor(match) {
+        this.match = match
+        this.init()
+    }
+
+    async init() {
+        this.plays = {
+            main: new GoalKeeper(0, this.match, null),
+            push: new GoalKeeperPush(0, this.match, null),
+            side: new GoalKeeperSides(0, this.match, null)
+        }
+    }
+
+    insideFieldConstraint (fieldConstraint, ball) {
+        if (ball == null) return false
+        if (ball.x > fieldConstraint.x0 && ball.x < fieldConstraint.x1
+            && ball.y > fieldConstraint.y0 && ball.y < fieldConstraint.y1) return true
+        return false
+    }
+
+    decidePlay(robot, data) {
+        /*
+        O Goleiro tem 4 tipos de comportamentos bem definidos:
+
+        1: Se não houver bola em campo então goleiro fica no centro do gol (play main)
+        2: Se a bola estiver dentro da pequena area, empurre a bola para longe (play push)
+        3: Se a bola estiver nas laterais da pequena area, proteja a trave mais proxima (play sides)
+        4: caso contrario, fique no centro do gol (play main)
+        */
+        let ball = null
+        if (data)
+            ball = data.cleanData.ball || null
+        if (!ball) {
+            robot.runningPlay = this.plays.main
+            this.plays.main.setRobot(robot)
+        }
+        if (this.insideFieldConstraint(FieldConstraints.SMALL_AREA_CENTER, ball)) {
+            robot.runningPlay = this.plays.push
+            this.plays.push.setRobot(robot)
+        } else if (
+            this.insideFieldConstraint(FieldConstraints.SMALL_AREA_LEFT, ball)
+            || 
+            this.insideFieldConstraint(FieldConstraints.SMALL_AREA_RIGHT, ball)
+        ) {
+            robot.runningPlay = this.plays.side
+            this.plays.side.setRobot(robot)
+        } else {
+            robot.runningPlay = this.plays.main
+            this.plays.main.setRobot(robot)
+        }
+
+        robot.runningPlay = this.plays.main
+        this.plays.main.setRobot(robot)
+
+        console.log('|robot' + robot.radioId + '| decided play: ' + robot.runningPlay.constructor.name)
+    }
+}
\ No newline at end of file
diff --git a/lib/Constants.js b/roles/attacker.js
similarity index 100%
rename from lib/Constants.js
rename to roles/attacker.js
diff --git a/server.js b/server.js
index 42f4c5e..d36233d 100644
--- a/server.js
+++ b/server.js
@@ -8,18 +8,13 @@ const Match = require('./lib/Match')
 
 const TAG = 'server'
 
-const RUN_MODES = {1: 'REAL_LIFE', 2: 'SIMPLE_SIMULATED', 3: 'SIMULATED', 4: 'PASSIVE'}
+const RUN_MODES = {
+  1: 'REAL_LIFE', 2: 'SIMPLE_SIMULATED',
+  3: 'SIMULATED', 4: 'PASSIVE'
+}
 
-/*
-Variavel RUN_MODE args:
-  1: REAL_LIFE,         Executa o fluxo completo, usado para partidas reais
-  2: SIMPLE_SIMULATED,  modo simulado, apenas movimentando a posição dos robos sem fisica
-  3: SIMULATED,         modo simulado, usando stack SIR-LAB
-  4: PASSIVE  ,         modo assistido, onde o NoPlan recebe dados do
-  SSL-Vision mas não envia para lugar algum
-*/
 const run_mode = parseInt(process.env.RUN_MODE)
-
+console.log(run_mode)
 assert.notEqual(run_mode, null, chalk.red('MISSING PARAMETER: RUN_MODE'))
 assert.ok(run_mode in RUN_MODES, chalk.red('WRONG PARAMETER: RUN_MODE, must be 1, 2 or 3'))
 
@@ -32,7 +27,7 @@ async function startup(){
   let driverImpl = null
 
   let MatchClass = Match
-  let CoachClass = require('./lib/Coach')
+  let CoachClass = require('./lib/DumbCoach')
 
   switch (run_mode) {
     case 1:
@@ -62,12 +57,22 @@ async function startup(){
     // Driver: dados referentes ao output de dados de envio para os robos
     vision: {impl: visionImpl, params: config[visionImpl]},
     driver: {impl: driverImpl, params: config[driverImpl]},
-    coach: CoachClass,
-    robotsProperties: {
-      robot_1: {vision_id: 9, radio_id: 1},
-      robot_2: {vision_id: 1, radio_id: 2},
-      robot_3: {vision_id: 3, radio_id: 3}
+    coaches: [CoachClass, CoachClass],
+    matchParams: {
+      'startSide': config.startSide,
+      'startColor': config.startColor
     },
+    robotsProperties:[
+      {
+        // TEAM 1
+        robot_2: {vision_id: 1, radio_id: 3},
+        robot_3: {vision_id: 9, radio_id: 2},
+        robot_1: {vision_id: 3, radio_id: 1}
+      },
+      {
+
+      }
+    ]
   })
 
   await match.init()
@@ -76,10 +81,10 @@ async function startup(){
 
 }
 
-process.on('unhandledRejection', (e) => {
-  console.error('Unhandled Rejection')
-  console.error(e)
-  process.exit(1)
-})
+// process.on('unhandledRejection', (e) => {
+//   console.error('Unhandled Rejection')
+//   console.error(e)
+//   process.exit(1)
+// })
 
 startup()