diff --git a/lib/camera.py b/lib/camera.py
index 22bb9216d35292ad0d67425638420c893d836b6f..3cae97154828aee78a2bda54122df2bba865a7dc 100644
--- a/lib/camera.py
+++ b/lib/camera.py
@@ -17,7 +17,7 @@ TXT_M_USB_1_camera.add_blocked_area(blocked_area_right)
blocked_area_left = txt_factory.camera_factory.create_blocked_area(0, 190, 80, 50)
TXT_M_USB_1_camera.add_blocked_area(blocked_area_left)
-ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [214,169,52], 20)
+ball_detector_goal_right = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [183,137,26], 20)
TXT_M_USB_1_camera.add_detector(ball_detector_goal_right)
ball_detector_goal_left = txt_factory.camera_factory.create_ball_detector(0, 70, 320, 120, 10, 120, -100, 100, [90,156,81], 20)
diff --git a/lib/camera.xml b/lib/camera.xml
index 484a3a87a5fd5214662d43111f5acd0b4dbd93d8..ea3a1b004f8ae10e02f470fbff12714f654fb17c 100644
--- a/lib/camera.xml
+++ b/lib/camera.xml
@@ -1 +1 @@
-<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#ff863e</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#d6a934</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#5a9c51</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
+<xml type="camera" verion="1" version="2" rotate="0" height="240" width="320" fps="15"><item id="2" class="BallDetector"><name>ball_detector</name><color>#ff863e</color><tolerance>20</tolerance><min_ball_diameter>5</min_ball_diameter><max_ball_diameter>80</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>0</y><width>320</width><height>240</height></geometry></item><item id="4" class="BlockedArea"><name>blocked_area_right</name><geometry><x>240</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="5" class="BlockedArea"><name>blocked_area_left</name><geometry><x>0</x><y>190</y><width>80</width><height>50</height></geometry></item><item id="12" class="BallDetector"><name>ball_detector_goal_right</name><color>#b7891a</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item><item id="11" class="BallDetector"><name>ball_detector_goal_left</name><color>#5a9c51</color><tolerance>20</tolerance><min_ball_diameter>10</min_ball_diameter><max_ball_diameter>120</max_ball_diameter><start_range_value>-100</start_range_value><end_range_value>100</end_range_value><geometry><x>0</x><y>70</y><width>320</width><height>120</height></geometry></item></xml>
\ No newline at end of file
diff --git a/omniwheels_x4_soccer_goal.blockly b/omniwheels_x4_soccer_goal.blockly
index 89cb1ebc758cea09840f0f1abaa507aacce017b6..754d8cbbe23b776f895bfcf28ccf118078e5554a 100644
--- a/omniwheels_x4_soccer_goal.blockly
+++ b/omniwheels_x4_soccer_goal.blockly
@@ -1758,7 +1758,7 @@
<field name="OP">AND</field>
<value name="A">
<block type="logic_operation" id="NFf.9WuEcFjGpo|he2Lq" inline="false">
- <field name="OP">OR</field>
+ <field name="OP">AND</field>
<value name="A">
<block type="logic_compare" id="R$,3LHh`g+6Wa:m#*[Ys">
<field name="OP">EQ</field>
@@ -1789,7 +1789,7 @@
</value>
<value name="B">
<block type="logic_operation" id="w[--Ee4II.j.3yFUzaHC" inline="false">
- <field name="OP">OR</field>
+ <field name="OP">AND</field>
<value name="A">
<block type="logic_compare" id="O{Tccxva=xl#e:%Ta#cj">
<field name="OP">NEQ</field>
@@ -1874,7 +1874,7 @@
<field name="OP">AND</field>
<value name="A">
<block type="logic_operation" id="9{.L1,^dK`cx%gkekh((" inline="false">
- <field name="OP">OR</field>
+ <field name="OP">AND</field>
<value name="A">
<block type="logic_compare" id="B.4G5j0lpHiK^%Co:jY(">
<field name="OP">EQ</field>
@@ -1905,7 +1905,7 @@
</value>
<value name="B">
<block type="logic_operation" id="/CB,rxMtGbnS.o4@P$H9" inline="false">
- <field name="OP">OR</field>
+ <field name="OP">AND</field>
<value name="A">
<block type="logic_compare" id="5}=h$U=O8]*WCIA_=(9a">
<field name="OP">EQ</field>
diff --git a/omniwheels_x4_soccer_goal.py b/omniwheels_x4_soccer_goal.py
index 8a2d7da91bdf91bb2a1bb72b68ad543cb5fde4ec..f853fec83f8333eb95129bf7c131e3ea9f326279 100644
--- a/omniwheels_x4_soccer_goal.py
+++ b/omniwheels_x4_soccer_goal.py
@@ -443,10 +443,10 @@ while True:
right(v_slow, round(goal_width * 0.01))
else:
stop()
- elif (posx_ball == None or posy_ball == None) and (posx_goal_left != None or posx_goal_right == None):
+ elif posx_ball == None and posy_ball == None and posx_goal_left != None and posx_goal_right == None:
state = 'NO_BALL_GOAL_LEFT'
right(v_slow, round(math.fabs(posx_goal_left * 0.1)))
- elif (posx_ball == None or posy_ball == None) and (posx_goal_left == None or posx_goal_right != None):
+ elif posx_ball == None and posy_ball == None and posx_goal_left == None and posx_goal_right != None:
state = 'NO_BALL_GOAL_RIGHT'
left(v_slow, round(math.fabs(posx_goal_right * 0.1)))
else: