diff --git a/Shield dimentions.sketch b/Shield dimentions.sketch
new file mode 100644
index 0000000..fcd6a92
Binary files /dev/null and b/Shield dimentions.sketch differ
diff --git a/embedded/goal_detector/goal_detector.ino b/embedded/goal_detector/goal_detector.ino
new file mode 100644
index 0000000..7246034
--- /dev/null
+++ b/embedded/goal_detector/goal_detector.ino
@@ -0,0 +1,43 @@
+#define OUT_ROBOT 6
+#define IN_ROBOT 8
+
+#define OUT_PLAYER 7
+#define IN_PLAYER 9
+
+int input_value_player;
+int input_value_robot;
+const int score_threshold_robot = 750;
+const int score_threshold_player = 950;
+int cycles = 0;
+
+void setup() {
+Serial.begin(115200);
+pinMode(OUT_ROBOT, OUTPUT);
+pinMode(OUT_PLAYER, OUTPUT);
+pinMode(IN_ROBOT, INPUT);
+pinMode(IN_PLAYER, INPUT);
+digitalWrite(OUT_PLAYER, HIGH);
+digitalWrite(OUT_ROBOT, HIGH);
+
+}
+
+void loop() {
+  cycles++;
+//  delay(5);
+  input_value_player = analogRead(IN_PLAYER);
+  input_value_robot = analogRead(IN_ROBOT);
+//  Serial.println(input_value_player);
+//  Serial.println(input_value_robot);
+  if (input_value_player < score_threshold_player) {
+    Serial.println("***ROBOT SCORED***");
+    delay(500);
+  } else if (input_value_robot < score_threshold_robot) {
+    Serial.println("***PLAYER SCORED***");
+    delay(500);
+  } else {
+    if (cycles > 2000) {
+          Serial.println("..."); 
+          cycles = 0;
+    }
+  }
+}
diff --git a/pygame_control.py b/pygame_control.py
index 94b96a5..88b327d 100644
--- a/pygame_control.py
+++ b/pygame_control.py
@@ -13,6 +13,28 @@ class Odrive:
     def set_zero(self):
         self.drive.axis0.encoder.set_linear_count(0)
         self.drive.axis1.encoder.set_linear_count(0)
+        self.drive.axis0.controller.config.input_mode = 3
+        self.drive.axis1.controller.config.input_mode = 3
+        # self.drive.axis0.trap_traj.config.vel_limit = 100
+        # self.drive.axis1.trap_traj.config.vel_limit = 100
+        # self.drive.axis0.trap_traj.config.accel_limit = 50
+        # self.drive.axis1.trap_traj.config.accel_limit = 50
+        # self.drive.axis0.trap_traj.config.decel_limit = 50
+        # self.drive.axis1.trap_traj.config.decel_limit = 50
+        # self.drive.axis0.controller.config.inertia = 0.02
+        # self.drive.axis1.controller.config.inertia = 0.02
+        self.drive.axis0.controller.config.input_filter_bandwidth = 30
+        self.drive.axis1.controller.config.input_filter_bandwidth = 30
+        self.drive.axis0.motor.config.current_lim = 70
+        self.drive.axis1.motor.config.current_lim = 70
+        self.drive.axis0.motor.config.current_lim_margin = 30
+        self.drive.axis1.motor.config.current_lim_margin = 30
+
+odrv0.axis0.motor.config.current_lim = 70
+odrv0.axis1.motor.config.current_lim = 70
+odrv0.axis0.motor.config.current_lim_margin = 30
+odrv0.axis1.motor.config.current_lim_margin = 30
+
 
     def set_idle(self):
         self.drive.axis0.requested_state = AXIS_STATE_IDLE