public void dribbleToGoal(ObjBall ball) {
		if(stayInBounds()) {
			ObjGoal goal = mem.getOppGoal();
			
			if((goal != null) && (mem.getPosition().x < 35.0)) {
					kickToPoint(ball, new Polar(5.0, (goal.getDirection() - ball.getDirection())));
				
			}
			else if((goal != null) && (mem.getPosition().x >= 35.0)) {
				System.out.println("Ready to shoot");
				kickToGoal(ball);
			}
			else if(goal == null) {
				try {
					rc.kick(5.0, mem.getNullGoalAngle());
				} catch (UnknownHostException e) {
					System.out.println("Error in Action.dribbleToGoal() at null goal turn");
					e.printStackTrace();
				}
			}
		}
	}