diff --git a/op3_demo/include/op3_demo/ball_follower.h b/op3_demo/include/op3_demo/ball_follower.h
index 4e2c05f..90b56fc 100644
--- a/op3_demo/include/op3_demo/ball_follower.h
+++ b/op3_demo/include/op3_demo/ball_follower.h
@@ -53,6 +53,7 @@ class BallFollower
   ~BallFollower();
 
   bool processFollowing(double x_angle, double y_angle, double ball_size);
+  void decideBallPositin(double x_angle, double y_angle);
   void waitFollowing();
   void startFollowing();
   void stopFollowing();
diff --git a/op3_demo/src/soccer/ball_follower.cpp b/op3_demo/src/soccer/ball_follower.cpp
index 0b0826a..ae412d1 100644
--- a/op3_demo/src/soccer/ball_follower.cpp
+++ b/op3_demo/src/soccer/ball_follower.cpp
@@ -22,34 +22,34 @@ namespace robotis_op
 {
 
 BallFollower::BallFollower()
-    : nh_(ros::this_node::getName()),
-      FOV_WIDTH(35.2 * M_PI / 180),
-      FOV_HEIGHT(21.6 * M_PI / 180),
-      count_not_found_(0),
-      count_to_kick_(0),
-      on_tracking_(false),
-      approach_ball_position_(NotFound),
-      kick_motion_index_(83),
-      CAMERA_HEIGHT(0.46),
-      NOT_FOUND_THRESHOLD(50),
-      MAX_FB_STEP(40.0 * 0.001),
-      MAX_RL_TURN(15.0 * M_PI / 180),
-      IN_PLACE_FB_STEP(-3.0 * 0.001),
-      MIN_FB_STEP(5.0 * 0.001),
-      MIN_RL_TURN(5.0 * M_PI / 180),
-      UNIT_FB_STEP(1.0 * 0.001),
-      UNIT_RL_TURN(0.5 * M_PI / 180),
-      SPOT_FB_OFFSET(0.0 * 0.001),
-      SPOT_RL_OFFSET(0.0 * 0.001),
-      SPOT_ANGLE_OFFSET(0.0),
-      hip_pitch_offset_(7.0),
-      current_pan_(-10),
-      current_tilt_(-10),
-      current_x_move_(0.005),
-      current_r_angle_(0),
-      curr_period_time_(0.6),
-      accum_period_time_(0.0),
-      DEBUG_PRINT(false)
+  : nh_(ros::this_node::getName()),
+    FOV_WIDTH(35.2 * M_PI / 180),
+    FOV_HEIGHT(21.6 * M_PI / 180),
+    count_not_found_(0),
+    count_to_kick_(0),
+    on_tracking_(false),
+    approach_ball_position_(NotFound),
+    kick_motion_index_(83),
+    CAMERA_HEIGHT(0.46),
+    NOT_FOUND_THRESHOLD(50),
+    MAX_FB_STEP(40.0 * 0.001),
+    MAX_RL_TURN(15.0 * M_PI / 180),
+    IN_PLACE_FB_STEP(-3.0 * 0.001),
+    MIN_FB_STEP(5.0 * 0.001),
+    MIN_RL_TURN(5.0 * M_PI / 180),
+    UNIT_FB_STEP(1.0 * 0.001),
+    UNIT_RL_TURN(0.5 * M_PI / 180),
+    SPOT_FB_OFFSET(0.0 * 0.001),
+    SPOT_RL_OFFSET(0.0 * 0.001),
+    SPOT_ANGLE_OFFSET(0.0),
+    hip_pitch_offset_(7.0),
+    current_pan_(-10),
+    current_tilt_(-10),
+    current_x_move_(0.005),
+    current_r_angle_(0),
+    curr_period_time_(0.6),
+    accum_period_time_(0.0),
+    DEBUG_PRINT(false)
 {
   current_joint_states_sub_ = nh_.subscribe("/robotis/goal_joint_states", 10, &BallFollower::currentJointStatesCallback,
                                             this);
@@ -57,7 +57,7 @@ BallFollower::BallFollower()
   set_walking_command_pub_ = nh_.advertise<std_msgs::String>("/robotis/walking/command", 0);
   set_walking_param_pub_ = nh_.advertise<op3_walking_module_msgs::WalkingParam>("/robotis/walking/set_params", 0);
   get_walking_param_client_ = nh_.serviceClient<op3_walking_module_msgs::GetWalkingParam>(
-      "/robotis/walking/get_params");
+        "/robotis/walking/get_params");
 
   prev_time_ = ros::Time::now();
 }
@@ -90,7 +90,7 @@ void BallFollower::startFollowing()
 void BallFollower::stopFollowing()
 {
   on_tracking_ = false;
-//  approach_ball_position_ = NotFound;
+  //  approach_ball_position_ = NotFound;
   count_to_kick_ = 0;
   accum_ball_position_ = 0;
   ROS_INFO("Stop Ball following");
@@ -230,7 +230,7 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
       on_tracking_ = false;
 
       // check direction of the ball
-       accum_ball_position_ = std::accumulate(ball_position_queue_.begin(), ball_position_queue_.end(), 0);
+      accum_ball_position_ = std::accumulate(ball_position_queue_.begin(), ball_position_queue_.end(), 0);
 
       if (accum_ball_position_ > 0)
       {
@@ -247,10 +247,10 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
     }
     else if (count_to_kick_ > 15)
     {
-//      if (ball_x_angle > 0)
-//        accum_ball_position_ += 1;
-//      else
-//        accum_ball_position_ -= 1;
+      //      if (ball_x_angle > 0)
+      //        accum_ball_position_ += 1;
+      //      else
+      //        accum_ball_position_ -= 1;
 
       // send message
       setWalkingParam(IN_PLACE_FB_STEP, 0, 0);
@@ -278,6 +278,22 @@ bool BallFollower::processFollowing(double x_angle, double y_angle, double ball_
   return false;
 }
 
+void BallFollower::decideBallPositin(double x_angle, double y_angle)
+{
+  // check of getting head joints angle
+  if (current_tilt_ == -10 && current_pan_ == -10)
+  {
+    return;
+  }
+
+  double ball_x_angle = current_pan_ + x_angle;
+
+  if (ball_x_angle > 0)
+    approach_ball_position_ = OnLeft;
+  else
+    approach_ball_position_ = OnRight;
+}
+
 void BallFollower::waitFollowing()
 {
   count_not_found_++;
diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp
index 638cfdd..6389e15 100644
--- a/op3_demo/src/soccer/soccer_demo.cpp
+++ b/op3_demo/src/soccer/soccer_demo.cpp
@@ -539,6 +539,7 @@ void SoccerDemo::handleKick()
     return;
 
   // kick motion
+  ball_follower_.decideBallPositin(ball_tracker_.getPanOfBall(), ball_tracker_.getTiltOfBall());
   int ball_position = ball_follower_.getBallPosition();
   if(ball_position == BallFollower::NotFound || ball_position == BallFollower::OutOfRange)
   {