diff --git a/TeamCode/src/main/java/j.java b/TeamCode/src/main/java/j.java
deleted file mode 100644
index a25710e..0000000
--- a/TeamCode/src/main/java/j.java
+++ /dev/null
@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-
-public class ProgrammingBoard3 {
-        private DigitalChannel touchSensor;
-        private DcMotor motor;
-
-        public void init (Hardware hwMap)   {
-
-            touchSensor = hwMap.get(Digital.class, "touch_Sensor");
-            touchSensor.setMode(Digital)        }
-
-}
-
-
-
-                )
-}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
index 2c010f0..576b927 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BasicOmniOpMode_Linear.java
@@ -73,7 +73,6 @@ import com.qualcomm.robotcore.util.ElapsedTime;
  */
 
 @TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
-@Disabled
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
index c4c33f0..c40be46 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java
@@ -38,22 +38,23 @@ public class PedroConstants {
     public static final String BACK_ENCODER = "encoder back";
 
     // Robot encoder direction
-    public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double LEFT_ENCODER_DIRECTION = Encoder.REVERSE;
     public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE;
 
     /*
         Pedro's parameters
     */
+    // -0.0708
 
     // The weight of the robot in Kilograms
     public static final double ROBOT_WEIGHT_IN_KG = 10.5;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 72.0693;
+    public static final double ROBOT_SPEED_FORWARD = 61.7259;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 24.1401;
+    public static final double ROBOT_SPEED_LATERAL = 2;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
     public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;