diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
index b15eea2..e03d466 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
@@ -1,4 +1,6 @@
 package org.firstinspires.ftc.teamcode;
+import static android.os.SystemClock.sleep;
+
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -44,7 +46,7 @@ public class BlueBasketAuto extends OpMode {
     public void init() {
         follower = new Follower(hardwareMap);
 
-        follower.setMaxPower(.375);
+        follower.setMaxPower(.45);
 
         follower.setStartingPose(startPose);
 
@@ -78,14 +80,14 @@ public class BlueBasketAuto extends OpMode {
                         // Line 4
                         new BezierLine(
                                 new Point(28.000, 121.500, Point.CARTESIAN),
-                                new Point(15.500, 130.500, Point.CARTESIAN)
+                                new Point(18.000, 130.179, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
                         new BezierCurve(
-                                new Point(15.500, 130.500, Point.CARTESIAN),
+                                new Point(18.000, 130.179, Point.CARTESIAN),
                                 new Point(59.000, 102.500, Point.CARTESIAN),
                                 new Point(68.700, 130.500, Point.CARTESIAN)
                         )
@@ -95,35 +97,50 @@ public class BlueBasketAuto extends OpMode {
                         // Line 6
                         new BezierLine(
                                 new Point(68.700, 130.500, Point.CARTESIAN),
-                                new Point(15.750, 130.500, Point.CARTESIAN)
+                                new Point(18.000, 130.339, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 7
                         new BezierCurve(
-                                new Point(15.750, 130.500, Point.CARTESIAN),
-                                new Point(58.661, 90.643, Point.CARTESIAN),
-                                new Point(68.786, 130.500, Point.CARTESIAN)
+                                new Point(18.000, 130.339, Point.CARTESIAN),
+                                new Point(49.018, 121.179, Point.CARTESIAN),
+                                new Point(63.804, 135.321, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 8
                         new BezierLine(
-                                new Point(68.786, 130.500, Point.CARTESIAN),
-                                new Point(53.000, 135.321, Point.CARTESIAN)
+                                new Point(63.804, 135.321, Point.CARTESIAN),
+                                new Point(53.036, 135.161, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 9
                         new BezierLine(
-                                new Point(53.000, 135.321, Point.CARTESIAN),
-                                new Point(18.300, 135.161, Point.CARTESIAN)
+                                new Point(53.036, 135.161, Point.CARTESIAN),
+                                new Point(18.643, 135.000, Point.CARTESIAN)
                         )
                 )
-                .setTangentHeadingInterpolation().build();
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 10
+                        new BezierLine(
+                                new Point(18.643, 135.000, Point.CARTESIAN),
+                                new Point(72.300, 97.400, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 9
+                        new BezierLine(
+                                new Point(18.643, 135.000, Point.CARTESIAN),
+                                new Point(83.250, 95.464, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
         follower.followPath(path);
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());