diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
index e7fb81d..49e1078 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
@@ -251,18 +251,18 @@ public class BlueBackStage extends LinearOpMode {
             turnRight(90);
             straightRight(15);
             driveForward(-18);
-            straightLeft(21.5);
+            straightLeft(20.25);
             driveForward(-.30);
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(.75);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(6);
             raisearm(-50);
             wrist.setPosition(1);
             raisearm(-70);
-            straightLeft(30.25);
+            straightLeft(29);
             driveForward(-10);
             terminateOpModeNow();
 
@@ -283,7 +283,7 @@ public class BlueBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(.75);
+            gripper.setPosition(1);
             driveForward(7.5);
             raisearm(-50);
             wrist.setPosition(1);
@@ -311,9 +311,8 @@ public class BlueBackStage extends LinearOpMode {
         raisearm(80);
         wrist.setPosition(0);
         raisearm(100);
-       driveForward(6);
-       sleep(500);
         gripper.setPosition(1);
+        driveForward(6);
        raisearm(-50);
        wrist.setPosition(1);
        raisearm(-70);
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
index c90c3a1..e553ff8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RedBackStage.java
@@ -262,7 +262,7 @@ public class RedBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(.75);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(4.5);
             sleep(500);
@@ -289,7 +289,7 @@ public class RedBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(.75);
+            gripper.setPosition(1);
             driveForward(8.5);
             terminateOpModeNow();
 
@@ -312,7 +312,7 @@ else
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(.75);
+            gripper.setPosition(1);
             sleep(500);
             driveForward(5);
             terminateOpModeNow();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java
index 791c2ea..a0eeb68 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/manual.java
@@ -100,10 +100,10 @@ public class manual extends OpMode {
 
     //double num = 2.25;
     final static double MOTOR_HI_SPEED_RATIO = 1.75;
-    final static double MOTOR_MID_SPEED_RATIO = 2.35;
+    final static double MOTOR_MID_SPEED_RATIO = 2;
     final static double MOTOR_LO_SPEED_RATIO = 3.5;
     final static double ARM_POWER = 3;
-    double num = MOTOR_HI_SPEED_RATIO;
+    double num = MOTOR_MID_SPEED_RATIO;
     /**
      * User defined loop method.
      * This method will be called repeatedly in a loop while this op mode is running