diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
index 4c27fe0..354b006 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
@@ -82,13 +82,13 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
     // For example, use a value of 2.0 for a 12-tooth spur gear driving a 24-tooth spur gear.
     // This is gearing DOWN for less speed and more torque.
     // For gearing UP, use a gear ratio less than 1.0. Note this will affect the direction of wheel rotation.
-    static final double     COUNTS_PER_MOTOR_REV    = 1440 ;    // eg: TETRIX Motor Encoder
+    static final double     COUNTS_PER_MOTOR_REV    = 537.6 ;    // eg: TETRIX Motor Encoder
     static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
-    static final double     WHEEL_DIAMETER_INCHES   = 4.0 ;     // For figuring circumference
+    static final double     WHEEL_DIAMETER_INCHES   = 3.77953 ;     // For figuring circumference
     static final double     COUNTS_PER_INCH         = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
                                                       (WHEEL_DIAMETER_INCHES * 3.1415);
-    static final double     DRIVE_SPEED             = 0.6;
-    static final double     TURN_SPEED              = 0.5;
+    static final double     DRIVE_SPEED             = 0.2;
+    static final double     TURN_SPEED              = 0.4;
 
     @Override
     public void runOpMode() {
@@ -131,8 +131,8 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
         // Step through each leg of the path,
         // Note: Reverse movement is obtained by setting a negative distance (not speed)
         encoderDrive(DRIVE_SPEED,  48,  48, 5.0);  // S1: Forward 47 Inches with 5 Sec timeout
-        encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
-        encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout
+        //encoderDrive(TURN_SPEED,   12, -12, 4.0);  // S2: Turn Right 12 Inches with 4 Sec timeout
+        //encoderDrive(DRIVE_SPEED, -24, -24, 4.0);  // S3: Reverse 24 Inches with 4 Sec timeout
 
         telemetry.addData("Path", "Complete");
         telemetry.update();