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 9f029dd..4670d07 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBackStage.java
@@ -169,7 +169,8 @@ public class BlueBackStage extends LinearOpMode {
         encoderDrive(DRIVE_SPEED, turning_distance, turning_distance, LONG_TIMEOUT);
     }
 
-    public void turnRight(double degrees) {
+    public void turnRight(double degrees)
+    {
         leftDrive.setDirection(DcMotor.Direction.REVERSE);
         rightDrive.setDirection(DcMotor.Direction.REVERSE);
         backrightDrive.setDirection(DcMotor.Direction.FORWARD);
@@ -248,15 +249,15 @@ public class BlueBackStage extends LinearOpMode {
             driveForward(-15.5);
             turnRight(90);
             straightRight(15);
-            driveForward(-19);
-            straightLeft(19);
-            driveForward(-1.5);
+            driveForward(-18);
+            straightLeft(20.25);
+            driveForward(-.30);
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
             gripper.setPosition(0.3);
             sleep(500);
-            driveForward(5);
+            driveForward(6);
             terminateOpModeNow();
 
 
@@ -277,8 +278,7 @@ public class BlueBackStage extends LinearOpMode {
             raisearm(80);
             wrist.setPosition(0);
             raisearm(100);
-            gripper.setPosition(0.35);
-            sleep(500);
+            gripper.setPosition(0.45);
             driveForward(7.5);
             terminateOpModeNow();
 
@@ -288,7 +288,7 @@ public class BlueBackStage extends LinearOpMode {
             telemetry.addData("position","center");
         telemetry.update();
         driveForward(3.5);
-        raisearm(80);
+        raisearm(80);;
         arm.setPower(0);
         driveForward(-8);
         straightLeft(11.5);
@@ -297,13 +297,13 @@ public class BlueBackStage extends LinearOpMode {
         straightRight(15);
         driveForward(-18);
         straightLeft(29);
-        driveForward(-1.5);
+        driveForward(-2);
         raisearm(80);
         wrist.setPosition(0);
         raisearm(100);
-        gripper.setPosition(0.3);
-        sleep(500);
-        driveForward(5);
+        gripper.setPosition(0.25);
+        gripper.setPosition(0.25);
+        driveForward(6);
         terminateOpModeNow();