diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
similarity index 98%
rename from TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
rename to TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
index 599800b..b092fd5 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RobotAutoDriveByEncoder_Linear.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
@@ -30,10 +30,8 @@
 package org.firstinspires.ftc.teamcode;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 /**
@@ -64,7 +62,7 @@ import com.qualcomm.robotcore.util.ElapsedTime;
 
 @Autonomous(name="Robot: Auto Drive By Encoder", group="Robot")
 //@Disabled
-public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
+public class Autonomoustest extends LinearOpMode {
 
     /* Declare OpMode members. */
     private DcMotor         leftDrive   = null;
@@ -86,7 +84,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
     static final double     DRIVE_GEAR_REDUCTION    = 1.0 ;     // No External Gearing.
     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);
+                                                      (WHEEL_DIAMETER_INCHES * Math.PI);
     static final double     DRIVE_SPEED             = 0.2;
     static final double     TURN_SPEED              = 0.4;
 
@@ -132,8 +130,9 @@ 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)
         //driveForward(2);
-        //straightLeft(93);
-        turnRight(90);
+        //driveForward(80);
+        driveForward(28);
+        //turnRight(90);