diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
index 1ab5777..90da515 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Autonomoustest.java
@@ -93,7 +93,7 @@ public class Autonomoustest extends LinearOpMode {
     static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
             (WHEEL_DIAMETER_INCHES * Math.PI);
     static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
-    static final double DRIVE_SPEED = 0.2;
+    static final double DRIVE_SPEED = 0.3;
     static final double TURN_SPEED = 0.4;
 
     static final double LONG_TIMEOUT = 1000;
@@ -105,6 +105,8 @@ public class Autonomoustest extends LinearOpMode {
     public void runOpMode()
     {
         hardwareinit();
+        gripper.setPosition(1);
+        sleep(1000);
 
         // Send telemetry message to indicate successful Encoder reset
        /* telemetry.addData("Starting at",  "%7d :%7d",
@@ -214,6 +216,8 @@ public class Autonomoustest extends LinearOpMode {
         gripper = hardwareMap.get(Servo.class, "gripper");
         arm = hardwareMap.get(DcMotor.class, "arm raise");
         wrist = hardwareMap.get(Servo.class, "wrist");
+        wrist.setPosition(1);
+        sleep(1000);
         // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
         // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
         // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
@@ -251,13 +255,11 @@ public class Autonomoustest extends LinearOpMode {
     public void executeAuto()
         {
             arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-            gripper.setPosition(1);
-            sleep(1000);
-            driveForward(28);
+            driveForward(26);
             int blueleft = readColorLeft();
             int blueright = readColorRight();
             double backboard = 29;
-           if (blueleft > 75)
+           if (blueleft > 50 )
            {
                //telemetry.addData("color sensor","left");
                if(blueleft > blueright)
@@ -271,44 +273,45 @@ public class Autonomoustest extends LinearOpMode {
                straightLeft(32);
                turnLeft(10);
                driveForward(18);
-               driveForward(-31);
-               straightRight(31.5);
-               raisearm(80);
-               wrist.setPosition(0);
-               raisearm(100);
-               driveForward(-1);
-               gripper.setPosition(0.25);
+               driveForward(-40);
+//               straightRight(31.5);
+//               raisearm(80);
+//               wrist.setPosition(0);
+//               raisearm(100);
+//               driveForward(-1);
+//               gripper.setPosition(0.25);
                terminateOpModeNow();
 
 
 
 
            }
-           if (blueright > 175)
+           if (blueright > 50)
            {
                if(blueleft < blueright)
                    telemetry.addData("color sensor","right");
                straightRight(11);
                raisearm(80);
                arm.setPower(0);
-               driveForward(-13.5);
+               driveForward(-15.5);
                turnLeft(90);
                straightLeft(15);
                driveForward(8);
-               driveForward(-26);
-               straightRight(22.5);
-               raisearm(80);
-               wrist.setPosition(0);
-               raisearm(100);
-               driveForward(-5);
-               gripper.setPosition(.25);
+               driveForward(-38);
+//               straightRight(14.5);
+//               raisearm(80);
+//               wrist.setPosition(0);
+//               raisearm(100);
+//               gripper.setPosition(.25);
+//               driveForward(5);
+//               raisearm(-200);
                terminateOpModeNow();
 
 
            }
            else
                telemetry.addData("position","center");
-           driveForward(4);
+           driveForward(2.5);
            raisearm(80);
             arm.setPower(0);
             driveForward(-8);
@@ -323,6 +326,9 @@ public class Autonomoustest extends LinearOpMode {
             wrist.setPosition(0);
             raisearm(100);
             gripper.setPosition(.25);
+            sleep(500);
+            driveForward(5);
+            raisearm(-270);
            telemetry.update();
             sleep(250);
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
index 49f5650..fd91263 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/bluefront.java
@@ -93,7 +93,7 @@ public class bluefront extends LinearOpMode {
     static final double COUNTS_PER_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) /
             (WHEEL_DIAMETER_INCHES * Math.PI);
     static final double COUNTS_PER_ARM_INCH = (COUNTS_PER_MOTOR_REV * DRIVE_GEAR_REDUCTION) / (2.7 * Math.PI);
-    static final double DRIVE_SPEED = 0.2;
+    static final double DRIVE_SPEED = 0.3;
     static final double TURN_SPEED = 0.4;
 
     static final double LONG_TIMEOUT = 1000;
@@ -214,6 +214,8 @@ public class bluefront extends LinearOpMode {
         gripper = hardwareMap.get(Servo.class, "gripper");
         arm = hardwareMap.get(DcMotor.class, "arm raise");
         wrist = hardwareMap.get(Servo.class, "wrist");
+        wrist.setPosition(1);
+        sleep(1000);
         // To drive forward, most robots need the motor on one side to be reversed, because the axles point in opposite directions.
         // When run, this OpMode should start both motors driving forward. So adjust these two lines based on your first test drive.
         // Note: The settings here assume direct drive on left and right wheels.  Gear Reduction or 90 Deg drives may require direction flips
@@ -253,67 +255,68 @@ public class bluefront extends LinearOpMode {
     public void executeAuto()
     {
         arm.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        driveForward(28);
+        driveForward(26);
         int blueleft = readColorLeft();
         int blueright = readColorRight();
         double backboard = 29;
-        if (blueleft > 100)
+        if (blueleft > 75)
         {
             //telemetry.addData("color sensor","left");
             if(blueleft > blueright)
                 telemetry.addData("color sensor","left");
 
-            straightLeft(8);
-            raisearm(30);
+            straightLeft(11);
+            raisearm(80);
             arm.setPower(0);
-            driveForward(-13.5);
+            driveForward(-15.5);
             turnRight(90);
             straightRight(15);
             driveForward(8);
-            driveForward(-26);
-            straightLeft(22.5);
-            raisearm(80);
-            wrist.setPosition(0);
-            raisearm(100);
-            driveForward(-5);
-            gripper.setPosition(.25);
+            driveForward(-38);
+//            straightLeft(22.5);
+//            raisearm(80);
+//            wrist.setPosition(0);
+//            raisearm(100);
+//            driveForward(-5);
+//            gripper.setPosition(.25);
             terminateOpModeNow();
 
 
 
 
         }
-        if (blueright > 100)
+        if (blueright > 75)
         {
             if(blueleft < blueright)
                 telemetry.addData("color sensor","right");
             turnRight(90);
             straightLeft(2);
-            raisearm(30);
+            driveForward(6.5);
+            raisearm(80);
             arm.setPower(0);
-            driveForward(-15);
+            driveForward(-23);
             straightRight(32);
             turnRight(10);
             driveForward(18);
-            driveForward(-31);
-            straightLeft(34);
-            raisearm(80);
-            wrist.setPosition(0);
-            raisearm(100);
-            driveForward(-1);
-            gripper.setPosition(0.25);
-            terminateOpModeNow();
+            driveForward(-40);
+//            straightLeft(34);
+//            raisearm(80);
+//            wrist.setPosition(0);
+//            raisearm(100);
+//            driveForward(-1);
+//            gripper.setPosition(0.25);
+//            terminateOpModeNow();
 
 
         }
         else
             telemetry.addData("position","center");
-        driveForward(11);
-        raisearm(30);
+        driveForward(2.5);
+        raisearm(80);
         arm.setPower(0);
-        driveForward(-6);
+        driveForward(-8);
         straightLeft(11.5);
-        driveForward(-17);
+        driveForward(-15);
         turnRight(90);
         straightRight(15);
         driveForward(8);
@@ -322,8 +325,9 @@ public class bluefront extends LinearOpMode {
         raisearm(80);
         wrist.setPosition(0);
         raisearm(100);
-        driveForward(-5);
         gripper.setPosition(.25);
+        sleep(500);
+        driveForward(5);
         telemetry.update();
         sleep(250);