diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
index e4f6fa4..6bfe4c3 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
@@ -32,11 +32,10 @@ public class CenterLeft extends CommandGroup {
     	addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
     	addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
     	addSequential(new WaitCommand(.2));
-    	addSequential(new DriveStraightBasic(80, 45, true, true, 0));
     	addSequential(new ElevatorBasic(30));
-    	addSequential(new DriveTurnBasic(true, 28, 150, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveTurnBasic(true, 32, 150, MPSoftwareTurnType.TANK));
     	addParallel(new TimeoutBecaseYea());
-    	addSequential(new DriveStraightBasic(12, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(25, 60, true, true, 0));
     	
     	addSequential(new WaitCommand(3));
     	addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
index 5e4edec..6037955 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
@@ -31,17 +31,17 @@ public class CenterLeft2Cube extends CommandGroup {
     	addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
     	addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
     	addSequential(new WaitCommand(.2));
-    	addSequential(new DriveStraightBasic(70, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(70, 60, true, true, 0));
     	addSequential(new ElevatorBasic(30));
-    	addSequential(new DriveTurnBasic(true, 30, 150, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveTurnBasic(true, 32, 150, MPSoftwareTurnType.TANK));
     	addParallel(new TimeoutBecaseYea());
-    	addSequential(new DriveStraightBasic(18, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(25, 60, true, true, 0));
     	addSequential(new WaitCommand(1));
     	addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
       	addSequential(new ElevatorBasic(3));
       	addSequential(new DriveTurnBasic(true, 75, 150, MPSoftwareTurnType.TANK));
     	addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
-    	addSequential(new DriveStraightBasic(45, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(40, 45, true, true, 0));
     	addSequential(new WaitCommand(2));
     	addSequential(new IntakePosition(true));
     	addSequential(new DriveStraightBasic(-40, 45, true, true, 0));
diff --git a/src/org/usfirst/frc4388/robot/subsystems/Drive.java b/src/org/usfirst/frc4388/robot/subsystems/Drive.java
index fb612a4..12d1674 100644
--- a/src/org/usfirst/frc4388/robot/subsystems/Drive.java
+++ b/src/org/usfirst/frc4388/robot/subsystems/Drive.java
@@ -655,7 +655,7 @@ public class Drive extends Subsystem implements ControlLoopable
 					m_steerInput, m_steerNonLinear, STEER_NON_LINEARITY);
 		}
 		
-		m_drive.arcadeDrive(m_moveOutput, m_steerOutput*.85);
+		m_drive.arcadeDrive(m_moveOutput, m_steerOutput*.75);
 		// break;
 		// case CONTROLLER_XBOX_ARCADE_RIGHT:
 		// m_moveInput =