diff --git a/src/org/usfirst/frc4388/robot/Robot.java b/src/org/usfirst/frc4388/robot/Robot.java
index 12980c0..2d363a5 100644
--- a/src/org/usfirst/frc4388/robot/Robot.java
+++ b/src/org/usfirst/frc4388/robot/Robot.java
@@ -128,6 +128,7 @@ public class Robot extends IterativeRobot
 		
 		RRautonTaskChooser.addObject("2", new CrossTheBaseLine());
 		RRautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
+		RRautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
 		
 		RRautonTaskChooser.addObject("3", new CrossTheBaseLine());
 		RRautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
@@ -149,6 +150,7 @@ public class Robot extends IterativeRobot
 		
 		RLautonTaskChooser.addObject("2", new CrossTheBaseLine());
 		RLautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
+		RLautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
 		
 		RLautonTaskChooser.addObject("3", new CrossTheBaseLine());
 		RLautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
@@ -171,6 +173,7 @@ public class Robot extends IterativeRobot
 		
 		LLautonTaskChooser.addObject("2", new CrossTheBaseLine());
 		LLautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
+		LLautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
 		
 		LLautonTaskChooser.addObject("3", new CrossTheBaseLine());
 		LLautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
@@ -191,7 +194,8 @@ public class Robot extends IterativeRobot
 		LRautonTaskChooser.addObject("Left to Right Switch", new LeftStartRightScore());
 		
 		LRautonTaskChooser.addObject("2", new CrossTheBaseLine());
-		LRautonTaskChooser.addObject("Center Left Switch", new CenterLeft());
+		LRautonTaskChooser.addObject("Center to Left Switch", new CenterLeft());
+		LRautonTaskChooser.addObject("Center to Right Switch", new CenterRight());
 		
 		LRautonTaskChooser.addObject("3", new CrossTheBaseLine());
 		LRautonTaskChooser.addObject("Right to Right Switch", new RightSwitchAuton());
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
index 957bc7e..5d8bc4b 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
@@ -29,10 +29,10 @@ public class CenterLeft extends CommandGroup {
     	addSequential(new IntakePosition(true));
     	addSequential(new DriveStraightBasic(-15, 60, true, true, 0));
     	addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK));
-    	addSequential(new DriveStraightBasic(65, 60, true, true, 0));
-    	addSequential(new DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(53, 60, true, true, 0));
     	addSequential(new ElevatorBasic(20));
-    	addSequential(new DriveStraightBasic(30, 60, true, true, 0));
+    	addSequential(new DriveTurnBasic(true, 34.5, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(19, 60, true, true, 0));
     	addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
     	//addSequential(new WaitCommand(.1));
     	addSequential(new IntakePosition(false));
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
index 28166ad..a31e2c9 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
@@ -20,8 +20,8 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
 /**
  *
  */
-public class CenterRight extends CommandGroup 
-{
+public class CenterRight extends CommandGroup {
+    
     public CenterRight()
     {
     	addSequential(new DriveGyroReset());