diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
index 638faf3..e4f6fa4 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
@@ -39,18 +39,6 @@ public class CenterLeft extends CommandGroup {
     	addSequential(new DriveStraightBasic(12, 45, true, true, 0));
     	
     	addSequential(new WaitCommand(3));
-    	
-    	
-/*    	
-    	addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
-    	//addSequential(new WaitCommand(.1));
-    	addSequential(new IntakePosition(false));
-    	addSequential(new WaitCommand(.2));
-    	addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
-  */  	
-    	
-    	
-    	
     	addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
       	addSequential(new ElevatorBasic(10));
     	addSequential(new DriveSpeedShift(false));
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
index a4a4c63..5e4edec 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
@@ -31,11 +31,11 @@ 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(80, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(70, 45, true, true, 0));
     	addSequential(new ElevatorBasic(30));
-    	addSequential(new DriveTurnBasic(true, 28, 150, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveTurnBasic(true, 30, 150, MPSoftwareTurnType.TANK));
     	addParallel(new TimeoutBecaseYea());
-    	addSequential(new DriveStraightBasic(12, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(18, 45, true, true, 0));
     	addSequential(new WaitCommand(1));
     	addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
       	addSequential(new ElevatorBasic(3));
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight2Cube.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight2Cube.java
index b08b620..63ba2e5 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight2Cube.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight2Cube.java
@@ -23,22 +23,22 @@ public class CenterRight2Cube extends CommandGroup {
     	addSequential(new DriveSpeedShift(true));
     	
     	addSequential(new DriveStraightBasic(-15, 60, true, true, 0));
-    	addSequential(new DriveTurnBasic(true, -115, 150, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveTurnBasic(true, -122, 150, MPSoftwareTurnType.TANK));
     	addSequential(new WaitCommand(.2));
-    	addSequential(new DriveStraightBasic(65, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(55, 60, true, true, 0));
     	addSequential(new ElevatorBasic(25));
-    	addSequential(new DriveTurnBasic(true, -38, 150, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveTurnBasic(true, -39, 150, MPSoftwareTurnType.TANK));
     	addParallel(new TimeoutBecaseYea());
-    	addSequential(new DriveStraightBasic(25, 45, true, true, 0));
+    	addSequential(new DriveStraightBasic(30, 40, 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(43, 45, true, true, 0));
     	addSequential(new WaitCommand(2));
     	addSequential(new IntakePosition(true));
-    	addSequential(new DriveStraightBasic(-40, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(-30, 45, true, true, 0));
     	addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
     	addSequential(new ElevatorBasic(25));
       	addSequential(new DriveTurnBasic(true, 75, 150, MPSoftwareTurnType.TANK));
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java b/src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java
index cfdb81b..9a86b8b 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java
@@ -28,9 +28,6 @@ public class Cube2Right extends CommandGroup {
     	addSequential(new DriveSpeedShift(true));
     	addSequential(new IntakePosition(true));
     	
-    	
-    	//addSequential(new DriveStraightBasic(-10, 35, true, true, 0));
-    	
     	addSequential(new DriveStraightBasic(-300, 70, true, true, 0));
     	addSequential(new DriveStraightBasic(1, 30, true, true, 0));
     	addSequential(new ElevatorBasic(70)); 
@@ -71,7 +68,6 @@ public class Cube2Right extends CommandGroup {
     	addSequential(new ElevatorBasic(5));
     	
     	
-    	
     	addSequential(new DriveSpeedShift(false));