diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
new file mode 100644
index 0000000..565835f
--- /dev/null
+++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
@@ -0,0 +1,42 @@
+package org.usfirst.frc4388.robot.commands.auton;
+
+import org.usfirst.frc4388.robot.commands.DriveAbsoluteTurnMP;
+import org.usfirst.frc4388.robot.commands.DriveGyroReset;
+import org.usfirst.frc4388.robot.commands.DriveSpeedShift;
+import org.usfirst.frc4388.robot.commands.DriveStraightBasic;
+import org.usfirst.frc4388.robot.commands.DriveStraightMP;
+import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
+import org.usfirst.frc4388.robot.commands.ElevatorBasic;
+import org.usfirst.frc4388.robot.commands.ElevatorSetSpeed;
+import org.usfirst.frc4388.robot.commands.IntakePosition;
+import org.usfirst.frc4388.robot.commands.IntakeSetSpeed;
+import org.usfirst.frc4388.robot.subsystems.Carriage;
+import org.usfirst.frc4388.robot.subsystems.Drive;
+import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
+
+/**
+ *
+ */
+public class CenterRight extends CommandGroup {
+    
+    public CenterRight() 
+    {
+    	addSequential(new DriveGyroReset());
+    	
+    	addSequential(new IntakePosition(true));
+    	addSequential(new DriveStraightBasic(-10, 60, true, true, 0));
+    	addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(50, 60, true, true, 0));
+    	addSequential(new DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new ElevatorBasic(20));
+    	addSequential(new DriveStraightBasic(25, 60, true, true, 0));
+    	addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
+    	//addSequential(new WaitCommand(.1));
+    	addSequential(new IntakePosition(false));
+    	addSequential(new WaitCommand(.5));
+    	addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
+    }
+}
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java b/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
new file mode 100644
index 0000000..62713df
--- /dev/null
+++ b/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
@@ -0,0 +1,46 @@
+package org.usfirst.frc4388.robot.commands.auton;
+
+import org.usfirst.frc4388.robot.commands.DriveAbsoluteTurnMP;
+import org.usfirst.frc4388.robot.commands.DriveGyroReset;
+import org.usfirst.frc4388.robot.commands.DriveSpeedShift;
+import org.usfirst.frc4388.robot.commands.DriveStraightBasic;
+import org.usfirst.frc4388.robot.commands.DriveStraightMP;
+import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
+import org.usfirst.frc4388.robot.commands.ElevatorBasic;
+import org.usfirst.frc4388.robot.commands.IntakePosition;
+import org.usfirst.frc4388.robot.commands.IntakeSetSpeed;
+import org.usfirst.frc4388.robot.subsystems.Carriage;
+import org.usfirst.frc4388.robot.subsystems.Drive;
+import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
+
+/**
+ *
+ */
+public class LeftStartRightScore extends CommandGroup {
+    
+    public LeftStartRightScore() 
+    {
+    	addSequential(new DriveGyroReset());
+    	addSequential(new DriveSpeedShift(true));
+    	addSequential(new DriveSpeedShift(true));
+    	addSequential(new IntakePosition(true));
+    	addSequential(new DriveStraightBasic(215, 60, true, true, 0));
+    	addSequential(new ElevatorBasic(5));
+    	addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(205, 60, true, true, 0));
+    	addSequential(new ElevatorBasic(30));
+    	addSequential(new DriveStraightBasic(30, 60, true, true, 0));
+    	addSequential(new DriveTurnBasic(true, 125, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(30, 60, true, true, 0));
+    	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(-10, 60, true, true, 0));
+    	//addSequential(new DriveStraightMP(60, 10, true, true, 0));  // 95 for 112" greenville
+    }
+}
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java b/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
index ebc984e..e53b19d 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
@@ -21,8 +21,8 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
  */
 public class RightStartLeftScore extends CommandGroup {
     
-    public RightStartLeftScore() {
-    	
+    public RightStartLeftScore()  //////////TUNEDISH AND ALMOST GOOD
+    {
     	addSequential(new DriveGyroReset());
     	addSequential(new DriveSpeedShift(true));
     	addSequential(new DriveSpeedShift(true));
@@ -30,10 +30,11 @@ public class RightStartLeftScore extends CommandGroup {
     	addSequential(new DriveStraightBasic(-215, 60, true, true, 0));
     	addSequential(new ElevatorBasic(5));
     	addSequential(new DriveTurnBasic(true, 87, 300, MPSoftwareTurnType.TANK));
-    	addSequential(new DriveStraightBasic(150, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(205, 60, true, true, 0));
     	addSequential(new ElevatorBasic(30));
-    	addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
-    	addSequential(new DriveStraightBasic(3, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(30, 60, true, true, 0));
+    	addSequential(new DriveTurnBasic(true, -125, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(30, 60, true, true, 0));
     	addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
     	//addSequential(new WaitCommand(.1));
     	addSequential(new IntakePosition(false));
@@ -41,6 +42,5 @@ public class RightStartLeftScore extends CommandGroup {
     	addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
     	addSequential(new DriveStraightBasic(-10, 60, true, true, 0));
     	//addSequential(new DriveStraightMP(60, 10, true, true, 0));  // 95 for 112" greenville
-       
     }
 }