diff --git a/src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java b/src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java
index 690bfd9..d66dd5e 100644
--- a/src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java
+++ b/src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java
@@ -59,7 +59,7 @@ public class DriveStraightBasic extends Command {
 		m_lastCommandExecuteTimestamp = currentTimestamp;
     	double steer = 0.0;
     	if (m_useGyroLock) {
-    		steer = - Robot.drive.getGyroAngleDeg() / 16.0;	//TODO: tune
+    		steer = - Robot.drive.getGyroAngleDeg() / 20.0;	//TODO: tune
     	}
     	Robot.drive.rawMoveSteer(m_speed, steer);
 		//SmartDashboard.putNumber("DSB Period", m_lastCommandExecutePeriod);
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java b/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
index da28b00..f7d360e 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
@@ -29,20 +29,19 @@ public class LeftStartRightScore extends CommandGroup {
     	addSequential(new IntakePosition(true));
     	
     	
-    	addSequential(new DriveStraightBasic(215, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(215, 50, 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 DriveStraightBasic(180, 50, 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 DriveTurnBasic(true, 90, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(5, 40, 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 DriveStraightBasic(-10, 50, true, true, 0));
     	addSequential(new DriveSpeedShift(false));
     	//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 afa0e69..9063322 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
@@ -29,21 +29,20 @@ public class RightStartLeftScore extends CommandGroup {
     	addSequential(new IntakePosition(true));
     	
     	
-    	addSequential(new DriveStraightBasic(-215, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(-215, 50, 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 DriveStraightBasic(180, 50, 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 DriveTurnBasic(true, -90, 300, MPSoftwareTurnType.TANK));
+    	addSequential(new DriveStraightBasic(10, 50, 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 DriveStraightBasic(-10, 50, true, true, 0));
     	addSequential(new DriveSpeedShift(false));
-    	//addSequential(new DriveStraightMP(60, 10, true, true, 0));  // 95 for 112" greenville
+    	//addSequential(new DriveStraightMP(50, 10, true, true, 0));  // 95 for 112" greenville
     }
 }
diff --git a/src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java b/src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java
index bfd7da8..5765336 100644
--- a/src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java
+++ b/src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java
@@ -28,7 +28,7 @@ public class ScaleFrom1 extends CommandGroup {
     	addSequential(new IntakePosition(true));
     	
     	
-    	addSequential(new DriveStraightBasic(-290, 60, true, true, 0));
+    	addSequential(new DriveStraightBasic(-290, 50, true, true, 0));
     	addSequential(new ElevatorBasic(70));
     	addSequential(new DriveTurnBasic(true, -90, 100, MPSoftwareTurnType.TANK));
     	//addSequential(new DriveStraightBasic(5, 20, true, true, 0));
@@ -41,7 +41,7 @@ public class ScaleFrom1 extends CommandGroup {
     	addSequential(new ElevatorBasic(10));
     	addSequential(new DriveSpeedShift(false));
 
-    	//addSequential(new DriveStraightMP(60, 10, true, true, 0));  // 95 for 112" greenville
+    	//addSequential(new DriveStraightMP(50, 10, true, true, 0));  // 95 for 112" greenville
        
     }
 }
\ No newline at end of file