diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 3f1d249..fd1e83d 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -54,7 +54,7 @@ public final class Constants {
         public static final Gains DRIVE_DISTANCE_GAINS_LOW = new Gains(0.1, 0.0, 1.0, 0.0, 0, 0.5);
         public static final Gains DRIVE_VELOCITY_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.025, 0, 1.0);
         public static final Gains DRIVE_TURNING_GAINS_LOW = new Gains(0.5, 0.0, 0.0, 0.0, 0, 0.55);
-        public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final Gains DRIVE_MOTION_MAGIC_GAINS_LOW = new Gains(0.1, 0.0, 0.2, 0.05, 0, 1.0);
         public static final int DRIVE_CRUISE_VELOCITY = 25000;
         public static final int DRIVE_ACCELERATION = 21000;
 
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a00158e..9737315 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -117,7 +117,7 @@ public class RobotContainer {
         /* Test Buttons */
         // A driver test button
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
-            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 60));
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 240));
         
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)