diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 9900e90..bdae26e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -191,7 +191,6 @@ public class RobotContainer {
         RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
         // Run path following command, then stop at the end.
         //return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-       
         //return new AutoPath1FromCenter(m_robotDrive);
         return new AutoPath2FromRight(m_robotDrive);
 
diff --git a/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java b/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
index ced8a88..e941c05 100644
--- a/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
+++ b/src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
@@ -28,13 +28,13 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
                   //shoot pre-loaded 3 balls
                   new GotoCoordinates(m_drive, 75, 44, -90),
                   //Start Intake Ball 1
-                  new GotoCoordinates(m_drive, 0, 12, 0),
-                  new GotoCoordinates(m_drive, 0, 28, 0),
+                  new GotoCoordinates(m_drive, 0, 12),
+                  new GotoCoordinates(m_drive, 0, 28),
                   //Start Intake Ball 2
-                  new GotoCoordinates(m_drive, 0, 8, 0),
-                  new GotoCoordinates(m_drive, 0, 28, 0),
+                  new GotoCoordinates(m_drive, 0, 8),
+                  new GotoCoordinates(m_drive, 0, 28),
                   //Start Intake Ball 3
-                  new GotoCoordinates(m_drive, 0, 8, 0),
+                  new GotoCoordinates(m_drive, 0, 8),
                   new Wait(m_drive, 0, 2)
                   //Shoot 3 Balls
                   );
diff --git a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
index e1ebaa0..2411523 100644
--- a/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
+++ b/src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
@@ -25,16 +25,18 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
     m_drive = subsystem;
     
     addCommands(  new Wait(m_drive, 0, 1),
-                  new GotoCoordinates(m_drive, 0, 77, 0),
+                  new GotoCoordinates(m_drive, 0, 77),
                   //Start Intake Ball 1
-                  new GotoCoordinates(m_drive, 0, 8, 0),
-                  new GotoCoordinates(m_drive, 0, 28, 0),
+                  new GotoCoordinates(m_drive, 0, 8),
+                  new GotoCoordinates(m_drive, 0, 28),
                   //Start Intake Ball 2
-                  new GotoCoordinates(m_drive, 0, 8, 0),
+                  new GotoCoordinates(m_drive, 0, 8),
                   //Shoot 5 Balls
-                  new GotoCoordinates(m_drive, 0, 28, 0),
+                  new GotoCoordinates(m_drive, 0, 28),
                   //Start Intake Ball 1 (second round)
-                  new GotoCoordinates(m_drive, 0, 8, 0),
+                  new GotoCoordinates(m_drive, 0, 8),
+                  //Start Moving to 4th Ball
+                  new GotoCoordinates(m_drive, 60, -50),
                   new Wait(m_drive, 0, 2)
                   );
   }
diff --git a/src/main/java/frc4388/robot/commands/GotoCoordinates.java b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
index cfa8d2e..244905b 100644
--- a/src/main/java/frc4388/robot/commands/GotoCoordinates.java
+++ b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
@@ -38,10 +38,25 @@ public class GotoCoordinates extends SequentialCommandGroup {
 
     m_currentAngle = calcAngle();
 
-    SmartDashboard.putNumber("Current Angle Coordinates", m_currentAngle); 
-
     m_endAngle = endAngle;
 
+    addCommands(  new TurnDegrees(m_drive, m_currentAngle),
+                  new Wait(m_drive, 0, 0),
+                  new DriveStraightToPositionPID(m_drive, m_hypotDist), 
+                  new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
+  }
+
+  public GotoCoordinates(Drive subsystem, double xTarget, double yTarget) {
+    m_drive = subsystem;
+
+    m_xTarget = xTarget;
+    m_yTarget = yTarget;
+
+    m_hypotDist = Math.sqrt((m_xTarget*m_xTarget) + (m_yTarget*m_yTarget));
+
+    m_currentAngle = calcAngle();
+
+    m_endAngle = m_currentAngle;
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
                   new Wait(m_drive, 0, 0),