diff --git a/src/main/driverStation/GOAT DRIVERSTATION.json b/src/main/driverStation/GOAT DRIVERSTATION.json
index e61f688..71630b8 100644
--- a/src/main/driverStation/GOAT DRIVERSTATION.json	
+++ b/src/main/driverStation/GOAT DRIVERSTATION.json	
@@ -1003,6 +1003,52 @@
           }
         }
       }
+    },
+    {
+      "title": "Tab 4",
+      "autoPopulate": false,
+      "autoPopulatePrefix": "",
+      "widgetPane": {
+        "gridSize": 128.0,
+        "showGrid": true,
+        "hgap": 16.0,
+        "vgap": 16.0,
+        "tiles": {
+          "5,1": {
+            "size": [
+              3,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Pigeon Gyro/Value",
+              "_title": "SmartDashboard/Pigeon Gyro/Value"
+            }
+          },
+          "5,2": {
+            "size": [
+              3,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Odometry Heading",
+              "_title": "SmartDashboard/Odometry Heading"
+            }
+          },
+          "5,0": {
+            "size": [
+              4,
+              1
+            ],
+            "content": {
+              "_type": "Text View",
+              "_source0": "network_table:///SmartDashboard/Odometry Values Meters",
+              "_title": "SmartDashboard/Odometry Values Meters"
+            }
+          }
+        }
+      }
     }
   ],
   "windowGeometry": {
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 1720c3b..da42dc0 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -319,13 +319,14 @@ public class RobotContainer {
         String[] sixBallAutoMiddlePaths = new String[]{
             "SixBallMid0",
             "SixBallMid1"
-            //"Unnamed_0"
         };
 
         m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
 
         String[] eightBallAutoMiddlePaths = new String[]{
-            "EightBallMidComplete"
+            "EightBallMid0",
+            "EightBallMid1",
+            "EightBallMid2",
         };
 
         m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
diff --git a/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java
index 1c0f863..f401cf1 100644
--- a/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java
+++ b/src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java
@@ -7,6 +7,7 @@
 
 package frc4388.robot.commands.auto;
 
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.robot.subsystems.Drive;
@@ -23,7 +24,17 @@ public class EightBallAutoMiddle extends SequentialCommandGroup {
     // super(new FooCommand(), new BarCommand());
     
     addCommands(
-      paths[0]
+      //new InstantCommand(() -> drive.getPose(), drive),
+      //new InstantCommand(() -> drive.SetHeading(true), drive),
+      //new InstantCommand(() -> drive.updatePosition(), drive),
+      //new InstantCommand(() -> drive.setOdometry(drive.savedOdometry), drive),
+      paths[0],
+      paths[1],
+      paths[2]//,
+      //new InstantCommand(() -> drive.getPose(), drive),
+      //new InstantCommand(() -> drive.SetHeading(false), drive),
+      //new InstantCommand(() -> drive.updatePosition(), drive),
+      //new InstantCommand(() -> drive.setOdometry(drive.savedOdometry), drive)
     );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
index e66cca7..3bb516c 100644
--- a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
+++ b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
@@ -30,12 +30,7 @@ public class SixBallAutoMiddle extends SequentialCommandGroup {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
     
-    /* TODO
-     * Flip line 41 to true, and test positive and negative directions with smart dash
-     * If those match to the picture on Ryan's phone, figure out what else could be wrong
-     * If they don't match, make them match
-     * Sincerly, Past Ryan and Keenan
-     */
+
     addCommands(
       new InstantCommand(() -> drive.getPose(), drive),
       new InstantCommand(() -> drive.SetHeading(true), drive),
diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java
index 109b412..0fe51b3 100644
--- a/src/main/java/frc4388/robot/subsystems/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/Intake.java
@@ -55,7 +55,7 @@ public class Intake extends SubsystemBase {
    * @param input the percent output to run motor at
    */
   public void runIntake(double input) {
-    m_intakeMotor.set(input);
+    m_intakeMotor.set(input); //this is the speed changer
   }
 
   public void runExtender(double input){