diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 965062a..b58ccfe 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -128,7 +128,7 @@ public class RobotContainer {
       
         // resets the yaw of the pigeon
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(1, 1), m_robotDrive));
+            .whileHeld(new RunCommand(() -> m_robotDrive.tankDriveVelocity(9, 3), m_robotDrive));
       
         // turn 45 degrees
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
@@ -195,14 +195,14 @@ public class RobotContainer {
             new Pose2d(0, 0, new Rotation2d(0)),
             // Pass through these two interior waypoints, making an 's' curve path
             List.of(
-                new Translation2d(3, 0)
-                //new Translation2d(2, -1)
+                new Translation2d(10, 0)
             ),
             // End 3 meters straight ahead of where we started, facing forward
-            new Pose2d(3, 0, new Rotation2d(0)),
+            new Pose2d(20, 20, new Rotation2d(0)),
             // Pass config
             config);
-
+            // 10 = 20, 20 = 35, 30 = 53.5
+            // (0,10) = (8,22)
         RamseteCommand ramseteCommand = new RamseteCommand(
             exampleTrajectory,
             m_robotDrive::getPose,
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 696c3c8..5258a46 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -275,10 +275,10 @@ public class Drive extends SubsystemBase {
     m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
     SmartDashboard.putNumber("Time Seconds", System.currentTimeMillis());
 
-    if (m_currentTimeSec % 10 == 0) {
+    if (m_currentTimeSec % 30 == 0) {
       coolFalcon(true);
       SmartDashboard.putBoolean("Solenoid", true);
-    } else if ((m_currentTimeSec - 2) % 10 == 0) {
+    } else if ((m_currentTimeSec - 1) % 30 == 0) {
       coolFalcon(false);
       SmartDashboard.putBoolean("Solenoid", false);
     }
@@ -467,6 +467,8 @@ public class Drive extends SubsystemBase {
     m_rightBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_leftBackMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
 
+    System.err.println(moveVelLeft);
+
     m_rightBackMotor.set(TalonFXControlMode.Velocity, moveVelRight);
     m_leftBackMotor.set(TalonFXControlMode.Velocity, moveVelLeft);
     m_leftFrontMotor.follow(m_leftBackMotor);
@@ -531,9 +533,12 @@ public class Drive extends SubsystemBase {
     m_currentAngleYaw = 0;
     m_kinematicsTargetAngle = 0;
   }
-
+//lol
+//sko
+//ridge
   /**
-   * Returns the heading of the robot
+//brayden=bad coder
+  * Returns the heading of the robot
    * @return The robot's heading in degrees, from -180 to 180
    */
   public double getHeading() {