diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 78bfc4c..a00158e 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, 192));
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 60));
         
         // B driver test button
         new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -125,11 +125,11 @@ public class RobotContainer {
 
         // Y driver test button
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whenPressed(new GotoCoordinates(m_robotDrive, 12, 12, 0));
+            .whenPressed(new Wait(m_robotDrive, 0));
 
         // X driver test button
         new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
-            .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
+            .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 60));
      
         /* Driver Buttons */
         // sets solenoids into high gear
@@ -207,15 +207,21 @@ public class RobotContainer {
                                     //add shooter command
 //Below this would be the picking up additional balls outside of those in the trench directly behind us
 
-                                    //new GotoCoordinates(m_robotDrive, 36, 36),
-                                    //new DriveStraightToPositionPID(m_robotDrive, 160)
-                                    //new DriveStraightToPositionMM(m_robotDrive, 160)
-                                    new GotoCoordinates(m_robotDrive, 87, 47, -90));//,
+                                    
+                                    new GotoCoordinates(m_robotDrive, 75, 44, -90),
+                                    //Start Intake Ball 1
+                                    new GotoCoordinates(m_robotDrive, 0, 12, 0),
+                                    new GotoCoordinates(m_robotDrive, 0, 28, 0),
+                                    //Start Intake Ball 2
+                                    new GotoCoordinates(m_robotDrive, 0, 8, 0),
+                                    new GotoCoordinates(m_robotDrive, 0, 28, 0),
+                                     //Start Intake Ball 3
+                                     new GotoCoordinates(m_robotDrive, 0, 8, 0)
+                                     /*Shoot 3 Balls*/ );
+
+
+                                    /*new GotoCoordinates(m_robotDrive, 0, 68.75, 0),*/
                                     //new StorageIntakeGroup(m_robotIntake, m_robotStorage),
-                                    //new TurnDegrees(m_robotDrive, 75),
-                                    //new DriveStraightToPositionMM(m_robotDrive, 18.0),
-                                    //new TurnDegrees(m_robotDrive, -45),
-                                    //new DriveStraightToPositionMM(m_robotDrive, 12.0));
     }
     TrajectoryConfig getTrajectoryConfig() {
         return new TrajectoryConfig(
diff --git a/src/main/java/frc4388/robot/commands/GotoCoordinates.java b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
index d267cbe..9c3fbcf 100644
--- a/src/main/java/frc4388/robot/commands/GotoCoordinates.java
+++ b/src/main/java/frc4388/robot/commands/GotoCoordinates.java
@@ -44,7 +44,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
 
 
     addCommands(  new TurnDegrees(m_drive, m_currentAngle),
-                  new Wait(m_drive, 1),
+                  new Wait(m_drive, 0.1),
                   new DriveStraightToPositionPID(m_drive, m_hypotDist), 
                   new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
   }
diff --git a/src/main/java/frc4388/robot/commands/Wait.java b/src/main/java/frc4388/robot/commands/Wait.java
index ee7f63f..4288abb 100644
--- a/src/main/java/frc4388/robot/commands/Wait.java
+++ b/src/main/java/frc4388/robot/commands/Wait.java
@@ -21,7 +21,7 @@ public class Wait extends CommandBase {
   /**
    * Creates a new WaitCommand.
    */
-  public Wait(SubsystemBase subsystem, float seconds) {
+  public Wait(SubsystemBase subsystem, double seconds) {
     // Use addRequirements() here to declare subsystem dependencies.
 
     m_waitTime = (long) (seconds * 1000);