diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 2573e77..1e5513f 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -197,8 +197,7 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the storage not
-
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
+        m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
         m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
 
     }
@@ -419,7 +418,7 @@ public class RobotContainer {
             "TenBallMidComplete"
         };
 
-        m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
+        //m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
     
         String[] sequentialTestPaths = new String[]{
             "Seq1",
diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index f4eebc2..4ac73b1 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -345,6 +345,7 @@ public class Drive extends SubsystemBase {
 
   public void updateOdometry(boolean reversed){
     if (reversed){
+
       m_odometry.update(Rotation2d.fromDegrees( -getGyroYaw()-180),
                                               -inchesToMeters(getDistanceInches(m_rightFrontMotor)),
                                               inchesToMeters(getDistanceInches(m_leftFrontMotor)));