diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index cb582c9..ca94ecd 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -360,8 +360,7 @@ public class RobotContainer {
             // return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
              return new SequentialCommandGroup(
                 m_sixBallAuto0,
-                new InstantCommand(() -> resetOdometry(new Pose2d())),
-                //new Wait(m_robotDrive, 0.5, 0),
+                new InstantCommand(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d()))),
                 m_sixBallAuto1
             //     /**new ParallelRaceGroup(
             //         m_sixBallAuto0,
diff --git a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
index 17b544c..23097c8 100644
--- a/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
+++ b/src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
@@ -16,10 +16,10 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RamseteCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc4388.robot.RobotContainer;
-import frc4388.robot.Constants.IntakeConstants;
-import frc4388.robot.commands.intake.RunIntake;
 import frc4388.robot.subsystems.Drive;
-import frc4388.robot.subsystems.Intake;
+import frc4388.robot.RobotContainer;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
@@ -31,10 +31,11 @@ public class SixBallAutoMiddle extends SequentialCommandGroup {
   public SixBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
     // Add your commands in the super() call, e.g.
     // super(new FooCommand(), new BarCommand());
-    Intake m_intake = new Intake();
+    RobotContainer m_robotContainer = new RobotContainer();
 
     addCommands(
-      paths[0]
+      paths[0],
+      new InstantCommand(() -> m_robotContainer.resetOdometry(new Pose2d(0, 0, new Rotation2d())))
     );
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java b/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
index c222ad6..57e1db9 100644
--- a/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
+++ b/src/main/java/frc4388/robot/commands/intake/RunExtenderOutIn.java
@@ -18,8 +18,8 @@ import frc4388.robot.subsystems.Intake;
 public class RunExtenderOutIn extends CommandBase {
   private Intake m_intake;
 
-  CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
-  CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
+  //CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
+  //CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_extenderForwardLimit;
   CANDigitalInput m_extenderReverseLimit;