diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 5d50896..5eed551 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -20,15 +20,16 @@ Autonomous::Autonomous(int seq){
     case 1:
       // Wait a desigated value, drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -.8,0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.8,0.0));
       break;
     case 2:
       // Wait a desigated value, drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
+      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       AddSequential(new BinRaise(1.2));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0,1));
-      AddSequential(new BinLower(.9));
-      //AddSequential(new AutoDrive(1.2, -0.75,0));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.75,0.0));
+      //AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0,-1.0));
+      AddSequential(new BinLower(1.0));
       break;
     case 3:
       // Collect three totes, drive to Auto Zone (TM)
diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
index 27b9e93..508eb1e 100644
--- a/Commands/Autonomous/Turn.cpp
+++ b/Commands/Autonomous/Turn.cpp
@@ -3,14 +3,13 @@
 // Drive for a short while then stop. Just for testing
 Turn::Turn(int k) : Command("Turn"){
   Requires(DentRobot::drivetrain);
-  degrees=k;
-  SetTimeout(0.85);
+  SetTimeout(k);
 }
 void Turn::Initialize(){
 }
 void Turn::Execute(){
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(0.0,0.0,1.0,0.9,0.0);
+  DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.65,0.9,0.0);
 }
 bool Turn::IsFinished(){
   return IsTimedOut();
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 960383d..47fc043 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -26,15 +26,16 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutNumber("CodeVersion",CODE_VERSION);
   // Autonomous
   // Sequence of autonomous command
-  SmartDashboard::PutNumber("Auto Sequence",1.0);
-  SmartDashboard::PutNumber("Auto Wait Time",1.0);
+  SmartDashboard::PutNumber("Auto Sequence",2.0);
+  SmartDashboard::PutNumber("Auto Wait Time",3.0);
   // If the robot will be picking up three totes in sequence 3
   SmartDashboard::PutBoolean("Three totes", true);
   // TODO: Calibrate the following two values
   // Distance (in time) to auto zone
-  SmartDashboard::PutNumber("Auto Zone Distance", 4.2);
+  SmartDashboard::PutNumber("Auto Zone Distance", 3.0);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
+  SmartDashboard::PutNumber("TurnAmount",1.6);
 
   // Elevators
   SmartDashboard::PutBoolean("Bin Elevator Bottom", false);
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index 1cfe13e..bb26991 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -26,14 +26,14 @@ double Elevator::GetHeight(){
   return elevatorEncoder->Get();
 }
 bool Elevator::GetElevatorBottom(){
-  SmartDashboard::PutBoolean("Elevator Bottom", elevatorBottom->Get());
+  SmartDashboard::PutBoolean("Elevator Bottom", !elevatorBottom->Get());
   return elevatorBottom->Get();
 }
 bool Elevator::GetElevatorMiddle(){
   return elevatorMiddle->Get();
 }
 bool Elevator::GetElevatorTop(){
-  SmartDashboard::PutBoolean("Elevator Top", elevatorTop->Get());
+  SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
   return elevatorTop->Get();
 }
 void Elevator::SetUseEncoder(bool param){