diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 8c4229d..db2a725 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -3,6 +3,8 @@
 #include "../../DentRobot.h"
 #include "../Elevator/Raise.h"
 #include "../Elevator/Lower.h"
+#include "../BinElevator/BinRaise.h"
+#include "../BinElevator/BinLower.h"
 #include "AutoDrive.h"
 #include "Turn.h"
 #include "../Collector/RollIn.h"
@@ -18,15 +20,15 @@ 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"), -0.75,0));
+      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));
       break;
     case 2:
-      // Get one tote and go to Auto Zone (TM)
-      AddSequential(new CollectTote());
-      AddSequential(new Turn(90));
-      AddSequential(new AutoDrive(2.0, 1.0, 0.0));
-      AddSequential(new ReleaseTote());
-      AddSequential(new AutoDrive(0.5, -1.0, 0.0));
+      // Wait a desigated value, drive to Auto Zone (TM)
+      Wait(SmartDashboard::GetNumber("Auto Wait Time"));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0,1));
       break;
     case 3:
       // Collect three totes, drive to Auto Zone (TM)
diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp
index b4001d8..ee2bc43 100644
--- a/Commands/BinElevator/BinLower.cpp
+++ b/Commands/BinElevator/BinLower.cpp
@@ -1,10 +1,11 @@
 #include "BinLower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinLower::BinLower() : Command("BinLower"){
+BinLower::BinLower(float t) : Command("BinLower"){
+  timeout=t;
 }
 void BinLower::Initialize(){
-  SetTimeout(2.5);
+  SetTimeout(timeout);
 }
 void BinLower::Execute(){
   DentRobot::binElevator->Run(-1.0);
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index a3504b4..49813b0 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -5,8 +5,10 @@
 #include "WPILib.h"
 
 class BinLower: public Command{
+  private:
+    float timeout;
   public:
-    BinLower();
+    BinLower(float);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp
index 1fe0148..21f46f7 100644
--- a/Commands/BinElevator/BinRaise.cpp
+++ b/Commands/BinElevator/BinRaise.cpp
@@ -1,10 +1,11 @@
 #include "BinRaise.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinRaise::BinRaise() : Command("BinRaise"){
+BinRaise::BinRaise(float t) : Command("BinRaise"){
+  timeout=t;
 }
 void BinRaise::Initialize(){
-  SetTimeout(3.0);
+  SetTimeout(timeout);
 }
 void BinRaise::Execute(){
   DentRobot::binElevator->Run(1.0);
diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h
index ea73454..d173430 100644
--- a/Commands/BinElevator/BinRaise.h
+++ b/Commands/BinElevator/BinRaise.h
@@ -5,8 +5,10 @@
 #include "WPILib.h"
 
 class BinRaise: public Command{
+  private:
+    float timeout;
   public:
-    BinRaise();
+    BinRaise(float);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 7795d1e..d9465db 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -32,7 +32,7 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutBoolean("Three totes", true);
   // TODO: Calibrate the following two values
   // Distance (in time) to auto zone
-  SmartDashboard::PutNumber("Auto Zone Distance", 1.0);
+  SmartDashboard::PutNumber("Auto Zone Distance", 5.7);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
 
diff --git a/OI.cpp b/OI.cpp
index 916216b..3dcfaa2 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -35,8 +35,8 @@ OI::OI() {
   //JoystickButton *right8=new JoystickButton(rightStick, 8);
   //right7->WhenPressed(new BinOpenArms());
   //right8->WhenPressed(new BinCloseArms());
-  binRaise=new BinRaise();
-  binLower=new BinLower();
+  binRaise=new BinRaise(3.0);
+  binLower=new BinLower(2.0);
   right3->WhenPressed(binLower);
   right3->CancelWhenPressed(binRaise);
   right5->WhenPressed(binRaise);