diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 5eed551..b076a0b 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -30,6 +30,7 @@ Autonomous::Autonomous(int seq){
       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));
+      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 3:
       // Collect three totes, drive to Auto Zone (TM)
diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp
index 508eb1e..8af955b 100644
--- a/Commands/Autonomous/Turn.cpp
+++ b/Commands/Autonomous/Turn.cpp
@@ -9,7 +9,7 @@ void Turn::Initialize(){
 }
 void Turn::Execute(){
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.65,0.9,0.0);
+  DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.6,0.9,0.0);
 }
 bool Turn::IsFinished(){
   return IsTimedOut();
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 5798f12..e7d15bc 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -32,10 +32,10 @@ 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", 3.0);
+  SmartDashboard::PutNumber("Auto Zone Distance", 2.8);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
-  SmartDashboard::PutNumber("TurnAmount",1.9);
+  SmartDashboard::PutNumber("TurnAmount",2);
 
   // Elevators
   SmartDashboard::PutBoolean("Bin Elevator Bottom", false);