diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index f45f300..454a239 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -5,6 +5,8 @@
 #include "../Elevator/Lower.h"
 #include "../BinElevator/BinRaise.h"
 #include "../BinElevator/BinLower.h"
+#include "../BinCollector/BinCloseClaw.h"
+#include "../BinCollector/BinOpenClaw.h"
 #include "AutoDrive.h"
 #include "Turn.h"
 #include "../Collector/RollIn.h"
@@ -25,11 +27,12 @@ Autonomous::Autonomous(int seq) {
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 2:
-      //Collect a bin upright into the robot upright, turn, drive to Auto Zone (TM),turn
-      AddSequential(new RollIn(1.0));
-      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
-      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
+      //Collect a bin upright into the robot upright and raise elevator
+      AddSequential(new BinOpenClaw());
+      AddSequential(new CollectTote());
+      AddSequential(new BinCloseClaw());
+      AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime2"), 0.0, 0.75, 0, false));
+      AddSequential(new Raise(2.5,false,-1));
       break;
     case 3:
       // Collect one, two, or three totes, drive to Auto Zone (TM), release totes
diff --git a/Commands/Autonomous/CollectTote.cpp b/Commands/Autonomous/CollectTote.cpp
index 29a2fd0..917a5e7 100644
--- a/Commands/Autonomous/CollectTote.cpp
+++ b/Commands/Autonomous/CollectTote.cpp
@@ -3,7 +3,7 @@
 #include "AutoDrive.h"
 #include "../Collector/RollIn.h"
 CollectTote::CollectTote(double z) {
-  AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime"), 0.0, 0.75, z, false));
+  AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime1"), 0.0, 0.75, z, false));
   AddSequential(new RollIn(1.0));
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h
index c0d063d..051253b 100644
--- a/Commands/Elevator/Lower.h
+++ b/Commands/Elevator/Lower.h
@@ -21,7 +21,7 @@ class Lower: public Command {
    *
    * @param liftSpeed Speed at which to lower the lift
    */
-  Lower(double timeout = 3.0, bool useSoftLimits = true, double liftSpeed=0);
+  Lower(double timeout = 3.0, bool useSoftLimits = true, double liftSpeed=1);
   /**
    * @brief Initializes the class
    */
diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h
index b64517c..aa9ea64 100644
--- a/Commands/Elevator/Raise.h
+++ b/Commands/Elevator/Raise.h
@@ -21,7 +21,7 @@ class Raise: public Command {
    *
    * @param liftSpeed Speed at which to raise the elevator
    */
-  Raise(double timeout = 3.5, bool useSoftLimits = true, double liftSpeed=0);
+  Raise(double timeout = 3.5, bool useSoftLimits = true, double liftSpeed=-1);
   /**
    * @brief Initializes the class
    */
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 04987b5..cb1db14 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -29,7 +29,8 @@ void DentRobot::RobotInit() {
   // Amount to turn while collecting the initial tote in auto 4
   SmartDashboard::PutNumber("CollectToteTurn", 0.25);
   // Amount of time to collect a tote
-  SmartDashboard::PutNumber("DriveTime", 1.3);
+  SmartDashboard::PutNumber("DriveTime1", 1.3);
+  SmartDashboard::PutNumber("DriveTime2", 1.3);
   // Sequence of autonomous command
   SmartDashboard::PutNumber("Auto Sequence", -1.0);
   SmartDashboard::PutNumber("Auto Wait Time", 0.5);
diff --git a/Subsystems/Pneumatics.cpp b/Subsystems/Pneumatics.cpp
index 086327d..33637bb 100644
--- a/Subsystems/Pneumatics.cpp
+++ b/Subsystems/Pneumatics.cpp
@@ -16,7 +16,7 @@ void Pneumatics::SetArmsOpen(bool state) {
   solenoid2->Set(!state);
   armState=state;
 }
-void Pneumatics::SetClawOpen(bool state){
+void Pneumatics::SetClawOpen(bool state) {
   solenoid3->Set(state);
   solenoid4->Set(!state);
   clawState=state;