diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index 9a46f5c..937ede2 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -1,16 +1,17 @@
 #include "AutoDrive.h"
 #include "../../DentRobot.h"
 // Drive for a short while then stop. Just for testing
-AutoDrive::AutoDrive(double duration, double p=-0.75) : Command("AutoDrive"){
+AutoDrive::AutoDrive(double duration, double xtmp=-0.75, double ytmp=0) : Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
-  power=p;
+  speed=xtmp;
+  strafe=ytmp;
 }
 void AutoDrive::Initialize(){
 }
 void AutoDrive::Execute(){
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
-  DentRobot::drivetrain->DriveMecanum(0.0,power,0.0,0.9,0.0);
+  DentRobot::drivetrain->DriveMecanum(strafe,speed,0.0,0.9,0.0);
 }
 bool AutoDrive::IsFinished(){
   return IsTimedOut();
diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index f2d4785..03ce3b1 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -8,10 +8,10 @@
 
 class AutoDrive: public Command{
   private:
-    double power;
+    double speed, strafe;
   public:
     AutoDrive(double);
-    AutoDrive(double, double);
+    AutoDrive(double, double,double);
     void Initialize();
     void Execute();
     bool IsFinished();
diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index f12ace6..a5bbe2d 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -13,13 +13,12 @@ Autonomous::Autonomous(int seq){
   switch(seq){
     case 0:
       // Just for testing
-      AddSequential(new CollectTote());
-      AddSequential(new Turn(90));
+      AddSequential(new AutoDrive(.5,0,.25));
       break;
     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));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
       break;
     case 2:
       // Get one tote and go to Auto Zone (TM)
@@ -32,22 +31,22 @@ Autonomous::Autonomous(int seq){
       printf("Waiting: %f\n",SmartDashboard::GetNumber("Auto Wait Time"));
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
       printf("Done");
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
       AddSequential(new CollectTote());
       AddSequential(new Raise());
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
       AddSequential(new CollectTote());
       AddSequential(new Lower());
       AddSequential(new Raise());
       printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
       if(SmartDashboard::GetBoolean("Three totes")){
-        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
+        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
         AddSequential(new CollectTote());
         AddSequential(new Lower());
         AddSequential(new Raise());
       }
       AddSequential(new Turn(90));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
       AddSequential(new ReleaseTote());
       break;
     default:
diff --git a/Commands/Autonomous/CollectTote.cpp b/Commands/Autonomous/CollectTote.cpp
index f596853..7f89be3 100644
--- a/Commands/Autonomous/CollectTote.cpp
+++ b/Commands/Autonomous/CollectTote.cpp
@@ -3,7 +3,7 @@
 #include "AutoDrive.h"
 #include "../Collector/RollIn.h"
 CollectTote::CollectTote(){
-  AddParallel(new AutoDrive(1.0, -0.75));
+  AddParallel(new AutoDrive(1.0, -0.75,0));
   AddSequential(new RollIn(1.0));
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/ReleaseTote.cpp b/Commands/Autonomous/ReleaseTote.cpp
index 6672dd1..846985d 100644
--- a/Commands/Autonomous/ReleaseTote.cpp
+++ b/Commands/Autonomous/ReleaseTote.cpp
@@ -4,6 +4,6 @@
 #include "../Collector/RollOut.h"
 ReleaseTote::ReleaseTote(){
   AddParallel(new RollOut());
-  AddParallel(new AutoDrive(0.5, 0.75));
+  AddParallel(new AutoDrive(0.5, 0.75,0));
 }
 // vim: ts=2:sw=2:et