diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index 5a147c2..80a14f2 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -27,7 +27,7 @@ Autonomous::Autonomous(int seq){
     case 2:
       // Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
       AddSequential(new BinLower(0.5));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0.0, 0.75));
       AddSequential(new BinRaise(1.0));
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
@@ -50,19 +50,19 @@ Autonomous::Autonomous(int seq){
       AddSequential(new CollectTote());
       if(SmartDashboard::GetBoolean("Two totes")){
         AddSequential(new Raise(3.5));
-        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
+        AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0.0, 0.75));
         AddSequential(new CollectTote());
         AddSequential(new Lower(3.0));
         AddSequential(new Raise(3.5));
         if(SmartDashboard::GetBoolean("Three totes")){
-          AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
+          AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0.0, 0.75));
           AddSequential(new CollectTote());
           AddSequential(new Lower(3.0));
           AddSequential(new Raise(3.5));
         }
       }
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
       AddSequential(new ReleaseTote());
       break;
     case 5:
diff --git a/Commands/Autonomous/CollectTote.cpp b/Commands/Autonomous/CollectTote.cpp
index 5ee7deb..2c38c71 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, 0.0));
+  AddParallel(new AutoDrive(1.0, 0.0, -0.75));
   AddSequential(new RollIn(1.0));
 }
 // vim: ts=2:sw=2:et
diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index f87de00..89118fd 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -7,12 +7,13 @@ void RollIn::Initialize(){
   SetTimeout(2.0);
 }
 void RollIn::Execute(){
-  double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
-  if(cvt>=1.0){
-    DentRobot::collector->MoveRollers(1.0);
-  }else{
-    DentRobot::collector->MoveRollers(cvt*1.5);
-  }
+  //double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
+  //if(cvt<=1.0){
+  //  DentRobot::collector->MoveRollers(1.0);
+  //}else{
+  //  DentRobot::collector->MoveRollers(cvt*1.5);
+  //}
+  DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8);
 }
 bool RollIn::IsFinished(){
   return IsTimedOut();