diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index db2a725..4a557f6 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -28,7 +28,7 @@ Autonomous::Autonomous(int seq){
     case 2:
       // 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));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -.8,0));
       break;
     case 3:
       // Collect three totes, drive to Auto Zone (TM)
diff --git a/DentRobot.cpp b/DentRobot.cpp
index d9465db..960383d 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", 5.7);
+  SmartDashboard::PutNumber("Auto Zone Distance", 4.2);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);