diff --git a/Commands/Collector/CloseCollector.cpp b/Commands/Collector/CloseCollector.cpp
index b3a473d..31e2431 100644
--- a/Commands/Collector/CloseCollector.cpp
+++ b/Commands/Collector/CloseCollector.cpp
@@ -3,7 +3,7 @@ CloseCollector::CloseCollector() : Command("CloseCollector"){
 }
 void CloseCollector::Initialize(){
   printf("Initialized collector: 0.5\n");
-  SetTimeout(.5);
+  SetTimeout(1);
 }
 void CloseCollector::Execute(){
   //printf("Closing collector: -0.5f\n");
diff --git a/Commands/Collector/CollectTote.cpp b/Commands/Collector/CollectTote.cpp
index cf2397b..d4ab890 100644
--- a/Commands/Collector/CollectTote.cpp
+++ b/Commands/Collector/CollectTote.cpp
@@ -5,8 +5,13 @@
 #include "CloseCollector.h"
 CollectTote::CollectTote(){
   AddParallel(new CloseCollector());
-  // TODO: Fix null error
-  //AddParallel(new AutoDrive(0.5, -0.75));
+  AddParallel(new AutoDrive(0.5, -1.0));
+  AddSequential(new RollIn());
+  AddParallel(new CloseCollector());
+  AddParallel(new AutoDrive(0.5, 1.0));
+  AddSequential(new RollIn());
+  AddParallel(new CloseCollector());
+  AddParallel(new AutoDrive(0.5, -1.0));
   AddSequential(new RollIn());
 }
 // vim: ts=2:sw=2:et