diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index d3339a1..525820b 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -22,6 +22,7 @@ Autonomous::Autonomous(int seq){
       // Drive to Auto Zone (TM)
       Wait(SmartDashboard::GetNumber("Auto Wait Time"));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8));
+      AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 2:
       // Collect a tote, turn, drive to Auto Zone (TM)
diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp
index d3f5150..ddfdf2a 100644
--- a/Commands/Collector/RollOut.cpp
+++ b/Commands/Collector/RollOut.cpp
@@ -9,6 +9,7 @@ void RollOut::Execute(){
   //TODO check this value to move the motors in the right direction
   // Devide by 2 twice because this speed should be half the collector speed
   DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
+  SmartDashboard::PutNumber("DriveThrottle",-DentRobot::oi->GetLeftThrottle());
 }
 bool RollOut::IsFinished(){
   return IsTimedOut();
diff --git a/DentRobot.cpp b/DentRobot.cpp
index 0bd011e..f6de3be 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -24,16 +24,16 @@ void DentRobot::RobotInit(){
   SmartDashboard::PutNumber("CodeVersion", CODE_VERSION);
   // Autonomous
   // Sequence of autonomous command
-  SmartDashboard::PutNumber("Auto Sequence", 2.0);
+  SmartDashboard::PutNumber("Auto Sequence", 1.0);
   SmartDashboard::PutNumber("Auto Wait Time", 3.0);
   // If the robot will be picking up three totes in sequence 3
   SmartDashboard::PutBoolean("Three totes", true);
   // TODO: Calibrate the following two values
   // Distance (in time) to auto zone
-  SmartDashboard::PutNumber("Auto Zone Distance", 2.8);
+  SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
   // Distance (in time) to auto tote (used in sequence 3)
   SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
-  SmartDashboard::PutNumber("TurnAmount", 2.0);
+  SmartDashboard::PutNumber("TurnAmount", 1.8);
 
   // Elevators
   SmartDashboard::PutBoolean("Bin Elevator Bottom", false);