diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java
index 011b69f..4a95871 100644
--- a/src/org/usfirst/frc/team2059/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java
@@ -29,7 +29,7 @@ public class RobotMap {
   //Misc
   public static int mainArmPresetCollect = -5;
   public static int mainArmPresetTraverse = 10;
-  public static int mainArmPresetLowShot= 30;
+  public static int mainArmPresetLowShot = 18;
   public static int mainArmPresetCloseShot = 90;
   public static int mainArmPresetFarShot = 70;
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
index 5d0daa4..720a6e8 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
@@ -6,6 +6,6 @@ public class RoutineDefenseTime extends CommandGroup {
   public RoutineDefenseTime() {
     addSequential(new AutoSetArmStopState(false));
     addSequential(new AutoSetArmPosition(6));
-    addSequential(new AutoDriveTime(3, 1));
+    addSequential(new AutoDriveTime(1.5, 0.8));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
index b4e96c7..689a421 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
@@ -6,6 +6,6 @@ public class RoutineDriveTime extends CommandGroup {
   public RoutineDriveTime() {
     addSequential(new AutoSetArmStopState(true));
     addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveTime(3, 0.75));
+    addSequential(new AutoDriveTime(1.5, 0.75));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 04c03a3..fb9ff54 100644
--- a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
@@ -15,7 +15,7 @@ public class MainArm extends PIDSubsystem {
   private double min = RobotMap.zeroDegrees;
   private double max = RobotMap.ninetyDegrees;
   public MainArm() {
-    super("MainArm", 0.3, 0.0, 0.4);
+    super("MainArm", 0.1, 0.0, 0.002);
     getPIDController().setContinuous(false);
     setSetpoint(70);
     enable();