diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index c918e31..aa1019e 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -20,7 +20,8 @@ public class Robot extends IterativeRobot {
     cameraServer = CameraServer.getInstance();
     cameraServer.setQuality(50);
     cameraServer.startAutomaticCapture("cam0");
-    chooser.addDefault("Time based low bar", new RoutineDriveTime());
+    chooser.addDefault("Nothing", new RoutineNothing());
+    chooser.addObject("Time based low bar", new RoutineDriveTime());
     chooser.addObject("Time based defense", new RoutineDefenseTime());
     SmartDashboard.putData("Auto mode", chooser);
     SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
index c2b1ed5..5d47777 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java
@@ -22,7 +22,7 @@ public class AutoResetLower extends CommandBase {
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
     // Stop when bottom limit switch is hit
-    return mainArm.getBottomPressed();
+    return mainArm.getBottomPressed(); 
   }
   // Called once after isFinished returns true
   protected void end() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
index 315f4d4..6efc6c3 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoSetArmPosition.java
@@ -10,6 +10,7 @@ public class AutoSetArmPosition extends CommandBase {
   public AutoSetArmPosition(double p) {
     requires(mainArm);
     pos = p;
+    setTimeout(3);
   }
   // Called just before this Command runs the first time
   protected void initialize() {
@@ -27,7 +28,7 @@ public class AutoSetArmPosition extends CommandBase {
     System.out.println("AutoSetArmPosition.isFinished(): " + (Math.abs(pos - mainArm.getDegrees()) <= 1));
     System.out.println("  pos                  : " + pos);
     System.out.println("  mainArm.getDegrees() : " + mainArm.getDegrees());
-    return Math.abs(pos - mainArm.getDegrees()) <= 1;
+    return (Math.abs(pos - mainArm.getDegrees()) <= 1) || isTimedOut();
   }
   // Called once after isFinished returns true
   protected void end() {
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 cc0833d..5d0daa4 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
@@ -5,7 +5,7 @@ import org.usfirst.frc.team2059.robot.Robot;
 public class RoutineDefenseTime extends CommandGroup {
   public RoutineDefenseTime() {
     addSequential(new AutoSetArmStopState(false));
-    addSequential(new AutoSetArmPosition(10));
-    addSequential(new AutoDriveTime(2, .5));
+    addSequential(new AutoSetArmPosition(6));
+    addSequential(new AutoDriveTime(3, 1));
   }
 }
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 99711d6..b4e96c7 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(2, .5));
+    addSequential(new AutoDriveTime(3, 0.75));
   }
 }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineNothing.java b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineNothing.java
new file mode 100644
index 0000000..bd34766
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineNothing.java
@@ -0,0 +1,8 @@
+package org.usfirst.frc.team2059.robot.commands.autonomous;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import edu.wpi.first.wpilibj.command.CommandGroup;
+import org.usfirst.frc.team2059.robot.Robot;
+public class RoutineNothing extends CommandGroup {
+  public RoutineNothing() {
+  }
+}
diff --git a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
index df609d1..a21ed5d 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/drivetrain/Drive.java
@@ -20,7 +20,7 @@ public class Drive extends CommandBase {
     if (Robot.oi.getJoysticks()[0].getRawButton(2) || Robot.oi.getJoysticks()[0].getRawButton(11)) {
       sensitivity = 1;
     } else {
-      sensitivity = 0.5;
+      sensitivity = 0.7;
     }
     driveBase.driveArcade(x, y, z, sensitivity);
   }
diff --git a/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
index 4107269..4bb64be 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java
@@ -23,11 +23,6 @@ public class MoveArm extends CommandBase {
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
     //TODO: I don't know if this should go here
-    if (SmartDashboard.getBoolean("UseLimitSwitches")) {
-      if (mainArm.getTopPressed() || mainArm.getBottomPressed()) {
-        return true;
-      }
-    }
     return false;
   }
   // Called once after isFinished returns true
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java b/src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
index 83b9bd0..04c03a3 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", 0.07, 0.0, 0.00);
+    super("MainArm", 0.3, 0.0, 0.4);
     getPIDController().setContinuous(false);
     setSetpoint(70);
     enable();