diff --git a/MyRobot.cpp b/MyRobot.cpp
index a076866..6e60aa8 100644
--- a/MyRobot.cpp
+++ b/MyRobot.cpp
@@ -269,223 +269,6 @@ public:
     //}}}
     while(IsEnabled()&&IsAutonomous()){
       if(!SmartDashboard::GetBoolean("HalfPower")){
-        switch (SmartDashboard::GetNumber("Autonomous Sequence")){
-          //Autonomous0{{{
-        case 0:
-          //Drive{{{
-          if(currentStep==0){
-            if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-              driveRobot(-1.0f,correction);
-            }else{
-              driveRobot(0.0f,0.0f);
-            }
-            if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-              driveRobot(0.0f,0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Shoot{{{
-          if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-            if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(power);
-            }else{
-              shootRobot(0.0f);
-            }
-            setMotorValue(6,1,1);
-            if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-              shootRobot(0.0f);
-              setMotorValue(6,1,0);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Lower Shooter{{{
-          if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
-            if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(-0.3f);
-            }else{
-              shootRobot(0.0f);
-            }
-            if(c==(3.0f)*200){
-              shootRobot(0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          break;
-          //}}}
-          //Autonomous1{{{
-        case 1:
-          //Drive{{{
-          if(currentStep==0){
-            if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-              driveRobot(-1.0f,correction);
-            }else{
-              driveRobot(0.0f,0.0f);
-            }
-            if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-              driveRobot(0.0f,0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Shoot{{{
-          if(currentStep==1&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-            if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(power);
-            }else{
-              shootRobot(0.0f);
-            }
-            setMotorValue(6,1,1);
-            if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-              shootRobot(0.0f);
-              setMotorValue(6,1,0);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Drive Backwards{{{
-          if(currentStep==2&&c>SmartDashboard::GetNumber("Reverse direction start")*200){
-            driveRobot(1.0f,correction);
-            if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(-0.2f);
-            }else{
-              shootRobot(0.0f);
-            }
-            if(c==(SmartDashboard::GetNumber("Reverse direction stop"))*200){
-              driveRobot(0.0f,0.0f);
-              shootRobot(0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Drive{{{
-          if(currentStep==3&&c>SmartDashboard::GetNumber("Second Drive Start")*200){
-            if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-              driveRobot(-1.0f,correction);
-            }else{
-              driveRobot(0.0f,0.0f);
-            }
-            if(c==(SmartDashboard::GetNumber("Inital Drive Timeout"))*200){
-              driveRobot(0.0f,0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Shoot{{{
-          if(currentStep==4&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
-            if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(power);
-            }else{
-              shootRobot(0.0f);
-            }
-            setMotorValue(6,1,1);
-            if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-              shootRobot(0.0f);
-              setMotorValue(6,1,0);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          break;
-          //}}}
-          //Autonomous2{{{
-        case 2:
-          //Drive{{{
-          if(currentStep==0&&c>SmartDashboard::GetNumber("Initial Drive Delay")*200){
-            setMotorValue(6,1,SmartDashboard::GetNumber("Collector Speed"));
-            if(voltToDistance(WallSonicLeft.GetAverageVoltage(),true)>=SmartDashboard::GetNumber("Auto Distance")){
-              driveRobot(-1*(SmartDashboard::GetNumber("AutoSpeed")),correction);
-            }else{
-              driveRobot(0.0f,0.0f);
-            }
-            if(c==SmartDashboard::GetNumber("Inital Drive Timeout")*200){
-              setMotorValue(6,1,0);
-              driveRobot(0.0f,0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Release Ball{{{
-          if(currentStep==1){
-            setMotorValue(6,1,102);
-            if(c==50){
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Shoot{{{
-          if(currentStep==2&&c>SmartDashboard::GetNumber("First Shot Start")*200){
-            if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(power);
-            }else{
-              shootRobot(0.0f);
-            }
-            if(c==SmartDashboard::GetNumber("First Shot Stop")*200){
-              shootRobot(0.0f);
-              setMotorValue(6,1,0);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Lower Shooter{{{
-          if(currentStep==3){
-            if(40.0f<=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(-0.3f);
-            }else{
-              shootRobot(0.0f);
-            }
-            if(c==1*200){
-              shootRobot(0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Collect Ball{{{
-          if(currentStep==4&&c>SmartDashboard::GetNumber("Second Shot Start")){
-            setMotorValue(6,1,1);
-            if(c==SmartDashboard::GetNumber("Second Shot Stop")*200){
-              setMotorValue(6,1,0);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          //Shoot{{{
-          if(currentStep==5&&c>(SmartDashboard::GetNumber("Second Shot Start"))*200){
-            if(SmartDashboard::GetBoolean("Ignore Pot")||upLimit>=potToDegrees(armPot.GetAverageVoltage())){
-              shootRobot(power);
-            }else{
-              shootRobot(0.0f);
-            }
-            setMotorValue(6,1,1);
-            if(c==(SmartDashboard::GetNumber("First Shot Stop"))*200){
-              setMotorValue(6,1,0);
-              shootRobot(0.0f);
-              currentStep++;
-              c=0;
-            }
-          }
-          //}}}
-          break;
-          //}}}
-        }
-      }
-      SmartDashboard::PutNumber("Autonomous step",currentStep);
-      updateDashboard();
       //Compressor{{{
       if(i % 100 == 0 && compressing && compressor.GetPressureSwitchValue() == 1){
         compressor.Stop();