diff --git a/HVN-ON-EARTH/include/superstructure.hpp b/HVN-ON-EARTH/include/superstructure.hpp
index a1fed4a..ad4e17c 100644
--- a/HVN-ON-EARTH/include/superstructure.hpp
+++ b/HVN-ON-EARTH/include/superstructure.hpp
@@ -1,7 +1,7 @@
 #include "main.h"
 
 #define DRIVE_SPEED 110
-#define TURN_SPEED 90
+#define TURN_SPEED 127
 #define SWING_SPEED 90
 // R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
 // Renu's control preferences
diff --git a/HVN-ON-EARTH/src/autons.cpp b/HVN-ON-EARTH/src/autons.cpp
index d856624..6564290 100644
--- a/HVN-ON-EARTH/src/autons.cpp
+++ b/HVN-ON-EARTH/src/autons.cpp
@@ -21,26 +21,38 @@ using namespace superstruct;
 void near_side() {
   // Score the triball preload
   toggleIntake(true);
-  driveSync(100, true);
+  driveSync(90, true);
   turnSync(90);
 
   toggleIntake(false);
   pros::delay(50);
   driveSync(22, true);
-  driveSync(-22, true);
+  driveSync(-19, true);
 
-  turnSync(-120);
-  driveSync(48.5, true);
+  turnSync(-118);
+  driveSync(50, true);
   pros::delay(150);
   toggleIntake(true);
   pros::delay(100);
 
   driveSync(-35, true);
-  turnSync(90);
+  turnSync(75);
 
   pros::delay(100);
   toggleIntake(false);
-  driveSync(55, true);
+  driveSync(35, true);
+  driveSync(-20, true);
+
+  turnSync(300);
+  driveSync(50, true);
+  pros::delay(400);
+  toggleIntake(true);
+  driveSync(-31, true);
+  turnSync(90);
+  toggleIntake(false);
+  wings.open();
+  driveSync(50, true);
+  wings.close();
   driveSync(-20, true);
 
   //driveSync(100, true);
@@ -49,32 +61,24 @@ void near_side() {
 
 void far_side() {
   toggleIntake(true);
-  driveSync(100, true);
-  turnSync(-90);
-  
-  toggleIntake(false);
-  pros::delay(250);
-  driveSync(31, true);
-  driveSync(-30, true);
-
-  turnSync(-160);
-  driveSync(125, true);
+  wings.open();
   pros::delay(1000);
-  driveSync(-35, true);
-
-  turnSync(55);
-  driveSync(70, true);
-
+  turnSync(-180);
 }
 
+// void far_side() {
+//   driveSync(20, true);
+//   rightSwing(25);
+//   chassis.wait_drive();
+  
+// }
+
 void skills() {
   
 }
 
 void test_seq() {
-  driveSync(10, true);
-  turnSync(90);
-  turnSync(90);
+  driveSync(20, true);
 }
 
 void odom_test() {
diff --git a/HVN-ON-EARTH/src/main.cpp b/HVN-ON-EARTH/src/main.cpp
index 1d1173a..743b485 100644
--- a/HVN-ON-EARTH/src/main.cpp
+++ b/HVN-ON-EARTH/src/main.cpp
@@ -65,7 +65,7 @@ void autonomous() {
 }
 
 void opcontrol() {
-	Gif gif(chip_gif, lv_scr_act());
+	//Gif gif(chip_gif, lv_scr_act());
 	opControlInit(); // Configure the chassis for driver control
 
 	while (true) {	
diff --git a/HVN-ON-EARTH/src/superstructure.cpp b/HVN-ON-EARTH/src/superstructure.cpp
index 05f1a37..6956df3 100644
--- a/HVN-ON-EARTH/src/superstructure.cpp
+++ b/HVN-ON-EARTH/src/superstructure.cpp
@@ -37,8 +37,8 @@ namespace superstruct {
     chassis.set_joystick_drivescale(1.0);
     chassis.set_joystick_turnscale(1.0); 
 
-    chassis_odom.calibrate();
-    chassis_odom.setPose(0, 0, 0);
+    // chassis_odom.calibrate();
+    // chassis_odom.setPose(0, 0, 0);
   }
 
   void telemetry() {
@@ -68,9 +68,9 @@ namespace superstruct {
     chassis.set_slew_min_power(80, 80);
     chassis.set_slew_distance(7, 7);
     chassis.set_pid_constants(&chassis.headingPID, 16, 0, 32, 0);
-    chassis.set_pid_constants(&chassis.forward_drivePID, 0.55, 0, 5, 0);
-    chassis.set_pid_constants(&chassis.backward_drivePID, 0.55, 0, 5, 0);
-    chassis.set_pid_constants(&chassis.turnPID, 6.5, 0.003, 35, 15);
+    chassis.set_pid_constants(&chassis.forward_drivePID, 0.5, 0, 5, 0);
+    chassis.set_pid_constants(&chassis.backward_drivePID, 0.5, 0, 5, 0);
+    chassis.set_pid_constants(&chassis.turnPID, 6.25, 0.003, 57, 15);
     chassis.set_pid_constants(&chassis.swingPID, 8.5, 0, 50, 0);
   }