diff --git a/RELENTLESS-Lite/include/autons.hpp b/RELENTLESS-Lite/include/autons.hpp
index 5b293fa..1f16632 100644
--- a/RELENTLESS-Lite/include/autons.hpp
+++ b/RELENTLESS-Lite/include/autons.hpp
@@ -3,6 +3,7 @@
 #include "arylib/drive/drive.hpp"
 
 void test_auton();
+void test_second();
 
 void default_constants();
 void exit_condition_defaults();
\ No newline at end of file
diff --git a/RELENTLESS-Lite/src/autons.cpp b/RELENTLESS-Lite/src/autons.cpp
index c57b7cb..f401ff0 100644
--- a/RELENTLESS-Lite/src/autons.cpp
+++ b/RELENTLESS-Lite/src/autons.cpp
@@ -9,8 +9,8 @@ using namespace superstruct;
 
 // **CONSTANTS** //
 const int DRIVE_SPEED = 110;
-const int TURN_SPEED  = 90;
-const int SWING_SPEED = 90;
+const int TURN_SPEED  = 101.5;
+const int SWING_SPEED = 101.5;
 
 void default_constants() {
   chassis.set_slew_min_power(80, 80);
@@ -18,14 +18,14 @@ void default_constants() {
   chassis.set_pid_constants(&chassis.headingPID, 11, 0, 17.5, 0);
   chassis.set_pid_constants(&chassis.forward_drivePID, 2, 0, 5, 0);
   chassis.set_pid_constants(&chassis.backward_drivePID, 2, 0, 5, 0);
-  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 30, 15);
-  chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 8, 0.003, 27, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 35, 0);
 }
 
 void exit_condition_defaults() {
   chassis.set_exit_condition(chassis.turn_exit, 50, 2, 220, 3, 500, 500);//100, 3, 500, 7, 500, 500 //100, 2, 500, 4, 500, 500// 70, 1, 220, 3, 500, 500
   chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);//100, 3, 500, 7, 500, 500
-  chassis.set_exit_condition(chassis.drive_exit, 20, 40, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
+  chassis.set_exit_condition(chassis.drive_exit, 40, 80, 300, 150, 500, 500);//80, 50, 300, 150, 500, 500//20, 60, 300, 150, 500, 500
 }
 
 // ** other stufff** //
@@ -43,10 +43,57 @@ void test_auton() {
   chassis.wait_drive();
   chassis.set_turn_pid(57, TURN_SPEED);
   chassis.wait_drive();
-  chassis.set_drive_pid(48, DRIVE_SPEED, true, true);
+  chassis.set_drive_pid(43, DRIVE_SPEED, true, true);
   chassis.wait_drive();
   chassis.set_swing_pid(LEFT_SWING, 80, SWING_SPEED);
   chassis.wait_drive();
   chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
   chassis.wait_drive();
+
+  chassis.set_drive_pid(-26, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(-45, TURN_SPEED);
+  chassis.wait_drive();
+}
+
+void test_second() {
+  chassis.set_drive_pid(107, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  //chassis.set_swing_pid(LEFT_SWING, 100, SWING_SPEED);
+  //chassis.wait_drive();
+
+  chassis.set_drive_pid(-38, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(-99, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(95, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-10, DRIVE_SPEED, false, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(15, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(40, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  chassis.set_swing_pid(LEFT_SWING, 60, SWING_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(-48, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+
+  chassis.set_turn_pid(-90, TURN_SPEED);
+  chassis.wait_drive();
+
+  chassis.set_drive_pid(12, DRIVE_SPEED, false, true);
+  chassis.wait_drive();
+
+  // chassis.set_drive_pid(2, DRIVE_SPEED, false, true);
+  // chassis.wait_drive();
 }
\ No newline at end of file
diff --git a/RELENTLESS/src/autons.cpp b/RELENTLESS/src/autons.cpp
index c56f461..a5140c2 100644
--- a/RELENTLESS/src/autons.cpp
+++ b/RELENTLESS/src/autons.cpp
@@ -43,4 +43,3 @@ void test_auton() {
     chassis.set_turn_pid(130, TURN_SPEED);
 
   //pros::task_t intakeTask(run_intake_for, (void*) malloc(sizeof(double)), TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, "runIntakeFor");
-}
\ No newline at end of file