diff --git a/HVN-ON-EARTH/include/main.h b/HVN-ON-EARTH/include/main.h
index 6f36cc0..e8c68ff 100644
--- a/HVN-ON-EARTH/include/main.h
+++ b/HVN-ON-EARTH/include/main.h
@@ -49,7 +49,7 @@
 
 #include "asset.h"
 #include "gif-pros/gifclass.hpp"
-//#include "okapi/api.hpp"
+#include "okapi/api.hpp"
 //#include "pros/api_legacy.h"
 
 /**
diff --git a/HVN-ON-EARTH/include/superstructure.hpp b/HVN-ON-EARTH/include/superstructure.hpp
index ad4e17c..78882b2 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 127
+#define DRIVE_SPEED 120
+#define TURN_SPEED 105
 #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 6564290..1108292 100644
--- a/HVN-ON-EARTH/src/autons.cpp
+++ b/HVN-ON-EARTH/src/autons.cpp
@@ -35,35 +35,43 @@ void near_side() {
   toggleIntake(true);
   pros::delay(100);
 
-  driveSync(-35, true);
+  driveSync(-28, true);
   turnSync(75);
 
   pros::delay(100);
   toggleIntake(false);
   driveSync(35, true);
-  driveSync(-20, true);
+  driveSync(-35, true);
 
-  turnSync(300);
-  driveSync(50, true);
+  turnSync(313);
+  driveSync(40, true);
   pros::delay(400);
   toggleIntake(true);
-  driveSync(-31, true);
+  driveSync(-2, true);
+  setTurnScale(0.75);
   turnSync(90);
   toggleIntake(false);
   wings.open();
-  driveSync(50, true);
+  driveSync(55, true);
   wings.close();
   driveSync(-20, true);
 
   //driveSync(100, true);
-  
 }
 
 void far_side() {
-  toggleIntake(true);
   wings.open();
-  pros::delay(1000);
-  turnSync(-180);
+  toggleIntake(true);
+  driveSync(30, true);
+  wings.close();
+  turnSync(40);
+  toggleIntake(false);
+  driveSync(35, true);
+  driveSync(-10, true);
+  turnSync(135);
+  driveSync(90, true);
+  wings.open();
+  turnSync(120);
 }
 
 // void far_side() {
@@ -74,14 +82,13 @@ void far_side() {
 // }
 
 void skills() {
-  
-}
-
-void test_seq() {
-  driveSync(20, true);
-}
-
-void odom_test() {
-  chassis_odom.moveTo(10, 10, 1000);
-  chassis_odom.turnTo(15, 15, 1000);
-};
+  toggleIntake(true);
+  driveSync(30, true);
+  toggleIntake(false);
+  turnSync(45);
+  driveSync(35, true);
+  driveSync(-35, true);
+  turnSync(-60);
+  driveSync(10, true);
+  wings.open();
+}
\ No newline at end of file
diff --git a/HVN-ON-EARTH/src/main.cpp b/HVN-ON-EARTH/src/main.cpp
index 743b485..9bb5bcf 100644
--- a/HVN-ON-EARTH/src/main.cpp
+++ b/HVN-ON-EARTH/src/main.cpp
@@ -42,10 +42,8 @@ void initialize() {
 	*/
 	ary::autonselector::auton_selector.add_autons({
 		Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side),
-		Auton("Far side (far from alliance goal) \n\nTo run when far from alliance goal", far_side),
-		Auton("Skills \n\nPEAK!!!", skills),
-		Auton("TESTING TURNS", test_seq),
-		Auton("Testing Odometry \n\nBaltimore behavior", odom_test)
+		Auton("Far side (far from alliance goal) \n\nTo run when far from alliance GOAL", far_side),
+		Auton("Skills \n\nCLOUDABUNGAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA", skills)
 	});
 
 	motorsCoast(); // Allow the motors to coast initially