diff --git a/RELENTLESS-Lite/src/autons.cpp b/RELENTLESS-Lite/src/autons.cpp
index 8357405..1bec9a8 100644
--- a/RELENTLESS-Lite/src/autons.cpp
+++ b/RELENTLESS-Lite/src/autons.cpp
@@ -15,17 +15,17 @@ const int SWING_SPEED = 90;
 void default_constants() {
   chassis.set_slew_min_power(80, 80);
   chassis.set_slew_distance(7, 7);
-  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  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, 4, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 30, 15);
   chassis.set_pid_constants(&chassis.swingPID, 6, 0, 40, 0);
 }
 
 void exit_condition_defaults() {
-  chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
-  chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
-  chassis.set_exit_condition(chassis.drive_exit, 80, 50, 300, 150, 500, 500);
+  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
 }
 
 // ** other stufff** //
diff --git a/RELENTLESS-Lite/src/main.cpp b/RELENTLESS-Lite/src/main.cpp
index 190caf4..ce061f8 100644
--- a/RELENTLESS-Lite/src/main.cpp
+++ b/RELENTLESS-Lite/src/main.cpp
@@ -62,7 +62,7 @@ void opcontrol() {
 
   while (true) {
     //chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT); 
-    chassis.tank();
+    chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
     pros::delay(ary::util::DELAY_TIME);
   }
 }
\ No newline at end of file