diff --git a/RELENTLESS-Lite/src/autons.cpp b/RELENTLESS-Lite/src/autons.cpp
index c56f461..8357405 100644
--- a/RELENTLESS-Lite/src/autons.cpp
+++ b/RELENTLESS-Lite/src/autons.cpp
@@ -16,8 +16,8 @@ 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.forward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 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.swingPID, 6, 0, 40, 0);
 }
@@ -33,14 +33,13 @@ void exit_condition_defaults() {
 // ** AUTONS ** //
 
 void test_auton() {
-    chassis.set_drive_pid(5, DRIVE_SPEED, false, true);
-    chassis.set_swing_pid(e_swing::LEFT_SWING, 50, TURN_SPEED);
-    chassis.set_drive_pid(36, DRIVE_SPEED, true, true);
-    chassis.wait_until(24);
-    /* RUN THE INTAKE */
-    pros::delay(500);
-    chassis.set_drive_pid(-2, DRIVE_SPEED, false, false);
-    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");
+  chassis.set_drive_pid(48, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+  chassis.set_turn_pid(-45, TURN_SPEED);
+  chassis.wait_drive();
+  chassis.set_drive_pid(48, DRIVE_SPEED, true, true);
+  chassis.wait_drive();
+  chassis.set_drive_pid(-10, DRIVE_SPEED, false, true);
+  chassis.wait_drive();
+  chassis.set_turn_pid(90, TURN_SPEED);
 }
\ No newline at end of file
diff --git a/RELENTLESS-Lite/src/globals.cpp b/RELENTLESS-Lite/src/globals.cpp
index 2583363..42adfd6 100644
--- a/RELENTLESS-Lite/src/globals.cpp
+++ b/RELENTLESS-Lite/src/globals.cpp
@@ -5,16 +5,19 @@ namespace globals {
     // Chassis
     pros::Controller master(CONTROLLER_MASTER);
 
-    pros::Motor motor_fl(4, MOTOR_GEARSET_6, true);
-    pros::Motor motor_ml(4, MOTOR_GEARSET_6, true);
-    pros::Motor motor_bl(4, MOTOR_GEARSET_6, true);
-    pros::Motor motor_fr(4, MOTOR_GEARSET_6, true);
-    pros::Motor motor_mr(4, MOTOR_GEARSET_6, true);
+    pros::Motor motor_fl(8, MOTOR_GEARSET_6, true);
+    pros::Motor motor_ml(17, MOTOR_GEARSET_6, true);
+    pros::Motor motor_bl(7, MOTOR_GEARSET_6, false);
+    pros::Motor motor_fr(11, MOTOR_GEARSET_6, false);
+    pros::Motor motor_mr(20, MOTOR_GEARSET_6, false);
     pros::Motor motor_br(4, MOTOR_GEARSET_6, true);
 
     pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
     pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
-
+    
+    /*
+        Two seperate drivetrains, chassis 
+    */
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,
         &right_drive,
@@ -30,7 +33,7 @@ namespace globals {
         3.25,
         600,
         0.6
-    ); 
+    );
 
     
     // Electronics / Pneumatics / Sensors
diff --git a/RELENTLESS-Lite/src/main.cpp b/RELENTLESS-Lite/src/main.cpp
index 1596c2c..190caf4 100644
--- a/RELENTLESS-Lite/src/main.cpp
+++ b/RELENTLESS-Lite/src/main.cpp
@@ -51,7 +51,8 @@ void autonomous() {
   chassis.reset_pid_targets();
   chassis.reset_gyro();
   chassis.reset_drive_sensor();
-  chassis.set_drive_brake(MOTOR_BRAKE_HOLD);
+  chassis.set_drive_brake(MOTOR_BRAKE_COAST);
+  default_constants();
 
   ary::autonselector::auton_selector.call_selected_auton();
 }
@@ -60,11 +61,8 @@ void opcontrol() {
   chassis.set_drive_brake(MOTOR_BRAKE_COAST);
 
   while (true) {
-    chassis.arcade_standard(ary::SINGLE, ary::DEFAULT); 
-    //chassis.tank();
-    
-
-
+    //chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT); 
+    chassis.tank();
     pros::delay(ary::util::DELAY_TIME);
   }
 }
\ No newline at end of file