diff --git a/src/main/java/frc/team7242/robot/Robot.java b/src/main/java/frc/team7242/robot/Robot.java
index 3b10b60..63057e9 100644
--- a/src/main/java/frc/team7242/robot/Robot.java
+++ b/src/main/java/frc/team7242/robot/Robot.java
@@ -15,6 +15,8 @@
 import edu.wpi.first.wpilibj.Spark;
 import frc.team7242.robot.subsystem.ScalableSpeedControllerGroup;
 import edu.wpi.first.wpilibj.CameraServer;
+import openrio.powerup.MatchData;
+
 
 
 public class Robot extends IterativeRobot {
@@ -31,9 +33,9 @@ public class Robot extends IterativeRobot {
     // double autonomousTime3 = 5.5;
     // double autonomousTime4 = 6;
 
-    double autonomousTime5 = 1.9;
-    double autonomousTime6 = 3.7;
-    double autonomousTime7 = 4.5;
+    double autonomousTime5 = 2.5;
+    double autonomousTime6 = 3.96;
+    double autonomousTime7 = 4.6;
     double autonomousTime8 = 6;
     double autonomousTime9 = 9;
     double autonomousTime10= 10;
@@ -49,7 +51,7 @@ public class Robot extends IterativeRobot {
     double autonomousStartTime;
 
     ScalableSpeedControllerGroup right = new ScalableSpeedControllerGroup(0.75, leftFront, leftBack);
-    ScalableSpeedControllerGroup left = new ScalableSpeedControllerGroup(0.72, rightFront, rightBack);
+    ScalableSpeedControllerGroup left = new ScalableSpeedControllerGroup(0.71, rightFront, rightBack);
 
 
     DifferentialDrive drive = new DifferentialDrive(left, right);
@@ -72,6 +74,50 @@ public void robotInit() {
     public void autonomousInit() {
         m_autoSelected = m_chooser.getSelected();
         System.out.println("Auto selected: " + m_autoSelected);
+        boolean leftAuto = false; //variuable to see if the first switch from our perspective is on the left side, needed initialization so...
+        boolean rightAuto = false; //variuable to see if the first switch from our perspective is on the right side, needed onitialization so...
+
+        MatchData.OwnedSide side = MatchData.getOwnedSide(MatchData.GameFeature.SWITCH_NEAR);
+        if (side == MatchData.OwnedSide.LEFT) {
+            // OwnedSide LEFT means that the switch NEAREST to our station is on the left
+            leftAuto = true;
+            rightAuto = false;
+        }
+        else if (side == MatchData.OwnedSide.RIGHT) {
+            // OwnedSide RIGHT means that the switch NEAREST to our station is on the RIGHT
+            rightAuto = true;
+            leftAuto = false;
+        }
+        else {
+            // This literally shouldn't happen
+            System.out.println("What is going on");
+        }
+
+        boolean leftStarting = false;
+        boolean mediumStarting = false;
+        boolean rightStarting = false;
+
+        int station = DriverStation.getInstance().getLocation();
+        if (station == 1) {
+            leftStarting = true;
+        }
+        else if (station == 2) {
+            mediumStarting = true;
+        }
+        else if (station == 3) {
+            rightStarting = true;
+        }
+
+        /* boolean leftStarting = driverStick.getRawButtonPressed(8) || driverStick.getRawButtonPressed(7) ;
+        boolean mediumStarting = driverStick.getRawButtonPressed(10)|| driverStick.getRawButtonPressed(9) ;
+        boolean rightStarting = driverStick.getRawButtonPressed(12)|| driverStick.getRawButtonPressed(11) ; */
+
+        path7 = leftStarting && leftAuto;
+        path8 = leftStarting && rightAuto;
+        path9 = mediumStarting && leftAuto;
+        path10 = mediumStarting && rightAuto;
+        path11 = rightStarting && leftAuto;
+        path12 = rightStarting && rightAuto;
 
         autonomousStartTime = Timer.getFPGATimestamp();
 
@@ -93,35 +139,35 @@ public void autonomousPeriodic() {
 
         // }
 
-boolean path7 = driverStick.getRawButtonPressed(7);
-boolean path8 = driverStick.getRawButtonPressed(8);
-boolean path9 = driverStick.getRawButtonPressed(9);
-boolean path10 = driverStick.getRawButtonPressed(10);
-boolean path11 = driverStick.getRawButtonPressed(11);
-boolean path12 = driverStick.getRawButtonPressed(12);
-
-if(path7) { //start of program for path 7
-    if (deltaTime < autonomousTime5) {
-        drive.arcadeDrive(1.9, 0.0); //0.56
-    } else if (autonomousTime5 < deltaTime && deltaTime < autonomousTime6) {
-        drive.arcadeDrive(0.0, -0.53);
-    } else if (autonomousTime6 < deltaTime && deltaTime < autonomousTime7) {
-        drive.arcadeDrive(0.8, 0.0);
-    } else if (autonomousTime7 < deltaTime && deltaTime < autonomousTime8) {
-        drive.arcadeDrive(0.0, 0.0); //-0.65
-    } else if (autonomousTime8 < deltaTime && deltaTime < autonomousTime9) {
-        drive.arcadeDrive(0.0, 0.0);
-    } else if (autonomousTime9 < deltaTime && deltaTime < autonomousTime10) {
-        drive.arcadeDrive(0.0, 0.0);
-    } else if (autonomousTime10 < deltaTime && deltaTime < autonomousTime11) {
-        drive.arcadeDrive(0.0, 0.0);
-    } else if (autonomousTime11 < deltaTime && deltaTime < autonomousTime12) {
-        drive.arcadeDrive(0, 0.0);
-    } else {
-        drive.arcadeDrive(0.0, 0.0);
-    }
+       /* boolean path7 = true;
+        boolean path8 = driverStick.getRawButtonPressed(8);
+        boolean path9 = driverStick.getRawButtonPressed(9);
+        boolean path10 = driverStick.getRawButtonPressed(10);
+        boolean path11 = driverStick.getRawButtonPressed(11);
+        boolean path12 = driverStick.getRawButtonPressed(12); */
+
+        if(path7) { //start of program for path 7
+            if (deltaTime < autonomousTime5) {
+                drive.arcadeDrive(0.8, 0.0); //0.56
+            } else if (autonomousTime5 < deltaTime && deltaTime < autonomousTime6) {
+                drive.arcadeDrive(0.0, -0.56);
+            } else if (autonomousTime6 < deltaTime && deltaTime < autonomousTime7) {
+                drive.arcadeDrive(1, 0.0);
+            } else if (autonomousTime7 < deltaTime && deltaTime < autonomousTime8) {
+                drive.arcadeDrive(0.0, 0.0); //-0.65
+            } else if (autonomousTime8 < deltaTime && deltaTime < autonomousTime9) {
+                drive.arcadeDrive(0.0, 0.0);
+            } else if (autonomousTime9 < deltaTime && deltaTime < autonomousTime10) {
+                drive.arcadeDrive(0.0, 0.0);
+            } else if (autonomousTime10 < deltaTime && deltaTime < autonomousTime11) {
+                drive.arcadeDrive(0.0, 0.0);
+            } else if (autonomousTime11 < deltaTime && deltaTime < autonomousTime12) {
+                drive.arcadeDrive(0, 0.0);
+            } else {
+                drive.arcadeDrive(0.0, 0.0);
+            }
 
-} //closing bracket for path 7
+        } //closing bracket for path 7
 
         if(path8){ //start of program of path 8
 
@@ -165,7 +211,7 @@ public void autonomousPeriodic() {
 
     public void teleopPeriodic() {
 
-        double xvalue = (driverStick.getX())/-2;
+        double xvalue = (driverStick.getX())/-4;
         double yvalue = (driverStick.getY())*-1;
         double boost;
         double braking;