diff --git a/src/main.cpp b/src/main.cpp
index f41ea2e..7a03c04 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -300,19 +300,43 @@ void autonomous() {
     if (autonpick == 0) { // Auton #1, used for adding tribal to goal
         float x = -2.7;
         drive->moveDistanceAsync(x * 1_ft);
-        pros::delay(2500);
-        drive->moveDistance(0.5_ft);
-        double yaw = IMU.get_heading();
-        std::printf("yaw: %f\n", yaw);
-        // double turn = -92 - yaw;
-        double turn = 45 - yaw;
-    std:
-        printf("turn: %f\n", turn);
-        drive->setMaxVelocity(300);
-        drive->turnAngle(turn * 1_deg);
-        drive->moveDistanceAsync(4.1_ft);
-        pros::delay(3000);
+        pros::delay(1500);
+        drive->moveDistance(0.7_ft);
+        pros::delay(100);
+
+        pros::Distance distforward(17);
+
+        // double yaw = IMU.get_heading();
+        // std::printf("yaw: %f\n", yaw);
+        //  double turn = -92 - yaw;
+        // double turn = 53 - yaw;
+        // std:: printf("turn: %f\n", turn);
+        // drive->setMaxVelocity(300);
+        // drive->turnAngle(turn * 1_deg);
+        bool imuholdarray[10];
+
+        while (!is_held(imuholdarray, (abs(65.0 - IMU.get_rotation()) < 1))) {
+            drive->getModel()->rotate((65.0 - IMU.get_rotation()) * 0.008);
+            pros::delay(10);
+        }
+        drive->stop();
+
+        drive->getModel()->stop();
+        while (distforward.get() > 150) {
+            drive->getModel()->curvature(12000,
+                                         (IMU.get_rotation() - 65.0) * -0.04);
+
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+
+        drive->getModel()->stop();
+
+        pros::delay(700);
         piston.set_value(true);
+        drive->setMaxVelocity(150);
+        drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
+        drive->moveDistance(5_in);
     } else if (autonpick == 1 ||
                autonpick ==
                    2) { // Auton #2, Used for removing triball from match loader
@@ -323,13 +347,34 @@ void autonomous() {
             pros::delay(1000);
             piston.set_value(false);
             // drive->moveDistance(-1.7_ft);
-            drive->turnAngle(115_deg);
-            drive->moveDistance(3.5_ft);
-            drive->turnAngle(95_deg);
+            //drive->turnAngle(115_deg);
+			bool imuholdarray[10];
+            while (!is_held(imuholdarray,
+                            (abs(115.0 - IMU.get_rotation()) < 3))) {
+                drive->getModel()->rotate((115.0 - IMU.get_rotation()) *
+                                          0.004);
+                pros::delay(10);
+            }
+
+            drive->getModel()->stop();
+
+            drive->moveDistance(3.69_ft);
+
+            //drive->turnAngle(95_deg);
+
+            while (!is_held(imuholdarray,
+                            (abs(225.0 - IMU.get_rotation()) < 3))) {
+                drive->getModel()->rotate((225.0 - IMU.get_rotation()) *
+                                          0.004);
+                pros::delay(10);
+            }
+
+            drive->getModel()->stop();
+
             drive->setMaxVelocity(50);
-            drive->moveDistanceAsync(2_ft);
-            pros::delay(2500);
             piston.set_value(true);
+            drive->moveDistanceAsync(1.7_ft);
+            pros::delay(2500);
             drive->moveDistance(4_in);
         }
 
@@ -602,12 +647,13 @@ void autonomous() {
 
         drive->setMaxVelocity(600);
 
-        // while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1))) {
+        // while (!is_held(imuholdarray, (abs(100.0 - IMU.get_rotation()) < 1)))
+        // {
         //     drive->getModel()->rotate((100.0 - IMU.get_rotation()) * 0.008);
         //     pros::delay(10);
         // }
 
-		drive->turnAngle(100_deg);
+        drive->turnAngle(100_deg);
 
         drive->getModel()->stop();
 
@@ -615,18 +661,19 @@ void autonomous() {
 
         drive->moveDistanceAsync(2_ft);
 
-        pros::delay(1000);
+        pros::delay(700);
 
         drive->moveDistance(-1_ft);
 
         while (!is_held(imuholdarray, (abs(-110.0 - IMU.get_rotation()) < 3))) {
-            drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.008);
+            drive->getModel()->rotate((-110.0 - IMU.get_rotation()) * 0.004);
             pros::delay(10);
         }
 
-		drive->getModel()->stop();
-		while (distforward.get() > 300) {
-            drive->getModel()->curvature(12000, (IMU.get_rotation()+110) * -0.04);
+        drive->getModel()->stop();
+        while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000,
+                                         (IMU.get_rotation() + 110) * -0.04);
 
             // printf("%i\n", distforward.get());
             pros::delay(10);
@@ -635,44 +682,133 @@ void autonomous() {
         funnypiston.set_value(true);
         pros::delay(500);
 
-		drive->moveDistance(-1_ft);
+        drive->moveDistance(-1_ft);
 
-		while (!is_held(imuholdarray, (abs(75.0 - IMU.get_rotation()) < 3))) {
-            drive->getModel()->rotate((75.0 - IMU.get_rotation()) * 0.008);
+        while (!is_held(imuholdarray, (abs(85.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((85.0 - IMU.get_rotation()) * 0.004); // 98
             pros::delay(10);
         }
 
-		drive->getModel()->stop();
+        drive->getModel()->stop();
 
-		funnypiston.set_value(false);
-		
-		drive->moveDistanceAsync(3_ft);
+        funnypiston.set_value(false);
 
-		pros::delay(1000);
+        drive->moveDistanceAsync(3_ft);
 
-		drive->moveDistance(-1_ft);
+        pros::delay(700);
 
-		while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
-            drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.008);
+        drive->moveDistance(-1_ft);
+
+        while (!is_held(imuholdarray, (abs(-70.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((-70.0 - IMU.get_rotation()) * 0.004);
             pros::delay(10);
         }
 
-		drive->getModel()->stop();
+        drive->getModel()->stop();
 
-		drive->moveDistance(1_ft);
-		
-		funnypiston.set_value(true);
-		pros::delay(300);
+        while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000,
+                                         (IMU.get_rotation() + 70.0) * -0.04);
 
-		drive->turnAngle(180_deg);
-		funnypiston.set_value(false);
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+        drive->getModel()->stop();
 
-		drive->moveDistanceAsync(3_ft);
-		pros::delay(1000);
-		drive->moveDistanceAsync(-1_ft);
+        funnypiston.set_value(true);
+        pros::delay(300);
+
+        drive->turnAngle(180_deg);
+        funnypiston.set_value(false);
+
+        drive->moveDistanceAsync(3_ft);
+        pros::delay(700);
+        drive->moveDistanceAsync(-1_ft);
 
         // piston.set_value(false);
     }
+    if (autonpick == 10) {
+
+        piston.set_value(true);
+        pros::delay(300);
+        piston.set_value(false);
+        pros::Distance distforward(17);
+        // drive->moveDistanceAsync(500_ft);
+        drive->getModel()->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
+        // piston.set_value(true);
+        // NEED TO WRTIE IMU CENTER CODE
+        // update IMU each cycle to get true rotation
+        while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000, IMU.get_rotation() * -0.04);
+
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+        drive->stop();
+        funnypiston.set_value(true);
+        pros::delay(500);
+
+        // drive->moveDistance(-1_ft);
+        bool imuholdarray[10];
+        while (!is_held(imuholdarray, (abs(130.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((130.0 - IMU.get_rotation()) * 0.004);
+            pros::delay(10);
+        }
+
+        drive->getModel()->stop();
+        pros::delay(100);
+
+        drive->moveDistance(-0.5_ft);
+
+        funnypiston.set_value(false);
+        piston.set_value(true);
+
+        drive->moveDistanceAsync(2.5_ft);
+        pros::delay(1000);
+        piston.set_value(false);
+        drive->moveDistance(-1_ft);
+        pros::delay(200);
+
+        while (!is_held(imuholdarray, (abs(-82.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((-82.0 - IMU.get_rotation()) * 0.004);
+            pros::delay(10);
+        }
+
+        drive->getModel()->stop();
+
+        while (distforward.get() > 300) {
+            drive->getModel()->curvature(12000,
+                                         (IMU.get_rotation() + 90.0) * -0.04);
+
+            // printf("%i\n", distforward.get());
+            pros::delay(10);
+        }
+        funnypiston.set_value(true);
+        drive->getModel()->stop();
+        pros::delay(700);
+
+        while (!is_held(imuholdarray, (abs(165.0 - IMU.get_rotation()) < 3))) {
+            drive->getModel()->rotate((165.0 - IMU.get_rotation()) * 0.004);
+            pros::delay(10);
+        }
+
+        drive->getModel()->stop();
+
+        pros::delay(200);
+
+        drive->moveDistance(3_ft);
+
+        drive->turnAngle(-110_deg);
+        pros::delay(200);
+
+        funnypiston.set_value(false);
+        piston.set_value(true);
+
+        drive->moveDistanceAsync(3_ft);
+        pros::delay(1200);
+        drive->moveDistance(-1_ft);
+        piston.set_value(false);
+    }
 }
 
 /**
@@ -1084,3 +1220,7 @@ void opcontrol() {
         pros::delay(10);
     }
 }
+// code sukz lol
+// moaning == goofy
+// housecats mid
+// t team better