diff --git a/src/main.cpp b/src/main.cpp
index 88003df..e103124 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -212,7 +212,7 @@ void autonomous() {
     bool pullback = false;
     bool ready = false;
 
-    Motor pull(10);
+    Motor pull(12);
     printf("%d\n", autonpick);
     // pull.setReversed(true);
 
@@ -224,7 +224,7 @@ void autonomous() {
         drive->moveDistance(1_ft);
         double yaw = IMU.get_heading();
         std::printf("%f", yaw);
-        double turn = -95 - yaw;
+        double turn = -92 - yaw;
         drive->setMaxVelocity(300);
         drive->turnAngle(turn * 1_deg);
         drive->moveDistanceAsync(-4.1_ft);
@@ -252,15 +252,19 @@ void autonomous() {
     } else if (autonpick == 3) {
         bool reqtopull = false;
         bool good[10];
-        pros::Distance dist(11); // fixed
+        pros::Distance dist(13); // fixed
         pull.tarePosition();
-        
+        printf("hereasdsadfasdfsdf\n");
         
           while (true) {
 	  
-            if (is_held(good, dist.get() < 70)) {
-                reqtopull = true;
-            }
+	      if (is_held(good, dist.get() < 70)) {
+		  reqtopull = true;
+	      }
+
+	      // if (pros::millis() % 2000 <= 10){
+	      // 	  reqtopull = true;
+	      // }
             if (reqtopull) {
                 // pull.moveRelative((1800 - std::fmod(pull.getPosition(),
                 // 1800)),
@@ -280,8 +284,30 @@ void autonomous() {
             }
 
             pros::delay(10);
-        }
+	  }
+
+
+	  
     }
+
+    if (autonpick == 3 || autonpick == 8) {
+	drive->setMaxVelocity(300);
+	drive->moveDistance(-7_ft);
+	drive->turnAngle(-60_deg);
+
+	drive->setMaxVelocity(600);
+	//piston.set_value(true);
+	drive->moveDistanceAsync(-5_ft);
+	pros::delay(1200);
+	//piston.set_value(false);
+
+	drive->moveDistance(0.7_ft);
+	pros::delay(300);
+	drive->moveDistance(-3_ft);
+	
+    }
+
+    
     if (autonpick == -1) {
         drive->turnAngle(90_deg);
     }
@@ -357,7 +383,7 @@ void opcontrol() {
 
     Motor flywheel(15);
 
-    Motor pull(11);
+    Motor pull(12);
     //pull.setReversed(true);
 
     Motor lift(16);
@@ -373,7 +399,7 @@ void opcontrol() {
     // MotorGroup pull = MotorGroup({pull1, pull2});
     flywheel.setBrakeMode(okapi::AbstractMotor::brakeMode::coast);
     flywheel.setGearing(okapi::AbstractMotor::gearset::blue); //should be red for cata
-    pull.setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
+    pull.setBrakeMode(okapi::AbstractMotor::brakeMode::coast);
 
 
     lift.setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
@@ -633,11 +659,13 @@ void opcontrol() {
 
         if (is_tapped(r1arr, R1.isPressed()) || reqtoloop == true) {
             float temp = std::fmod(pull.getPosition(), 900);
+	    pros::lcd::set_text(6,std::to_string(temp));
             if ((900 - temp) < 150) {
                 temp = -(900 - temp);
+		pros::lcd::set_text(7,std::to_string(temp));
             }
             pull.moveRelative(
-                (900 -
+                (900 - 
                  temp), //            pull.moveRelative((1800 -
                         //            std::fmod(pull.getPosition(), 1800)),
 
@@ -670,7 +698,7 @@ void opcontrol() {
             pull.moveVoltage(0);
         }
 
-        pros::lcd::set_text(5, std::to_string(IMU.get()));
+        //pros::lcd::set_text(5, std::to_string(IMU.get()));
 
         // if (L2.isPressed()) {
         //     intake.moveVoltage(-12000);
@@ -683,7 +711,7 @@ void opcontrol() {
 	//     testMotor.moveVoltage(0);
         // }
 
-	pros::lcd::set_text(5,std::to_string(pull.getTargetPosition()));
+	pros::lcd::set_text(5,std::to_string(pull.getPosition()));
 
 
         controller.setText(