diff --git a/src/main.cpp b/src/main.cpp
index 2b6d9d4..88003df 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -266,12 +266,12 @@ void autonomous() {
                 // 1800)),
                 //                   1000);
                 // reqtopull = false;
-                float temp = std::fmod(pull.getPosition(), 1800);
-                if ((1800 - temp) < 150) {
-                    temp = -(1800 - temp);
+                float temp = std::fmod(pull.getPosition(), 900);
+                if ((900 - temp) < 150) {
+                    temp = -(900 - temp);
                 }
                 pull.moveRelative(
-                    (1800 -
+                    (900 -
                      temp), //            pull.moveRelative((1800 -
                             //            std::fmod(pull.getPosition(), 1800)),
 
@@ -293,7 +293,7 @@ void autonomous() {
     }
 
     if (autonpick == 5) {
-        pull.moveRelative(1800, 1000000);
+        pull.moveRelative(900, 1000000);
     }
 }
 
@@ -632,12 +632,12 @@ void opcontrol() {
         }
 
         if (is_tapped(r1arr, R1.isPressed()) || reqtoloop == true) {
-            float temp = std::fmod(pull.getPosition(), 1800);
-            if ((1800 - temp) < 150) {
-                temp = -(1800 - temp);
+            float temp = std::fmod(pull.getPosition(), 900);
+            if ((900 - temp) < 150) {
+                temp = -(900 - temp);
             }
             pull.moveRelative(
-                (1800 -
+                (900 -
                  temp), //            pull.moveRelative((1800 -
                         //            std::fmod(pull.getPosition(), 1800)),
 
@@ -654,11 +654,11 @@ void opcontrol() {
             pros::lcd::set_text(3, "bbb");
         }
 
-        if (dist.get() < 40 &&
-            (std::abs(pull.getPosition() - pull.getTargetPosition()) < 5)) {
-            pull.moveVoltage(0);
-        } else {
-        }
+        // if (dist.get() < 40 &&
+        //     (std::abs(pull.getPosition() - pull.getTargetPosition()) < 5)) {
+        //     pull.moveVoltage(0);
+        // } else {
+        // }
 
         
         pros::lcd::set_text(4, std::to_string(pull.getTargetPosition()));
@@ -683,12 +683,12 @@ void opcontrol() {
 	//     testMotor.moveVoltage(0);
         // }
 
-	
+	pros::lcd::set_text(5,std::to_string(pull.getTargetPosition()));
 
 
         controller.setText(
             0, 0,
-            std::to_string(static_cast<int>(flywheel.getTemperature())) +
+            std::to_string(static_cast<int>(pull.getTemperature())) +
                 std::to_string(static_cast<int>(lavg)) +
                 std::to_string(static_cast<int>(ravg)) +
 	    std::to_string(static_cast<int>(lift.getTemperature()))