diff --git a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
index c44fc06..cbd0932 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/BougerGaucheAuto.java
@@ -46,22 +46,12 @@ public class BougerGaucheAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
-      if(timer.get() < 0.75){
+      if(timer.get() < 1.25){
         drivetrain.setControl(drive.withVelocityY(1.5));
       }
       else{
         drivetrain.setControl(drive.withVelocityY(0));
       }
-    }
-    else{
-      if(timer.get() < 0.75){
-        drivetrain.setControl(drive.withVelocityY(1.5));
-      }
-      else{
-        drivetrain.setControl(drive.withVelocityY(0));
-      }
-    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
index 236f588..31c372a 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -73,7 +73,7 @@ public class GrimperReservoir extends Command {
       x = 15.6;
       angle = 180;
       if(pigeonAngle< 190 && pigeonAngle> 170){
-        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*5.5),-2,2)));
+        drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
       }
       else{
         if(pigeonAngle>180){