diff --git a/final-final-final.json b/final-final-final.json
index 76814ce..4158159 100644
--- a/final-final-final.json
+++ b/final-final-final.json
@@ -9,7 +9,7 @@
         "showGrid": true,
         "hgap": 16.0,
         "vgap": 16.0,
-        "titleType": 1,
+        "titleType": 2,
         "tiles": {
           "0,0": {
             "size": [
@@ -147,6 +147,24 @@
               "Visible data/FMSInfo/FMSControlData": true,
               "Visible data/Shuffleboard/PDP/PDP/Voltage": true
             }
+          },
+          "24,0": {
+            "size": [
+              3,
+              3
+            ],
+            "content": {
+              "_type": "Match Time",
+              "_source0": "network_table:///Shuffleboard/stuff/time",
+              "_title": "Shuffleboard/stuff/time",
+              "_glyph": 148,
+              "_showGlyph": false,
+              "Appearance/Colors on": true,
+              "Appearance/Font size": 60,
+              "Match length/Autonomous length": 15.0,
+              "Match length/Teleop length": 105.0,
+              "Match length/Endgame length": 30.0
+            }
           }
         }
       }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 93e0692..a166d60 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -106,8 +106,8 @@ private void configureButtonBindings() {
     //     .whileTrue(m_OpenClawCommand);
     new JoystickButton(m_armController2, XboxController.Button.kLeftBumper.value)
         .whileTrue(m_FineDriveCommand);
-    new JoystickButton(m_armController2, XboxController.Button.kB.value)
-        .whileTrue(m_PlaceConeSecondLevelCommand);
+    // new JoystickButton(m_armController2, XboxController.Button.kB.value)
+    //     .whileTrue(m_PlaceConeSecondLevelCommand);
   }
 
   public static double getDriverControllerLeftStickY() {
diff --git a/src/main/java/frc/robot/commands/AutoCommand.java b/src/main/java/frc/robot/commands/AutoCommand.java
index d1e73f7..a291648 100644
--- a/src/main/java/frc/robot/commands/AutoCommand.java
+++ b/src/main/java/frc/robot/commands/AutoCommand.java
@@ -10,8 +10,7 @@
 public class AutoCommand extends SequentialCommandGroup {
   public AutoCommand(PID m_pid, Tank m_driveBase, Arm m_arm, Claw m_claw) {
     addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm, m_claw));
-
-    //new BalanceCommand(m_pid, m_driveBase))
+    addCommands(new BalanceCommand(m_pid, m_driveBase));
     // new PlaceCubeFirstLevelCommand(m_driveBase, m_claw, m_arm)
     // new PlaceConeSecondLevelCommand(m_driveBase, m_arm)
   }
diff --git a/src/main/java/frc/robot/commands/BalanceCommand.java b/src/main/java/frc/robot/commands/BalanceCommand.java
index 46e0161..06d99ae 100644
--- a/src/main/java/frc/robot/commands/BalanceCommand.java
+++ b/src/main/java/frc/robot/commands/BalanceCommand.java
@@ -53,7 +53,7 @@ public void execute() {
     SmartDashboard.putNumber("max offset", max);
 
     if (pitchOffset < 16 && !onRamp) {
-      driveBase.setAllMotors(0.5);
+      driveBase.setAllMotors(0.25);
       SmartDashboard.putBoolean("onRamp", onRamp);
 
     } else {
diff --git a/src/main/java/frc/robot/commands/PlaceConeSecondLevelCommand.java b/src/main/java/frc/robot/commands/PlaceConeSecondLevelCommand.java
index 1b2292f..643d29c 100644
--- a/src/main/java/frc/robot/commands/PlaceConeSecondLevelCommand.java
+++ b/src/main/java/frc/robot/commands/PlaceConeSecondLevelCommand.java
@@ -37,25 +37,25 @@ public void initialize() {
   @Override
   public void execute() {
     if (firstStep) {
-      if (Math.abs(arm.armMotor.getEncoder().getPosition()) < 105) {
+      if (Math.abs(arm.armMotor.getEncoder().getPosition()) < 115) {
         claw.closeClaw();
         arm.armMotor.set(0.4);
       }
 
-      if (Math.abs(arm.armMotor.getEncoder().getPosition()) >= 105) {
+      if (Math.abs(arm.armMotor.getEncoder().getPosition()) >= 115) {
         firstStep = false;
         arm.armMotor.set(0);
         arm.armMotor.getEncoder().setPosition(0);
       }
 
       // go over charge station
-      if (Math.abs(drive.getAverageDistance()) < 4.6 && firstStep == false) {
+      if (Math.abs(drive.getAverageDistance()) < 4.8 && firstStep == false) {
         claw.stopClaw(); 
         drive.setAllMotors(-0.3); // move back so that cone falls in
         arm.armMotor.set(-0.45);
       }
 
-      if (Math.abs(drive.getAverageDistance()) >= 4.6) {
+      if (Math.abs(drive.getAverageDistance()) >= 4.8) {
         drive.setAllMotors(0);
       }
     }
@@ -75,6 +75,6 @@ public void end(boolean interrupted) {
 
   @Override
   public boolean isFinished() {
-    return Math.abs(drive.getAverageDistance()) >= 4.6;
+    return Math.abs(drive.getAverageDistance()) >= 4.8;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
index f77991d..815e93f 100644
--- a/src/main/java/frc/robot/subsystems/Arm.java
+++ b/src/main/java/frc/robot/subsystems/Arm.java
@@ -24,7 +24,7 @@ public class Arm extends SubsystemBase {
   public Arm() {
     armMotor = new CANSparkMax(7, MotorType.kBrushless);
     armMotor.setIdleMode(IdleMode.kBrake);
-    armMotor.setSmartCurrentLimit(20, 40);
+    armMotor.setSmartCurrentLimit(30, 40);
     armMotor.burnFlash();
     addChild("Arm Motor", armMotor);
 
diff --git a/src/main/java/frc/robot/subsystems/Claw.java b/src/main/java/frc/robot/subsystems/Claw.java
index 6c7d2e9..906c095 100644
--- a/src/main/java/frc/robot/subsystems/Claw.java
+++ b/src/main/java/frc/robot/subsystems/Claw.java
@@ -30,7 +30,7 @@ public class Claw extends SubsystemBase {
   public Claw() {
     clawMotor = new CANSparkMax(8, MotorType.kBrushless);
     clawMotor.setIdleMode(IdleMode.kBrake);
-    clawMotor.setSmartCurrentLimit(15);
+    clawMotor.setSmartCurrentLimit(17);
     clawMotor.burnFlash();
     addChild("Claw Motor", clawMotor);