diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a166d60..7b8aa5d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -141,9 +141,9 @@ public static double getDriverControllerRightStickX() {
   public static double getDriverControllerRightStickXAdjusted() {
     double val = getDriverControllerRightStickX();
     if (val > 0) {
-      return (val * val + 0.3) / 1.3;
+      return (val * val + 0.1) / 1.1;
     } else if (val < 0) {
-      return -(val * val + 0.3) / 1.3;
+      return -(val * val + 0.1) / 1.1;
     } else {
       return 0;
     }
diff --git a/src/main/java/frc/robot/commands/AutoCommand.java b/src/main/java/frc/robot/commands/AutoCommand.java
index a291648..0ed5318 100644
--- a/src/main/java/frc/robot/commands/AutoCommand.java
+++ b/src/main/java/frc/robot/commands/AutoCommand.java
@@ -9,8 +9,9 @@
 
 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));
-    addCommands(new BalanceCommand(m_pid, m_driveBase));
+    addCommands(new PlaceConeSecondLevelCommand(m_driveBase, m_arm, m_claw), new BalanceCommand(m_pid, m_driveBase));
+
+    // 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 06d99ae..46e0161 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(0.25);
+      driveBase.setAllMotors(0.5);
       SmartDashboard.putBoolean("onRamp", onRamp);
 
     } else {
diff --git a/src/main/java/frc/robot/commands/DriveCommand.java b/src/main/java/frc/robot/commands/DriveCommand.java
index 4fd60e8..f2f0127 100644
--- a/src/main/java/frc/robot/commands/DriveCommand.java
+++ b/src/main/java/frc/robot/commands/DriveCommand.java
@@ -29,7 +29,7 @@ public void execute() {
     // double check getMaxSpeed(), might be wrong
     Tank.arcadeDrive(
         RobotContainer.getDriverControllerLeftStickYAdjusted() * Constants.CanConstants.maxSpeed,
-        RobotContainer.getDriverControllerRightStickXAdjusted() * 0.75);
+        RobotContainer.getDriverControllerRightStickXAdjusted() * 0.7);
 
     SmartDashboard.putNumber("maxSpeed", Constants.CanConstants.maxSpeed);
   }
diff --git a/src/main/java/frc/robot/commands/MoveArmYCommand.java b/src/main/java/frc/robot/commands/MoveArmYCommand.java
index cf5c3a4..3dad5da 100644
--- a/src/main/java/frc/robot/commands/MoveArmYCommand.java
+++ b/src/main/java/frc/robot/commands/MoveArmYCommand.java
@@ -22,7 +22,7 @@ public void initialize() {}
 
   @Override
   public void execute() {
-    m_subsystem.moveArm(RobotContainer.getControllerLeftStickY());
+    m_subsystem.moveArm(-RobotContainer.getControllerLeftStickY());
   }
 
   @Override