diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/Robot.java b/src/main/java/com/frcteam1939/powerup2018/robot/Robot.java
index c2d57ce..f023312 100644
--- a/src/main/java/com/frcteam1939/powerup2018/robot/Robot.java
+++ b/src/main/java/com/frcteam1939/powerup2018/robot/Robot.java
@@ -149,20 +149,55 @@ public void autonomousInit() {
 				Thread.sleep(5);
 			} catch (InterruptedException ie) {}
 			gameData = DriverStation.getInstance().getGameSpecificMessage();
-
 		}
 
+		// DEFAULT
 		// if (gameData.length() > 0) {
 		// 	this.autonomousCommand = this.getAutonomousCommand(gameData);
 		// }
 
-		if (gameData.charAt(1) == 'L') {
-			this.autonomousCommand = new LeftWallToLeftScale();
-		} else if (gameData.charAt(0) == 'L') {
-			this.autonomousCommand = new LeftWallToLeftSwitch();
-		} else {
-			this.autonomousCommand = new CrossAutoLine();
-		}
+		// CENTER
+		// if (gameData.charAt(0) == 'L') {
+		// 	this.autonomousCommand = new CenterWallToLeftSwitch();
+		// } else if (gameData.charAt(0) == 'R') {
+		// 	this.autonomousCommand = new CenterWallToRightSwitch();
+		// }
+
+		// CHOOSE BETWEEN LEFT SIDE - PRIORITIZE SWITCH
+		// if (gameData.charAt(0) == 'L') {
+		// 	this.autonomousCommand = new LeftWallToLeftSwitch();
+		// } else if (gameData.charAt(1) == 'L') {
+		// 	this.autonomousCommand = new LeftWallToLeftScale();
+		// } else {
+		// 	this.autonomousCommand = new CrossAutoLine();
+		// }
+
+		// CHOOSE BETWEEN RIGHT SIDE - PRIORITIZE SWITCH
+		// if (gameData.charAt(0) == 'R') {
+		// 	this.autonomousCommand = new RightWallToRightSwitch();
+		// } else if (gameData.charAt(1) == 'R') {
+		// 	this.autonomousCommand = new RightWallToRightScale();
+		// } else {
+		// 	this.autonomousCommand = new CrossAutoLine();
+		// }
+
+		// CHOOSE BETWEEN LEFT SIDE - PRIORITIZE SCALE
+		// if (gameData.charAt(1) == 'L') {
+		// 	this.autonomousCommand = new LeftWallToLeftScale();
+		// } else if (gameData.charAt(0) == 'L') {
+		// 	this.autonomousCommand = new LeftWallToLeftSwitch();
+		// } else {
+		// 	this.autonomousCommand = new CrossAutoLine();
+		// }
+
+		// CHOOSE BETWEEN RIGHT SIDE - PRIORITIZE SCALE
+		// if (gameData.charAt(1) == 'R') {
+		// 	this.autonomousCommand = new RightWallToRightScale();
+		// } else if (gameData.charAt(0) == 'R') {
+		// 	this.autonomousCommand = new RightWallToRightSwitch();
+		// } else {
+		// 	this.autonomousCommand = new CrossAutoLine();
+		// }
 
 		SmartDashboard.putString("Autonomous Command", this.autonomousCommand.getName());
 
@@ -211,7 +246,6 @@ public void teleopPeriodic() {
 	@Override
 	public void testPeriodic() {
 		LiveWindow.run();
-		// this.vision.testPixy1();
 	}
 
 	public static double getPressure() {
diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToLeftSwitch.java b/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToLeftSwitch.java
index 7b77c04..88c4aa1 100644
--- a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToLeftSwitch.java
+++ b/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToLeftSwitch.java
@@ -1,5 +1,7 @@
 package com.frcteam1939.powerup2018.robot.commands.auton;
 
+import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.CubeManipulatorLower;
+import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.IntakeCube;
 import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.OutputCubeMiddle;
 import com.frcteam1939.powerup2018.robot.commands.drivetrain.SetDrivetrainMotorsSpeed;
 import com.frcteam1939.powerup2018.robot.commands.drivetrain.TurnToAngle;
@@ -22,5 +24,25 @@ public CenterWallToLeftSwitch() {
 		this.addSequential(new Wait(3.3));
 		this.addSequential(new SetDrivetrainMotorsSpeed(0));
 		this.addSequential(new OutputCubeMiddle());
+		this.addSequential(new SetDrivetrainMotorsSpeed(0.3));
+		this.addSequential(new Wait(0.5));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new TurnToAngle(80));
+		this.addSequential(new CubeManipulatorLower());
+		this.addSequential(new SetDrivetrainMotorsSpeed(-0.3));
+		this.addSequential(new Wait(1));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new IntakeCube());
+		this.addSequential(new SetDrivetrainMotorsSpeed(0.3));
+		this.addSequential(new Wait(1));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new TurnToAngle(-80));
+		this.addSequential(new SetElevatorMotorSpeed(1.0));
+		this.addSequential(new Wait(1.25));
+		this.addSequential(new SetElevatorMotorSpeed(0));
+		this.addSequential(new SetDrivetrainMotorsSpeed(-0.3));
+		this.addSequential(new Wait(0.5));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new OutputCubeMiddle());
 	}
 }
diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToRightSwitch.java b/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToRightSwitch.java
index c44bc4d..1c37b65 100644
--- a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToRightSwitch.java
+++ b/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/CenterWallToRightSwitch.java
@@ -1,5 +1,7 @@
 package com.frcteam1939.powerup2018.robot.commands.auton;
 
+import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.CubeManipulatorLower;
+import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.IntakeCube;
 import com.frcteam1939.powerup2018.robot.commands.cubemanipulator.OutputCubeMiddle;
 import com.frcteam1939.powerup2018.robot.commands.drivetrain.SetDrivetrainMotorsSpeed;
 import com.frcteam1939.powerup2018.robot.commands.drivetrain.TurnToAngle;
@@ -22,5 +24,25 @@ public CenterWallToRightSwitch() {
 		this.addSequential(new Wait(3.2));
 		this.addSequential(new SetDrivetrainMotorsSpeed(0));
 		this.addSequential(new OutputCubeMiddle());
+		this.addSequential(new SetDrivetrainMotorsSpeed(0.3));
+		this.addSequential(new Wait(0.5));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new TurnToAngle(-80));
+		this.addSequential(new CubeManipulatorLower());
+		this.addSequential(new SetDrivetrainMotorsSpeed(-0.3));
+		this.addSequential(new Wait(1));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new IntakeCube());
+		this.addSequential(new SetDrivetrainMotorsSpeed(0.3));
+		this.addSequential(new Wait(1));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new TurnToAngle(80));
+		this.addSequential(new SetElevatorMotorSpeed(1.0));
+		this.addSequential(new Wait(1.25));
+		this.addSequential(new SetElevatorMotorSpeed(0));
+		this.addSequential(new SetDrivetrainMotorsSpeed(-0.3));
+		this.addSequential(new Wait(0.5));
+		this.addSequential(new SetDrivetrainMotorsSpeed(0));
+		this.addSequential(new OutputCubeMiddle());
 	}
 }
diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/DriveToScale.java b/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/DriveToScale.java
deleted file mode 100644
index 020cba2..0000000
--- a/src/main/java/com/frcteam1939/powerup2018/robot/commands/auton/DriveToScale.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package com.frcteam1939.powerup2018.robot.commands.auton;
-
-import com.frcteam1939.powerup2018.robot.commands.drivetrain.SetDrivetrainMotorsSpeed;
-import com.frcteam1939.powerup2018.util.Wait;
-
-import edu.wpi.first.wpilibj.command.CommandGroup;
-
-public class DriveToScale extends CommandGroup {
-
-	public DriveToScale() {
-		this.addSequential(new SetDrivetrainMotorsSpeed(-0.3));
-		this.addSequential(new Wait(8.5));
-		this.addSequential(new SetDrivetrainMotorsSpeed(0));
-	}
-}
diff --git a/src/main/java/com/frcteam1939/powerup2018/robot/commands/cubemanipulator/IntakeCube.java b/src/main/java/com/frcteam1939/powerup2018/robot/commands/cubemanipulator/IntakeCube.java
index f60ef08..28c4b11 100644
--- a/src/main/java/com/frcteam1939/powerup2018/robot/commands/cubemanipulator/IntakeCube.java
+++ b/src/main/java/com/frcteam1939/powerup2018/robot/commands/cubemanipulator/IntakeCube.java
@@ -1,6 +1,5 @@
 package com.frcteam1939.powerup2018.robot.commands.cubemanipulator;
 
-import com.frcteam1939.powerup2018.robot.Robot;
 import com.frcteam1939.powerup2018.robot.subsystems.CubeManipulator;
 import com.frcteam1939.powerup2018.util.Wait;
 
@@ -13,10 +12,8 @@ public IntakeCube() {
 		this.addSequential(new CubeManipulatorWheelsOut());
 		this.addSequential(new SetCubeManipulatorSpeed(CubeManipulator.IN_SPEED));
 		this.addSequential(new Wait(1));
-		if (Robot.cubeManipulator.haveCube()) {
-			this.addSequential(new CubeManipulatorWheelsIn());
-			this.addSequential(new SetCubeManipulatorSpeed(0));
-			this.addSequential(new CubeManipulatorMiddle());
-		}
+		this.addSequential(new CubeManipulatorWheelsIn());
+		this.addSequential(new SetCubeManipulatorSpeed(0));
+		this.addSequential(new CubeManipulatorMiddle());
 	}
 }
diff --git a/src/main/java/com/frcteam1939/powerup2018/util/PigeonWrapper.java b/src/main/java/com/frcteam1939/powerup2018/util/PigeonWrapper.java
index a6025a3..0262910 100644
--- a/src/main/java/com/frcteam1939/powerup2018/util/PigeonWrapper.java
+++ b/src/main/java/com/frcteam1939/powerup2018/util/PigeonWrapper.java
@@ -14,8 +14,8 @@ public PigeonWrapper(int deviceNumber) {
 		super(deviceNumber);
 	}
 
-	public PigeonWrapper(TalonSRX talonSrx) {
-		super(talonSrx);
+	public PigeonWrapper(TalonSRX talonSRX) {
+		super(talonSRX);
 	}
 
 	@Override