diff --git a/src/autonomous.cpp b/src/autonomous.cpp
index 8d55043..dea7aae 100644
--- a/src/autonomous.cpp
+++ b/src/autonomous.cpp
@@ -131,6 +131,17 @@ void autonomous() {
 		case 4:
 			// in progress in-depth auton
 			controller.print(0, 0, "Right Elims Auton");
+			chassis.setPose(36, -60, 180); // X, Y, Heading (degrees)
+			chassis.moveToPose(12 + 5, -12, 345, 2500, {.forwards = false, .chasePower = 8});
+			chassis.waitUntilDone();
+			ToggleVerticalPneumaticWings();
+			pros::delay(500);
+			chassis.moveToPose(48, 0, 100, 2500, {.forwards = false, .chasePower = 8});
+			chassis.waitUntilDone();
+			ToggleVerticalPneumaticWings();
+
+			// Below is pre- 3/1/24 stuff (I think it was made at Gateway)
+			/*
 			chassis.setPose(-48 - (7.0 / 2), -60, 135); // X, Y, Heading (degrees)
 			ToggleVerticalPneumaticWings();
 			chassis.turnTo(0, -18, 2000);
@@ -138,6 +149,7 @@ void autonomous() {
 			chassis.moveToPoint(-30, -18, 2000);
 			AutonIntake(1000,false);
 			chassis.moveToPoint(-30,-40,2000,false);
+			*/
 			/*
 			pros::delay(500);
 			chassis.turnTo(24, -48, 5000, false);
@@ -162,26 +174,29 @@ void autonomous() {
 			chassis.moveToPose(-60 + 5, -24 + 24, 180, 2500, {.forwards = false, .chasePower = 8});
 			chassis.waitUntilDone();
 			chassis.setPose(-72 + 26.5, -29.25, 180); // X, Y, Heading (degrees)
-			chassis.moveToPose(-48, -48 + 3, 70, 2500, {.forwards = false, .chasePower = 8 + 6});
+			chassis.moveToPose(-48, -48 + 3, 75, 2500, {.forwards = false, .chasePower = 8 + 6});
 			chassis.waitUntilDone();
 			ToggleVerticalPneumaticWings();
 			pros::delay(500);
-			
-			//KickerMotor.move(127);
-			//pros::delay(25000);
-			//KickerMotor.brake();
+			KickerMotor.move(120);
+			pros::delay(33000);
+			KickerMotor.brake();
 			pros::delay(500);
 			ToggleVerticalPneumaticWings();
-			pros::delay(500);
 			chassis.turnTo( -36,  -60,  2500);
 			chassis.moveToPoint(-36, -60, 2500);
 			chassis.turnTo(0,-60,2500);
 			chassis.moveToPoint(24, -60, 2500);
-			//chassis.moveToPose(36,-36,0,2500);
-			//chassis.waitUntilDone();
+			chassis.moveToPose(30,-36,0,2500);
+			chassis.moveToPose(12, -12, 270, 2500, {.forwards = false, .chasePower = 8});
+			chassis.waitUntilDone();
+			ToggleVerticalPneumaticWings();
+			chassis.moveToPoint(48,-12, 2500, false);
+			chassis.waitUntilDone();
+			ToggleVerticalPneumaticWings();
 			//ToggleVerticalPneumaticWings();
 			//chassis.moveToPose(60, -12, 90, 2500);
-			
+
 			// chassis.moveToPose(-48 - 5, -48 + 8, 70, 2500, {.forwards = false, .chasePower = 8});
 			// TODO: Ishika, test line 192 (directly above) to see if it gets the bot closer to the match load position than line 191
 
diff --git a/src/global.cpp b/src/global.cpp
index 35ed15e..363bb57 100644
--- a/src/global.cpp
+++ b/src/global.cpp
@@ -28,7 +28,7 @@ pros::Motor_Group LMotors({BLMotor, MLMotor, FLMotor});
 pros::Motor_Group RMotors({BRMotor, MRMotor, FRMotor});
 
 // Initializes the kicker motor to port 12, reversed, with a red (torque) gearset
-pros::Motor KickerMotor(18, pros::E_MOTOR_GEAR_RED, pros::E_MOTOR_ENCODER_DEGREES);
+pros::Motor KickerMotor(-18, pros::E_MOTOR_GEAR_RED, pros::E_MOTOR_ENCODER_DEGREES);
 pros::Motor IntakeMotor(7, pros::E_MOTOR_GEAR_BLUE);
 
 // Initializes DigitalOut objects to control the pneumatic wings.
@@ -51,11 +51,15 @@ bool manualKicker = true;
 
 // Prints driver control information onto the controller for the driver to view
 void ControllerDisplay() {
-    if(!drivetrainReversed) controller.print(0, 0, "Reversed: false");
-    else if(drivetrainReversed) controller.print(0, 0, "Reversed: true");
+    double avgTemp = (BLMotor.get_temperature() + MLMotor.get_temperature() + FLMotor.get_temperature() + BRMotor.get_temperature() + MRMotor.get_temperature() + FRMotor.get_temperature()) / 6;
     pros::delay(50);
-    if(manualKicker) controller.print(1, 0, "Kicker: Manual");
-    else if(!manualKicker) controller.print(1, 0, "Kicker: Automatic");
+    controller.print(0, 0, "Avg DT Temp: %0.2f", avgTemp);
+    pros::delay(50);
+    if(!drivetrainReversed) controller.print(1, 0, "Reversed: false");
+    else if(drivetrainReversed) controller.print(1, 0, "Reversed: true");
+    pros::delay(50);
+    if(manualKicker) controller.print(2, 0, "Kicker: Manual");
+    else if(!manualKicker) controller.print(2, 0, "Kicker: Automatic");
 }
 
 /*
@@ -71,7 +75,7 @@ void ControllerDisplay() {
     7: New Programming Skills
     8: Old Programming Skills
 */
-unsigned short int autonSelect = 7;
+unsigned short int autonSelect = 3;
 
 /*
     Integer variable to represent the current game phase
diff --git a/src/opcontrol.cpp b/src/opcontrol.cpp
index 65fb68c..9c0cdbf 100644
--- a/src/opcontrol.cpp
+++ b/src/opcontrol.cpp
@@ -91,7 +91,7 @@ void opcontrol()
 		else
 			IntakeMotor.brake();
 		
-		if (true) {
+		if (false) {
 			// If the kicker is in manual control mode...
 			if(manualKicker) {
 				// Then when B is pressed...