diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
index 7c3d6670541e..93453e7e26b1 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumTeleOp2.java
@@ -457,7 +457,7 @@ public void ScoreHighBasket2() {
         abandonLock(Locks.ArmAssembly);
         abandonLock(vLiftProxy.CONTROL);
         scheduler.add(groupOf(inner -> inner.add(run(() -> hardware.wrist.setPosition(0.94)))
-                .then(await(700))
+                .then(await(200))
                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
                 .then(await(100))
                 .then(run(() -> hardware.wrist.setPosition(0.28)))
@@ -506,7 +506,7 @@ public void specimenWallPick() {
                 groupOf(it -> it.add(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
                                 .then(await(200))
                                 .then(run(() -> hardware.wrist.setPosition(Hardware.WRIST_UP)))
-                                .then(await(500))
+                                .then(await(200))
                                 .then(run(() -> hardware.arm.setTargetPosition(50)))
                                 .then(await(500))
                                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_CLOSE)))
@@ -576,12 +576,12 @@ public void transferAndDrop() {
         abandonLock(Locks.ArmAssembly);
         transferInternal()
                 .then(groupOf(
-                        it -> it.add(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(35))))
-                                .then(await(1000))
+                        it -> it.add(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(10))))
+                                .then(await(100))
                                 .then(run(() -> hardware.wrist.setPosition(0.75)))
                                 .then(await(100))
                                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
-                                .then(await(500))
+                                .then(await(300))
                                 .then(run(() -> {
                                     hardware.wrist.setPosition(Hardware.WRIST_BACK);
                                     hardware.arm.setTargetPosition(0);
@@ -632,7 +632,7 @@ private TaskGroup transferInternal() {
                             hardware.wrist.setPosition(0);
                             hardware.arm.setTargetPosition(-28);
                         }))
-                        .then(await(500))
+                        .then(await(300))
                         .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_CLOSE)))
                         .then(await(250))
                         .then(hClawProxy.aSetClaw(Hardware.FRONT_OPEN))
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RightAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RightAuto.java
index 87393908f932..8ad1d2d730c7 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RightAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/RightAuto.java
@@ -222,11 +222,11 @@ private ITask transfer() {
     }
 
     private ITask drop() {
-        return groupOf(it -> it.add(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(35))))
+        return groupOf(it -> it.add(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(10))))
                 .then(run(() -> hardware.wrist.setPosition(0.75)))
-                .then(await(600))
+                .then(await(200))
                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
-                .then(await(500))
+                .then(await(200))
                 .then(run(() -> {
                     hardware.wrist.setPosition(Hardware.WRIST_BACK);
                     hardware.arm.setTargetPosition(0);
@@ -239,7 +239,7 @@ private ITask scoreSpecimen() {
                 .then(run(() -> hardware.arm.setTargetPosition(Hardware.deg2arm(-99))))
                 .then(vLiftProxy.moveTo(710, 5, 1.0))
                 .then(run(() -> hardware.wrist.setPosition(1)))
-                .then(await(700))
+                .then(await(300))
                 .then(moveRel(new Pose(-4.0, 0, 0)))
                 .then(run(() -> hardware.claw.setPosition(Hardware.CLAW_OPEN)))
                 .then(await(200))