diff --git a/TeamCode/src/main/java/opmodes/AutoBase.java b/TeamCode/src/main/java/opmodes/AutoBase.java
index de9b536..485317c 100644
--- a/TeamCode/src/main/java/opmodes/AutoBase.java
+++ b/TeamCode/src/main/java/opmodes/AutoBase.java
@@ -140,11 +140,11 @@ public abstract class AutoBase extends LinearOpMode {
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
 
         if (this.alliance == CenterStageCommon.Alliance.Blue) {
-            builder.lineToLinearHeading(new Pose2d(36, 11, 0));
-            builder.lineToLinearHeading(new Pose2d(36, 38, 0));
+            builder.lineToLinearHeading(new Pose2d(35, 11, 0));
+            builder.lineToLinearHeading(new Pose2d(35, 38, 0));
         } else {
-            builder.lineToLinearHeading(new Pose2d(36, -11, 0));
-            builder.lineToLinearHeading(new Pose2d(36, -38, 0));
+            builder.lineToLinearHeading(new Pose2d(35, -11, 0));
+            builder.lineToLinearHeading(new Pose2d(35, -36, 0));
         }
 
         this.robot.getDrive().followTrajectorySequence(builder.build());
diff --git a/TeamCode/src/main/java/opmodes/MainTeleOp.java b/TeamCode/src/main/java/opmodes/MainTeleOp.java
index 1a4dc11..19af9fb 100644
--- a/TeamCode/src/main/java/opmodes/MainTeleOp.java
+++ b/TeamCode/src/main/java/opmodes/MainTeleOp.java
@@ -8,10 +8,12 @@ import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.X_MAX;
 import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.X_MIN;
 
 import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.teamcode.hardware.Robot;
+import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
 
 @TeleOp(name = "MainTeleOp", group = "Main")
 public class MainTeleOp extends OpMode {
@@ -50,7 +52,7 @@ public class MainTeleOp extends OpMode {
         boolean clawDown = gamepad2.a || clawDownSafe; // A
 
         // Robot Drone Launch
-        boolean robotDroneLaunch = gamepad1.left_bumper; // Change if Merck wants (LT)
+        boolean robotDroneLaunch = gamepad1.left_bumper && gamepad1.right_bumper; // Change if Merck wants (LT)
 
         // Robot Lift
         boolean robotLiftRotation = gamepad2.right_trigger > 0.05; // RT
diff --git a/TeamCode/src/main/java/opmodes/RedFrontStage.java b/TeamCode/src/main/java/opmodes/RedFrontStage.java
index 4764f12..8de80a6 100644
--- a/TeamCode/src/main/java/opmodes/RedFrontStage.java
+++ b/TeamCode/src/main/java/opmodes/RedFrontStage.java
@@ -17,7 +17,7 @@ public class RedFrontStage extends AutoBase {
         super(
                 CenterStageCommon.Alliance.Red,
                 new Pose2d(-36, -63, Math.toRadians(90)),
-                new Pose2d(62, -12));
+                new Pose2d(61, -12));
     }
 
     // propLeft will be a reverse of BlueFrontpropRight
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
index aac79e1..fa29457 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Camera.java
@@ -19,7 +19,7 @@ import org.opencv.core.Point;
 @Config
 public class Camera {
     public static float PROP_REJECTION_VERTICAL_UPPER = 150;
-    public static float PROP_REJECTION_VERTICAL_LOWER = 250;
+    public static float PROP_REJECTION_VERTICAL_LOWER = 275;
     private PropDetectionPipeline prop;
     private AprilTagProcessor aprilTag;
     private VisionPortal visionPortal;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java
index ec695a2..218b56d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/Gantry.java
@@ -101,7 +101,7 @@ public class Gantry {
     }
 
     public void intake() {
-        this.screwServo.setPower(-1);
+        this.screwServo.setPower(1);
     }
 
     public void deposit() {