diff --git a/TeamCode/src/main/java/opmodes/AutoBase.java b/TeamCode/src/main/java/opmodes/AutoBase.java
index 6bbd0f9..de9b536 100644
--- a/TeamCode/src/main/java/opmodes/AutoBase.java
+++ b/TeamCode/src/main/java/opmodes/AutoBase.java
@@ -26,6 +26,7 @@ public abstract class AutoBase extends LinearOpMode {
     public static double SCORING_DURATION_S =  5f;
     public static double APRIL_TAG_RIGHT_DELTA = -8.5;
     public static double APRIL_TAG_LEFT_DELTA = 7.0;
+    protected static double Delay = 5000;
 
     protected Robot robot;
     protected FtcDashboard dashboard;
@@ -35,6 +36,7 @@ public abstract class AutoBase extends LinearOpMode {
     protected final CenterStageCommon.Alliance alliance;
     protected final Pose2d park;
 
+
     protected AutoBase(CenterStageCommon.Alliance alliance, Pose2d initialPosition, Pose2d park) {
         this.alliance = alliance;
         this.initialPosition = initialPosition;
@@ -53,7 +55,6 @@ public abstract class AutoBase extends LinearOpMode {
             this.robot.update();
             this.sleep(20);
         }
-        this.sleep(5000);
         if (isStopRequested()) {
             return;
         }
diff --git a/TeamCode/src/main/java/opmodes/BlueFrontStage.java b/TeamCode/src/main/java/opmodes/BlueFrontStage.java
index b49ff00..23c4f97 100644
--- a/TeamCode/src/main/java/opmodes/BlueFrontStage.java
+++ b/TeamCode/src/main/java/opmodes/BlueFrontStage.java
@@ -21,6 +21,7 @@ public class BlueFrontStage extends AutoBase {
     }
 
     protected void propLeft() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToLinearHeading(new Pose2d(-52, 31, Math.toRadians(-180)));
         builder.lineToConstantHeading(new Vector2d(-42, 31));
@@ -36,6 +37,7 @@ public class BlueFrontStage extends AutoBase {
         this.robot.getDrive().followTrajectorySequence(builder.build());
     }
     protected void propCenter() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToConstantHeading(rendezvous.vec());
         builder.addDisplacementMarker(10, () -> {
@@ -50,6 +52,7 @@ public class BlueFrontStage extends AutoBase {
         this.robot.getDrive().followTrajectorySequence(builder.build());
     }
     protected void propRight() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToLinearHeading(new Pose2d(-54, 17, Math.toRadians(-123)));
         builder.addDisplacementMarker(10, () -> {
diff --git a/TeamCode/src/main/java/opmodes/RedBackStage.java b/TeamCode/src/main/java/opmodes/RedBackStage.java
index f544091..c729c66 100644
--- a/TeamCode/src/main/java/opmodes/RedBackStage.java
+++ b/TeamCode/src/main/java/opmodes/RedBackStage.java
@@ -48,8 +48,9 @@ public class RedBackStage extends AutoBase {
     }
 
     protected void propRight() {
+        // red back side
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
-        builder.lineToLinearHeading(new Pose2d(36, 25, Math.toRadians(-33)));
+        builder.lineToLinearHeading(new Pose2d(36, -25, Math.toRadians(-33)));
         builder.addDisplacementMarker(10, () -> {
             this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
         });
diff --git a/TeamCode/src/main/java/opmodes/RedFrontStage.java b/TeamCode/src/main/java/opmodes/RedFrontStage.java
index 508ec43..4764f12 100644
--- a/TeamCode/src/main/java/opmodes/RedFrontStage.java
+++ b/TeamCode/src/main/java/opmodes/RedFrontStage.java
@@ -22,6 +22,7 @@ public class RedFrontStage extends AutoBase {
 
     // propLeft will be a reverse of BlueFrontpropRight
     protected void propLeft() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToLinearHeading(new Pose2d(-58, -17, Math.toRadians(123)));
         builder.addDisplacementMarker(10, () -> {
@@ -37,6 +38,7 @@ public class RedFrontStage extends AutoBase {
     }
 
     protected void propCenter() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToConstantHeading(rendezvous.vec());
         builder.addDisplacementMarker(10, () -> {
@@ -53,6 +55,7 @@ public class RedFrontStage extends AutoBase {
 
     // propRight will be the reverse of BlueFrontpropRight
     protected void propRight() {
+        this.sleep(5000);
         TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
         builder.lineToLinearHeading(new Pose2d(-52, -31, Math.toRadians(-180)));
         builder.lineToConstantHeading(new Vector2d(-42, -31));
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 886eb54..aac79e1 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
@@ -18,8 +18,8 @@ import org.opencv.core.Point;
 
 @Config
 public class Camera {
-    public static float PROP_REJECTION_VERTICAL_UPPER = 250;
-    public static float PROP_REJECTION_VERTICAL_LOWER = 370;
+    public static float PROP_REJECTION_VERTICAL_UPPER = 150;
+    public static float PROP_REJECTION_VERTICAL_LOWER = 250;
     private PropDetectionPipeline prop;
     private AprilTagProcessor aprilTag;
     private VisionPortal visionPortal;