diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java
index b7ead0d..5589efb 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/DriveConstants.java
@@ -68,10 +68,10 @@ public class DriveConstants {
      * small and gradually increase them later after everything is working. All distance units are
      * inches.
      */
-    public static double MAX_VEL = 50;
-    public static double MAX_ACCEL = 50;
-    public static double MAX_ANG_VEL = Math.toRadians(60);
-    public static double MAX_ANG_ACCEL = Math.toRadians(60);
+    public static double MAX_VEL = 80;
+    public static double MAX_ACCEL = 80;
+    public static double MAX_ANG_VEL = Math.toRadians(360);
+    public static double MAX_ANG_ACCEL = Math.toRadians(660);
 
     /*
      * Adjust the orientations here to match your robot. See the FTC SDK documentation for details.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
index 3d43da9..e750a9d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/MecanumDrive.java
@@ -105,10 +105,13 @@ public class    MecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDr
                 DriveConstants.LOGO_FACING_DIR, DriveConstants.USB_FACING_DIR));
         imu.initialize(parameters);
 
+
         leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
         leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
         rightRear = hardwareMap.get(DcMotorEx.class, "rightRear");
         rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
+
+
         this.leftFront.setDirection(DcMotor.Direction.REVERSE);
         this.rightFront.setDirection(DcMotor.Direction.FORWARD);
         this.leftRear.setDirection(DcMotor.Direction.REVERSE);
@@ -329,8 +332,8 @@ public class    MecanumDrive extends com.acmerobotics.roadrunner.drive.MecanumDr
 
         this.setWeightedDrivePower(
                 new Pose2d(
-                        gamepad1.left_stick_y * -1 * speedScale,
-                        gamepad1.left_stick_x * -1 * speedScale,
+                        gamepad1.left_stick_y * speedScale,
+                        gamepad1.left_stick_x * speedScale,
                         -gamepad1.right_stick_x * turnScale
                 ));
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java
index 56ff661..2874259 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/hardware/roadrunner/drive/opmode/TurnTest.java
@@ -1,8 +1,10 @@
 package org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.opmode;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.arcrobotics.ftclib.gamepad.GamepadEx;
+import com.arcrobotics.ftclib.gamepad.GamepadKeys;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
@@ -11,10 +13,10 @@ import org.firstinspires.ftc.teamcode.hardware.roadrunner.drive.MecanumDrive;
  * This is a simple routine to test turning capabilities.
  */
 @Config
-@Disabled
 @Autonomous(group = "drive")
 public class TurnTest extends LinearOpMode {
     public static double ANGLE = 90; // deg
+    public static double DISTANCE = 24;
 
     @Override
     public void runOpMode() throws InterruptedException {
@@ -24,6 +26,25 @@ public class TurnTest extends LinearOpMode {
 
         if (isStopRequested()) return;
 
-        drive.turn(Math.toRadians(ANGLE));
+        GamepadEx controller = new GamepadEx(this.gamepad1);
+        boolean zig = false;
+        while (opModeIsActive() && !isStopRequested()) {
+            controller.readButtons();
+            if (controller.wasJustPressed(GamepadKeys.Button.A)) {
+                drive.turn(Math.toRadians(ANGLE));
+            }
+
+            if (controller.wasJustPressed(GamepadKeys.Button.B)) {
+                TrajectoryBuilder builder = drive.trajectoryBuilder(drive.getPoseEstimate());
+                if (zig) {
+                    zig = false;
+                    builder.forward(DISTANCE);
+                } else {
+                    zig = true;
+                    builder.forward(-DISTANCE);
+                }
+                drive.followTrajectory(builder.build());
+            }
+        }
     }
 }