diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/PsiBot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/PsiBot.java
index 8fbd664e..74fe7fc8 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/PsiBot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/drive/PsiBot.java
@@ -2,6 +2,7 @@
 
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.roadrunner.control.PIDCoefficients;
+import com.acmerobotics.roadrunner.geometry.Pose2d;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -65,9 +66,10 @@ public static double getMotorVelocityF(double ticksPerSecond) {
     public static double FORWARD_OFFSET = -7.5;
 
     private Encoder leftEncoder, rightEncoder, frontEncoder;
-    public static double X_MULTIPLIER = 96.0/94.8; // Multiplier in the X direction
+    public static double X_MULTIPLIER = 1; // Multiplier in the X direction
     // BAD: 92.8 93.3 92.9
-    public static double Y_MULTIPLIER = 96.0/89.2; // Multiplier in the Y direction
+    public static double Y_MULTIPLIER = 1; // Multiplier in the Y direction
+
     // BAD: 87.8 87.2 87.8
 
     public final Servo purpleServo;
@@ -79,9 +81,9 @@ public static double getMotorVelocityF(double ticksPerSecond) {
     public PsiBot(HardwareMap hardwareMap) {
         super(hardwareMap);
         cameras = new AprilTagCamera[3];
-        cameras[0] = new AprilTagCamera(hardwareMap.get(WebcamName.class, "Left"), 5.5, -6.5);
+        cameras[0] = new AprilTagCamera(hardwareMap.get(WebcamName.class, "Left"), 5.5, -5);
         cameras[1] = new AprilTagCamera(hardwareMap.get(WebcamName.class, "Center"), 0, 0);
-        cameras[2] = new AprilTagCamera(hardwareMap.get(WebcamName.class, "Right"), 5.5, 6.5);
+        cameras[2] = new AprilTagCamera(hardwareMap.get(WebcamName.class, "Right"), 5.5, 5);
 
         purpleServo = hardwareMap.get(Servo.class, "purple");
         planeServo = hardwareMap.get(Servo.class, "plane");
@@ -125,6 +127,7 @@ public PsiBot(HardwareMap hardwareMap) {
                 DW_GEAR_RATIO,
                 DW_WHEEL_RADIUS,
                 DW_TICKS_PER_REV
+
         );
         drive.leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
         drive.leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
@@ -148,12 +151,12 @@ public AprilTagCamera getPrimaryCamera() {
     public void dropPurplePixel(boolean state) {
         if (state) {
             //purpleServo.setPosition(1);
-            for (double i = 0; i < 0.7; i += 0.1) {
+            for (double i = .7; i > 0; i -= 0.1) {
                 purpleServo.setPosition(i);
                 //GlobalOpMode.opMode.sleep(10);
             }
         } else {
-            purpleServo.setPosition(0);
+            purpleServo.setPosition(.7);
         }
     }
 
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/GoToBoard.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/GoToBoard.java
index 2a4ebbfb..931623bc 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/GoToBoard.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/GoToBoard.java
@@ -34,13 +34,15 @@ public void drive() {
 
         if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE) {
             trajB = trajB.lineTo(new Vector2d(startPose.getX(), -12))
-                    .lineTo(new Vector2d(40, -12));
+                    .lineTo(new Vector2d(40, -12))
+                    .turn(Math.toRadians(-8));
+
             if (propPos == TensorFlowDetection.PropPosition.LEFT) {
-                trajB = trajB.lineTo(new Vector2d(40, -28.25));
+                trajB = trajB.lineTo(new Vector2d(56, -28.25));
             } else if (propPos == TensorFlowDetection.PropPosition.RIGHT) {
-                trajB = trajB.lineTo(new Vector2d(40, -42.5));
+                trajB = trajB.lineTo(new Vector2d(56, -42.5));
             } else {
-                trajB = trajB.lineTo(new Vector2d(40, -35));
+                trajB = trajB.lineTo(new Vector2d(56, -35));
 
             }
             trajB = trajB.addTemporalMarker(() -> {
@@ -50,13 +52,15 @@ public void drive() {
 
         } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_BOARD) {
             trajB = trajB.lineTo(new Vector2d(startPose.getX(), -12))
-                    .lineTo(new Vector2d(40, -12));
+                    .lineTo(new Vector2d(40, -12))
+                                .turn(Math.toRadians(-8));
+
             if (propPos == TensorFlowDetection.PropPosition.LEFT) {
-                trajB = trajB.lineTo(new Vector2d(40, -28.25));
+                trajB = trajB.lineTo(new Vector2d(56, -28.25));
             } else if (propPos == TensorFlowDetection.PropPosition.RIGHT) {
-                trajB = trajB.lineTo(new Vector2d(40, -42.5));
+                trajB = trajB.lineTo(new Vector2d(56, -42.5));
             } else {
-                trajB = trajB.lineTo(new Vector2d(40, -35));
+                trajB = trajB.lineTo(new Vector2d(56, -35));
 
             }
             trajB = trajB
@@ -68,18 +72,20 @@ public void drive() {
 
         } else if (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_BOARD) {
             trajB = trajB.lineTo(new Vector2d(startPose.getX(), 12))
-                    .lineTo(new Vector2d(40, 12));
+                    .lineTo(new Vector2d(40, 12))
+                    .turn(Math.toRadians(-8));
+
             if (propPos == TensorFlowDetection.PropPosition.LEFT) {
-                trajB = trajB.lineTo(new Vector2d(40, 28.25));
+                trajB = trajB.lineTo(new Vector2d(56, 33));
             } else if (propPos == TensorFlowDetection.PropPosition.RIGHT) {
-                trajB = trajB.lineTo(new Vector2d(40, 42.5));
+                trajB = trajB.lineTo(new Vector2d(56, 22));
             } else {
-                trajB = trajB.lineTo(new Vector2d(40, 35));
+                trajB = trajB.lineTo(new Vector2d(56, 28.5));
 
             }
             trajB = trajB
 
-                    .turn(Math.toRadians(90 - startPose.getHeading()))
+                    
                     //TODO:fix error with temporal marker because ryan is a dum dum
                     .addTemporalMarker(() -> {
                         android.util.Log.i("PLACE PIXEL", "Placed pixel at Blue Board");
@@ -88,21 +94,23 @@ public void drive() {
 
 
         } else {
-            trajB = trajB.lineTo(new Vector2d(startPose.getX(), 12))
-                    .lineTo(new Vector2d(40, 12));
+            trajB = trajB.lineTo(new Vector2d(startPose.getX(), 8))
+                    .lineTo(new Vector2d(40, 8))
+                    .turn(Math.toRadians(-8));
+
             if (propPos == TensorFlowDetection.PropPosition.LEFT) {
-                trajB = trajB.lineTo(new Vector2d(40, 28.25));
+                trajB = trajB.lineTo(new Vector2d(56, 28.25));
             } else if (propPos == TensorFlowDetection.PropPosition.RIGHT) {
-                trajB = trajB.lineTo(new Vector2d(40, 42.5));
+                trajB = trajB.lineTo(new Vector2d(56, 42.5));
             } else {
-                trajB = trajB.lineTo(new Vector2d(40, 38.5));
+                trajB = trajB.lineTo(new Vector2d(56, 38.5));
             }
             trajB = trajB
 
                     .addTemporalMarker(() -> {
                         android.util.Log.i("PLACE PIXEL", "Placed pixel at Blue Board");
                     })
-                    .turnTo(0);
+                    .turnTo(Math.toRadians(0));
 
 
         }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
index 1b1ff8da..bbe8ff7d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/components/PurplePixelComponent.java
@@ -4,6 +4,7 @@
 
 import com.acmerobotics.roadrunner.geometry.Vector2d;
 
+import org.firstinspires.ftc.teamcode.drive.PsiBot;
 import org.firstinspires.ftc.teamcode.drive.Robot;
 import org.firstinspires.ftc.teamcode.drive.RoboticaBot;
 import org.firstinspires.ftc.teamcode.trajectorysequence.TrajectorySequence;
@@ -41,6 +42,8 @@ private Vector2d currentTapeMarks() {
 
     @Override
     public void drive() {
+        double PURPLE_X_OFFSET=0;
+        double PURPLE_Y_OFFSET=0;
 
         TrajectorySequenceBuilder trajB = getRobot().getDrive().trajectorySequenceBuilder(getRobot().getDrive().getPoseEstimate());
         trajB.lineTo(currentTapeMarks());
@@ -49,26 +52,41 @@ public void drive() {
         if (getRobot().getClass() == RoboticaBot.class) {
             //trajB = trajB.turn(Math.toRadians(180));
             driveBackwards = -1;
+        } else {
+             PURPLE_X_OFFSET=7.5;
+             PURPLE_Y_OFFSET=11.5;
         }
 
         if (propPosition == TensorFlowDetection.PropPosition.LEFT) {
             trajB.turn(Math.toRadians(90))
                     .forward(8 * driveBackwards); // orig 13
+            trajB.waitSeconds(1)
+                    .addTemporalMarker(() -> getRobot().dropPurplePixel(true))
+                    .waitSeconds(2);
         } else if (propPosition == TensorFlowDetection.PropPosition.RIGHT) {
             trajB.turn(Math.toRadians(-90))
                     .forward(12 * driveBackwards);
+            trajB.waitSeconds(1)
+                    .addTemporalMarker(() -> getRobot().dropPurplePixel(true))
+                    .waitSeconds(2);
         } else {
             if (moveTowardsCenter) {
                 trajB.turn(Math.toRadians(180))
-                        .forward(-16 * driveBackwards);
+                        .forward(-20 * driveBackwards)
+                        .forward(8 * driveBackwards + PURPLE_Y_OFFSET);
+                trajB.waitSeconds(1)
+                        .addTemporalMarker(() -> getRobot().dropPurplePixel(true))
+                        .waitSeconds(2);
+                if (getRobot().getClass() == PsiBot.class) {
+                trajB.forward(4 * driveBackwards)
+                            .strafeLeft(16);
+                }
             } else {
                 trajB.forward(10 * driveBackwards);
             }
         }
 
-        trajB.waitSeconds(1)
-                .addTemporalMarker(() -> getRobot().dropPurplePixel(true))
-                .waitSeconds(2);
+
 
         //if (propPosition == TensorFlowDetection.PropPosition.CENTER && (getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.BLUE_AUDIENCE || getRobot().getDrive().currentQuadrant() == TrajectoryDrive.Quadrant.RED_AUDIENCE )) {
         if (moveTowardsCenter && propPosition == TensorFlowDetection.PropPosition.CENTER) {