diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
index 6ed5bec..0823dc9 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Autonomous/States/SodiPizzaAutoTurnState.java
@@ -85,17 +85,46 @@ public class SodiPizzaAutoTurnState extends CyberarmState {
 
         readyToTurn = engine.blackboardGet("readyToTurn");
 
-        targetRot = -90;
-
         currentRot = robot.imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
 
         CalculateNeededRot();
 
-        if (readyToTurn == 1 && Math.abs(neededRot) > 10) {
+        if (readyToTurn == 0) {
+            targetRot = 0;
+
+            if (currentRot < targetRot - 1) {
+
+                turnSpeedRaw = 0.5;
+                getTurnSpeed();
+
+                robot.rightFront.setPower(robot.leftFront.getPower() + turnSpeed);
+                robot.rightBack.setPower(robot.leftBack.getPower() + turnSpeed);
+            }
+
+        }
+
+        if (readyToTurn == 1 && targetRot != -90) {
+
+            targetRot = -90;
+            CalculateNeededRot();
+
+        }
+
+        if (currentRot >= -88) {
 
             turnSpeedRaw = 0.3;
             getTurnSpeed();
 
+            robot.leftFront.setPower(-turnSpeed);
+            robot.leftBack.setPower(-turnSpeed);
+            robot.rightFront.setPower(turnSpeed);
+            robot.rightBack.setPower(turnSpeed);
+
+        } else if (currentRot <= -92) {
+
+            turnSpeedRaw = 0.2;
+            getTurnSpeed();
+
             robot.leftFront.setPower(turnSpeed);
             robot.leftBack.setPower(turnSpeed);
             robot.rightFront.setPower(-turnSpeed);
diff --git a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
index 8e4ca89..71ff2ff 100644
--- a/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
+++ b/TeamCode/src/main/java/org/timecrafters/CenterStage/Common/SodiPizzaMinibotObject.java
@@ -54,10 +54,10 @@ public class SodiPizzaMinibotObject extends Robot {
         leftBack = engine.hardwareMap.dcMotor.get("leftBack");
         rightBack = engine.hardwareMap.dcMotor.get("rightBack");
 
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-        rightFront.setDirection(DcMotorSimple.Direction.FORWARD);
-        rightBack.setDirection(DcMotorSimple.Direction.FORWARD);
+        leftFront.setDirection(DcMotorSimple.Direction.FORWARD);
+        leftBack.setDirection(DcMotorSimple.Direction.FORWARD);
+        rightFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        rightBack.setDirection(DcMotorSimple.Direction.REVERSE);
 
         leftFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         rightFront.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);