diff --git a/discovery-phase/missions/Showcase_codes.py b/discovery-phase/missions/Showcase_codes.py
index 967f9ff..a4288a1 100644
--- a/discovery-phase/missions/Showcase_codes.py
+++ b/discovery-phase/missions/Showcase_codes.py
@@ -263,7 +263,7 @@ async def Run2_1():  # Drone Survey, Experimental - Johannes
 
 async def Run3(): # Window to the Past, Leaf Cutter, Humongous Fungus, Experimental - Johannes
 
-    await drive_base.straight(110)
+   await drive_base.straight(98)
     await drive_base.turn(-45)
     await drive_base.straight(300)
     await right_arm.run_angle(300,120)
@@ -272,19 +272,19 @@ async def Run3(): # Window to the Past, Leaf Cutter, Humongous Fungus, Experimen
     await drive_base.straight(250)
     await drive_base.turn(40)
     set_speed(100,200,300,200)
-    await drive_base.straight(170)
-    await drive_base.straight(-135)
-    await drive_base.turn(80)
-    await drive_base.straight(230)
-    set_speed(600, 500, 300, 200)
+    await drive_base.straight(177)
     await drive_base.straight(-145)
+    await drive_base.turn(85)
+    await drive_base.straight(232)
+    set_speed(600, 500, 300, 200)
+    await drive_base.straight(-138)
     await multitask(
         drive_base.turn(-36),
         right_arm.run_angle(200,-140)
     )
     set_speed(100,200,300,200)
     await drive_base.straight(230)
-    await right_arm.run_angle(300,160)
+    await right_arm.run_angle(300,105)
     await wait(200)
     await drive_base.turn(-90)
     await drive_base.straight(-170)