diff --git a/discovery-phase/missions/Mission 11, 6+More-Rishabh b/discovery-phase/missions/Mission 11, 6+More-Rishabh
index 9ca2a2b..8bc3582 100644
--- a/discovery-phase/missions/Mission 11, 6+More-Rishabh	
+++ b/discovery-phase/missions/Mission 11, 6+More-Rishabh	
@@ -31,30 +31,31 @@ def set_speed(straight_speed, st_acc, turn_speed, turn_acc):
 
 #Run code
 drive_base.straight(50)#Was 50
-drive_base.turn(-43.75)#42 Mostly works
-drive_base.straight(735)#Was 750
+drive_base.turn(-49)#42 Mostly works
+drive_base.straight(700)#Was 735
 #left_arm.run_angle(1500,-100)#Was 1000,And was -30
 #wait(1000)
 #drive_base.straight(330)
-drive_base.turn(80)#Was 80
+drive_base.turn(40)#Was 80
 set_speed(100,300,300,200)
-drive_base.straight(350)#Was 400
+drive_base.straight(100)
+drive_base.turn(47)#Was 37
+drive_base.straight(320)#Was 300-350
 drive_base.straight(-110)#Was -125
 set_default_speed
-drive_base.turn(87)#Was 90
+drive_base.turn(85)#Was 87
 #right_arm.run_angle(1000, -30)#Was -47
-drive_base.straight(100)
-drive_base.turn(-70)
-left_arm.run_angle(1000,180)
-drive_base.straight(55)
-drive_base.turn(-30)#Was Positive 30
-#left_arm.run_angle(2000,-180)
-drive_base.straight(-20)
-drive_base.straight(-200)
-drive_base.turn(120)
-#Going back
-drive_base.straight(700)
-
+drive_base.straight(50)#150
+drive_base.turn(-67)#Was -73
+print("Mycellium")
+left_arm.run_angle(1000,180)#Towards Mycellium
+drive_base.straight(75)#Was 75
+drive_base.turn(-10)#Was Positive 30
+drive_base.straight(3)
+set_speed(1000,300,300,200)
+left_arm.run_angle(102020,-180)
+drive_base.turn(70)#Orignal 120
+drive_base.straight(300)