diff --git a/missions/M8_5.py b/missions/M8_5.py
index 95ecc9e..c91d27a 100644
--- a/missions/M8_5.py
+++ b/missions/M8_5.py
@@ -19,31 +19,44 @@ drive_base.settings(600,500,300,200)
 drive_base.use_gyro(True)
 
 async def main():
-    left_arm.run_angle(1000, 300)
-    right_arm.run_angle(1000,500)
-    await drive_base.straight(320)
+    
+    right_arm.run_angle(1000,450)
+    left_arm.run_angle(500,-80)
+    await drive_base.straight(200)
 
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
-    await right_arm.run_angle(5000,500, Stop.HOLD)
-    await right_arm.run_angle(5000,-500, Stop.HOLD)
+    await drive_base.turn(-40)
+    await drive_base.straight(325)
+    await left_arm.run_angle(500,80)
 
-    await drive_base.turn(-20)
-    await drive_base.straight(277)
-    await drive_base.turn(20)
-    await drive_base.straight(65)
+    await drive_base.straight(-100)
+    await drive_base.straight(50)
+    await left_arm.run_angle(500,-170)
+
+    await drive_base.straight(-270)
+    await drive_base.turn(40)
+    await drive_base.straight(135)
+    left_arm.run_angle(1000,-670)
+
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    await right_arm.run_angle(5000,450, Stop.HOLD)
+    await right_arm.run_angle(5000,-450, Stop.HOLD)
+    right_arm.run_angle(5000,450, Stop.HOLD)
+
+    await drive_base.turn(-35)
+    await drive_base.straight(300)
+    await drive_base.turn(63)
+    await drive_base.straight(170)
+
+    await drive_base.turn(-80)
+    await drive_base.straight(87)
+    await drive_base.turn(-15)
+
+    await drive_base.straight(-120)
+    await drive_base.turn(-100)
+    await drive_base.straight(300)
+    await drive_base.turn(-45)
+    await drive_base.straight(500)
 
-    await drive_base.turn(-30)
-    right_arm.run_angle(50,500)
-    await drive_base.turn(45)
-    await drive_base.straight(-145)
-    await drive_base.turn(-60)
-    await drive_base.straight(90)
-    await left_arm.run_angle(1000,-450)
-    await drive_base.straight(-145)
-    await left_arm.run_angle(1000,450)
-    await drive_base.straight(10)
-    await drive_base.turn(35)
-    await drive_base.straight(-600)
 run_task(main())
\ No newline at end of file