diff --git a/twist_scrimmage.py b/twist_scrimmage.py
index 9e066f7..8f68b24 100644
--- a/twist_scrimmage.py
+++ b/twist_scrimmage.py
@@ -204,26 +204,28 @@ async def Run3():
 
 async def Run4():
     await drive_base.straight(519)
-    await left_arm.run_angle(300, -100)
-    await left_arm.run_angle(300, 500)
+    await left_arm.run_angle(300, -200)
+    await left_arm.run_angle(800, 1000)
     await drive_base.straight(180)
     await drive_base.turn(-37)
+    await right_arm.run_angle(300, -50)
     await drive_base.straight(50)
-    await right_arm.run_angle(300, -400)
+    await right_arm.run_angle(300, -350)
     await drive_base.straight(-150)
     await drive_base.turn(125)
     await drive_base.straight(50)
     await right_arm.run_angle(300, 400)
     await drive_base.straight(-75)
-    await right_arm.run_angle(300, 300)
+    await right_arm.run_angle(300, -200)
     await drive_base.turn(-40)
-    await drive_base.straight(250)
+    await right_arm.run_angle(300, 250)
+    await drive_base.straight(260)
     await right_arm.run_angle(100, -300)
     await drive_base.straight(30)
     await right_arm.run_angle(50,-250)
     await drive_base.turn(30)
     await drive_base.straight(-200)
-    await drive_base.turn(-50)
+    await drive_base.turn(-67)
     await drive_base.straight(-800)
 
 async def Run5():