diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
index 63a05cf..26f4a3d 100644
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -143,14 +143,14 @@ async def Run4():  # From Send_Over_Final.py
 # Add Rishi's code here
 async def Run5(): 
     await drive_base.straight(700)
-    await drive_base.turn(-18)
-    await drive_base.straight(100)
-    await drive_base.straight(-205)
+    await drive_base.turn(-20)
+    await drive_base.straight(110)
+    await drive_base.straight(-220)
     await drive_base.turn(63)
-    await drive_base.straight(125)
-    await arm_motor.run_angle(1000, -1200)
+    await drive_base.straight(130)
+    await right_arm.run_angle(1000, -1200)
     await drive_base.straight(84)
-    await arm_motor.run_angle(300, 1200)
+    await right_arm.run_angle(300, 1200)
     await drive_base.straight(-875)
 
 # Add - Adi's code here