diff --git a/final/main4.py b/final/main4.py
index 7dc67cc..098e8a4 100644
--- a/final/main4.py
+++ b/final/main4.py
@@ -25,13 +25,13 @@ async def Run1():
     await right_arm.run_angle(5000,500, Stop.HOLD)
     await right_arm.run_angle(5000,-500, Stop.HOLD)
     await drive_base.turn(-20)
-    await drive_base.straight(275)
+    await drive_base.straight(277)
     await drive_base.turn(20)
-    await drive_base.straight(63)
+    await drive_base.straight(65)
     await drive_base.turn(-30)
     right_arm.run_angle(50,500)
     await drive_base.turn(45)
-    await drive_base.straight(-135)
+    await drive_base.straight(-145)
     await drive_base.turn(-60)
     await drive_base.straight(90)
     await left_arm.run_angle(1000,-450)
@@ -39,7 +39,7 @@ async def Run1():
     await left_arm.run_angle(1000,450)
     await drive_base.straight(10)
     await drive_base.turn(35)
-    await drive_base.straight(-500)
+    await drive_base.straight(-600)
 async def Run2():
     await drive_base.straight(200)
     await drive_base.turn(-20)
@@ -51,15 +51,16 @@ async def Run2():
     await drive_base.turn(45)
     await drive_base.straight(50)
     await right_arm.run_angle(350,-1000)
+    await drive_base.straight(-100)
     await drive_base.turn(-100)
     await drive_base.straight(-600)
 async def Run3():
-    await drive_base.straight(915)
-    await drive_base.turn(-90)
-    await drive_base.straight(60)
-    await left_arm.run_angle(10000,-15000)
-    await drive_base.straight(-60)
-    await drive_base.turn(85)
+    await drive_base.straight(920)
+    await drive_base.turn(-90,Stop.HOLD)
+    await drive_base.straight(65)
+    await left_arm.run_angle(10000,-3000)
+    await drive_base.straight(-100)
+    await drive_base.turn(90)
     await drive_base.straight(2000)
 async def Run5():
     await drive_base.straight(420)