diff --git a/main.c b/main.c
index 642d94b..1808c3b 100644
--- a/main.c
+++ b/main.c
@@ -137,8 +137,28 @@ void driveTiles(int numberOfTiles, bool direction) {
 }
 task autonomous() {
 	shootBall();
-	driveTiles(2, true); // Move 2 forward to hit bottom flag
-    //driveTiles(1, false);
+	driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
+  driveTiles(1, REVERSE);
+  turnRight(1);
+  driveTiles(0.33, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
+  flipOn(); // Turn on the ball intake in reverse, which is what we can use to flip the caps
+  driveTiles(1.25, FORWARD); // flip cap
+  ballOff();
+  driveTiles(1, REVERSE);
+  turnLeft(1);
+  driveTiles(1, REVERSE);
+  turnRight(1);
+  driveTiles(0.33, REVERSE);
+  driveTiles(2.5, FORWARD);
+  ballIn();
+  delay(100);
+  driveTiles(0.1, FORWARD);
+  turnLeft(1);
+  driveTiles(0.33, REVERSE);
+  delay(1000);
+  ballOff();
+  shootBall();
+
 }
 void turnRight(int turns) {
   while(turns * POINTS_PER_TURN < nMotorEncoder[1]){
@@ -155,6 +175,15 @@ void clearEnc() { // Reset driving motor encoder values to 0
     nMotorEncoder[1] = 0;
     nMotorEncoder[2] = 0;    
 }
+void flipOn() {
+  motor[bintake] = -MAX_SPEED;
+}
+void ballOff() {
+  motor[bintake] = 0;
+}
+void ballIn() {
+  motor[bintake] = MAX_SPEED;
+}
 task usercontrol() { // In user control mode
   while (true) {
     joystickDrive(); // Joystick mapping function