diff --git a/main.c b/main.c
index b33f95f..b25d77d 100644
--- a/main.c
+++ b/main.c
@@ -1,11 +1,11 @@
- #pragma config(I2C_Usage, I2C1, i2cSensors)
+#pragma config(I2C_Usage, I2C1, i2cSensors)
 #pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
 #pragma config(Sensor, I2C_2,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
 #pragma config(Motor,  port1,            ,             tmotorVex393_HBridge, openLoop)
 #pragma config(Motor,  port2,           shoot,         tmotorVex393_MC29, openLoop, reversed)
-#pragma config(Motor,  port3,           driveLB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_1)
+#pragma config(Motor,  port3,           driveLB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_2)
 #pragma config(Motor,  port4,           driveLF,       tmotorVex393_MC29, openLoop, reversed)
-#pragma config(Motor,  port5,           driveRB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_2)
+#pragma config(Motor,  port5,           driveRB,       tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_1)
 #pragma config(Motor,  port6,           driveRF,       tmotorVex393_MC29, openLoop)
 #pragma config(Motor,  port7,           bintake,       tmotorVex393_MC29, openLoop, reversed)
 #pragma config(Motor,  port8,            ,             tmotorVex393_MC29, openLoop)
@@ -37,7 +37,7 @@ void shootBall() {
 	wait(1.25); // Shooting takes 1.25 seconds.
 	motor[shoot] = STOP;
 }
-
+void clearEnc();
 void joystickDrive() {
   if(abs(vexRT[Ch3]) > DEADZONE) {
     motor[driveLB] = vexRT[Ch3];
@@ -82,46 +82,50 @@ void pre_auton() {
   bStopTasksBetweenModes = true;
 }
 
-void driveTiles(int numberOfTiles, boolean direction) {
-  
-	while(direction && numberOfTiles * TILE > nMotorEncoder[1]) [
-		if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
+void driveTiles(int numberOfTiles, bool direction) {
+	clearEnc();
+	while(direction && numberOfTiles * TILE > nMotorEncoder[1]) {
+			if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
     		motor[driveLB] = 100;
     		motor[driveLF] = 100; 
-      		motor[driveRB] = 90;
+      	motor[driveRB] = 90;
     		motor[driveRF] = 90;
     	}
-      	if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
+      if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
     		motor[driveLB] = 90;
     		motor[driveLF] = 90; 
-      		motor[driveRB] = 100;
+      	motor[driveRB] = 100;
     		motor[driveRF] = 100;
     	} else {
-      		motor[driveLB] = 100;
+      	motor[driveLB] = 100;
     		motor[driveLF] = 100; 
-      		motor[driveRB] = 100;
+      	motor[driveRB] = 100;
     		motor[driveRF] = 100;
     	}
 	}
-    while(!direction && numberOfTiles * TILE > nMotorEncoder[1]) [
-		if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
+    while(!direction && numberOfTiles * TILE > nMotorEncoder[1]) {
+			if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
     		motor[driveLB] = -100;
     		motor[driveLF] = -100; 
-      		motor[driveRB] = -90;
+      	motor[driveRB] = -90;
     		motor[driveRF] = -90;
     	}
-      	if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
+      if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
     		motor[driveLB] = -90;
     		motor[driveLF] = -90; 
-      		motor[driveRB] = -100;
+      	motor[driveRB] = -100;
     		motor[driveRF] = -100;
     	} else {
-      		motor[driveLB] = -100;
+      	motor[driveLB] = -100;
     		motor[driveLF] = -100; 
-      		motor[driveRB] = -100;
+      	motor[driveRB] = -100;
     		motor[driveRF] = -100;
     	}
 	}
+	motor[driveLB] = 0;
+  motor[driveLF] = 0; 
+  motor[driveRB] = 0;
+  motor[driveRF] = 0;
 }
 task autonomous() {
 	shootBall();
@@ -129,10 +133,14 @@ task autonomous() {
     //driveTiles(1, false);
 }
 void turnRight(int turns) {
-    while(turns * 360 < nMotorEncoder[1]
+  while(turns * 360 < nMotorEncoder[1]){
+    	
+  }
 }
 void turnLeft(int turns) {
-      
+  while(turns * 360 < nMotorEncoder[1]){
+    	
+  }  
 }
       
 void clearEnc() {