diff --git a/src/org/usfirst/frc/team365/robot/CenterLeftGentleTurnsAlternative.java b/src/org/usfirst/frc/team365/robot/CenterLeftGentleTurnsAlternative.java
new file mode 100644
index 0000000..5613207
--- /dev/null
+++ b/src/org/usfirst/frc/team365/robot/CenterLeftGentleTurnsAlternative.java
@@ -0,0 +1,171 @@
+package org.usfirst.frc.team365.robot;
+
+// Original author: Audrey
+
+public class CenterLeftGentleTurns {
+	
+	public static final double INCHES = Robot.INCHES_TO_ENCTICKS;
+	public static final double FEET = 12 * INCHES;
+	
+	static void run(Robot us) {
+	
+		switch(us.autoStep) {
+		
+		case 1:
+			AutoSimplify.deployGrabber(us);
+			AutoSimplify.halfTurnLeft(us, -45, .8);
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			break;
+		case 2:
+			AutoSimplify.deployGrabber(us);
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.goStraight(us, 60 * INCHES, -45, .5);
+			break;
+		case 3:
+			AutoSimplify.deployGrabber(us);
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.halfTurnRight(us, 0, .8);
+			break;
+
+		case 4:
+			AutoSimplify.deployGrabber(us);
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.goStraight(us, 13 * INCHES, 0, .5);
+			break;
+			
+		case 5:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.launchCube(us); 
+			break;
+			
+		case 6:
+			AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT);
+//			AutoSimplify.goStraight(us, 54 * INCHES, 0, -0.4); //2.75
+			AutoSimplify.goStraight(us, 2.1*FEET, 0, -0.5);  // alternate back up with slow turns
+			break;
+			
+		case 7:
+			AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT);
+			AutoSimplify.openGrabber(us);
+//			AutoSimplify.autoPIDTurn(us, 90);
+			AutoSimplify.halfTurnLeft(us, -65, -0.8);  // alternate back up with slow turns
+			break;
+			
+		case 8:
+			AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT);
+			AutoSimplify.openGrabber(us);
+//			AutoSimplify.goStraight(us, 4.0 * FEET, 90, 0.4); //3.2,, 4.6
+			AutoSimplify.goStraight(us, 3.1*FEET, -65, -0.5);  // alternate back up with slow turns
+			break;
+		
+		case 9:
+			AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT);
+			AutoSimplify.autoPIDTurn(us, 0);
+			AutoSimplify.openGrabber(us);
+			break;
+			
+		case 10:
+			AutoSimplify.lowerElevator(us, us.BOTTOM_HEIGHT);
+			AutoSimplify.goStraight(us, 15 * INCHES, 0, 0.4); //1.2
+			break;
+		
+			
+		case 11:
+			AutoSimplify.grabCube(us); 
+			break;
+			
+		case 12:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.autoPIDTurn(us, -70); //-70 
+			break;
+			
+		case 13:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.goStraight(us, 3.0 * FEET, -70, 0.5); //check distance? i'm guessing to short,, nope too long
+			break;
+			
+		case 14:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.halfTurnRight(us, -2, 0.8);
+			/*if (us.navX.getYaw() >= -3) {
+				us.driveRobot(0, 0);
+				us.resetDriveEncoders();
+				us.autoStep = 4;
+			}
+			else 
+				us.driveRobot(0.6, 0);*/
+			//AutoSimplify.autoPIDTurn(us, 0);
+			break;
+		case 15:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.goStraight(us, 12 * INCHES, -2, 0.5);
+			break;
+			
+		case 16:
+			AutoSimplify.raiseElevator(us, us.HEIGHT_FOR_SWITCH);
+			AutoSimplify.launchCube(us);
+			us.driveRobot(0, 0);
+			break;
+			
+		case 17:
+			us.driveRobot(0, 0);
+			break;
+
+
+			
+		/* case 1:
+			//goStraight(encoderTicks, navx setPoint, startPower - forwards/backwards is pos/neg)
+			us.goStraight(2 * FEET, 0, 0.5);
+			break;
+			
+		case 2:
+			//turnToAngle(navx setPoint, maxPower)
+			us.turnToAngle(-52, 1);
+			break;
+			
+		case 3:
+			us.goStraight(6 * FEET, -55, 0.5);
+			break;
+		
+		case 4:
+			us.turnToAngle(0, 1);
+			break;
+			
+		case 5:
+			us.goStraight(2.24 * FEET, 0, 0.5);
+			us.autoTimer.reset();
+			break;
+			
+		case 6:
+			if (us.autoTimer.get() > 1.0) {
+				us.autoTimer.reset();
+				us.autoStep = 7;
+			}
+			break;
+			
+		case 7:
+			us.goStraight(4 * FEET, 0, -0.5);
+			break;
+			
+		case 8: 
+			us.turnToAngle(90, 1);
+			break;
+			
+		case 9:
+			us.goStraight(4.167 * FEET, 90, 0.5);
+			break;
+		
+		case 10:
+			us.turnToAngle(0, 1);
+			break;
+		
+		
+		*/
+		
+		
+		
+		}
+		
+	}
+	
+}