diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index d1f891b..5b80f6a 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -69,8 +69,10 @@ private:
 
 	LiveWindow *lw = LiveWindow::GetInstance();
 	SendableChooser *chooser;
-	const std::string autoNameDefault = "Default";
-	const std::string autoNameCustom = "My Auto";
+	const std::string autoNameDefault = "1.7 Seconds (Slightly Longer)";
+	const std::string autoNameShort = "1.5 Seconds (Short, good on the moat)";
+	const std::string autoNameOne = "1 Seconds";
+	const std::string autoNameDisable = "Disable Autonomous (set time to 0)";
 	std::string autoSelected;
 
 	void LogCSVData()
@@ -206,8 +208,11 @@ public:
 	void RobotInit()
 	{
 		chooser = new SendableChooser();
+
 		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
-		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
+		chooser->AddObject(autoNameShort, (void*)&autoNameShort);
+		chooser->AddObject(autoNameOne, (void*)&autoNameOne);
+		chooser->AddObject(autoNameDisable, (void*)&autoNameDisable);
 		SmartDashboard::PutData("Auto Modes", chooser);
 		shooter1.Enable();
 		shooter2.Enable();
@@ -231,50 +236,46 @@ public:
 		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
 		std::cout << "Auto selected: " << autoSelected << std::endl;
 
-		if(autoSelected == autoNameCustom){
-			//Custom Auto goes here
-		} else {
-			//Default Auto goes here
-			auto_status = START;
-		}
+		auto_status = START;
 	}
 
 	void AutonomousPeriodic()
 	{
 		const float drivePower = 1;
-		const float driveTime = 3; //Seconds to drive forward
+		float driveTime = 1.7;
 		LogCSVData();
-		if(autoSelected == autoNameCustom){
-			//Custom Auto goes here
-		} else {
-			//Default Auto goes here
-			switch (auto_status)
+		if (autoSelected == autoNameDisable) driveTime = 0;
+		else if (autoSelected == autoNameShort) driveTime = 1.5;
+		else if (autoSelected == autoNameOne) driveTime = 1;
+		else driveTime = 1.7;
+
+		//Default Auto goes here
+		switch (auto_status)
+		{
+		case START:
+		{
+			auto_clock.Start();
+			auto_status = DRIVING_FORWARD;
+			break;
+		}
+		case DRIVING_FORWARD:
+		{
+			if (auto_clock.Get() > driveTime)
 			{
-				case START:
-				{
-					auto_clock.Start();
-					auto_status = DRIVING_FORWARD;
-					break;
-				}
-				case DRIVING_FORWARD:
-				{
-					if (auto_clock.Get() > driveTime)
-					{
-						drive.TankDrive(0.0, 0.0);
-						auto_status = STOP;
-					}
-					else
-					{
-						drive.TankDrive(drivePower, drivePower);
-					}
-					break;
-				}
-				case STOP:
-				{
-					std::cout << "All done!\n" ;
-					break;
-				}
+				drive.TankDrive(0.0, 0.0);
+				auto_status = STOP;
 			}
+			else
+			{
+				drive.TankDrive(drivePower, drivePower);
+			}
+			break;
+		}
+		case STOP:
+		{
+			std::cout << "All done!\n" ;
+			break;
+		}
 		}
 	}