diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
index 0a739a9..bc1a211 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close_12Ball_Indexed.java
@@ -100,13 +100,23 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
 
     public static double spindexerSpeedIncrease = 0.03;
 
-    public static double obeliskTurrPos1 = 0.52;
-    public static double obeliskTurrPos2 = 0.53;
-    public static double obeliskTurrPos3 = 0.54;
+    public static double redObeliskTurrPos1 = 0.52;
+    public static double redObeliskTurrPos2 = 0.53;
+    public static double redObeliskTurrPos3 = 0.54;
+
+    public static double blueObeliskTurrPos1 = 0.28;
+    public static double blueObeliskTurrPos2 = 0.27;
+    public static double blueObeliskTurrPos3 = 0.26;
+    double obeliskTurrPos1 = 0.0;
+    double obeliskTurrPos2 = 0.0;
+    double obeliskTurrPos3 = 0.0;
     public static double normalIntakeTime = 3.0;
     public static double shoot1Turr = 0.57;
     public static double shoot0XTolerance = 1.0;
-    public static double turretShootPos = 0.52;
+    public static double redTurretShootPos = 0.52;
+    public static double blueTurretShootPos = 0.26;
+    double turretShootPos = 0.0;
+
     public static double shootAllTime = 1.8;
     public static double shoot0Time = 1.6;
     public static double intake1Time = 3.0;
@@ -799,6 +809,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 yShoot = rShootY;
                 hShoot = rShootH;
 
+                obeliskTurrPos1 = redObeliskTurrPos1;
+                obeliskTurrPos2 = redObeliskTurrPos2;
+                obeliskTurrPos3 = redObeliskTurrPos3;
+                turretShootPos = redTurretShootPos;
+
             } else {
                 robot.light.setPosition(0.6);
 
@@ -834,6 +849,11 @@ public class Auto_LT_Close_12Ball_Indexed extends LinearOpMode {
                 yShoot = bShootY;
                 hShoot = bShootH;
 
+                obeliskTurrPos1 = blueObeliskTurrPos1;
+                obeliskTurrPos2 = blueObeliskTurrPos2;
+                obeliskTurrPos3 = blueObeliskTurrPos3;
+                turretShootPos = blueTurretShootPos;
+
             }
 
             shoot0 = drive.actionBuilder(new Pose2d(0, 0, 0))
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
index 100cc66..f52fb10 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Poses.java
@@ -26,23 +26,23 @@ public class Poses {
     public static double rx4a = 75, ry4a = 53, rh4a = Math.toRadians(140);
     public static double rx4b = 45, ry4b = 83, rh4b = Math.toRadians(140.1);
 
-    public static double bx1 = 40, by1 = 7, bh1 = 0;
-    public static double bx2a = 45, by2a = -18, bh2a = Math.toRadians(-140);
-    public static double bx2b = 25, by2b = -38, bh2b = Math.toRadians(-140);
+    public static double bx1 = 20, by1 = 0.5, bh1 = Math.toRadians(0.1);
+    public static double bx2a = 41, by2a = -18, bh2a = Math.toRadians(-140);
+    public static double bx2b = 23, by2b = -36, bh2b = Math.toRadians(-140.1);
     public static double bx2c = 34, by2c = -50, bh2c = Math.toRadians(-140);
 
-    public static double bx3a = 55, by3a = -43, bh3a = Math.toRadians(-140);
-    public static double bx3b = 37, by3b = -61, bh3b = Math.toRadians(-140);
+    public static double bx3a = 55, by3a = -39, bh3a = Math.toRadians(-140);
+    public static double bx3b = 38, by3b = -56, bh3b = Math.toRadians(-140.1);
 
-    public static double bx4a = 72, by4a = -55, bh4a = Math.toRadians(-140);
-    public static double bx4b = 48, by4b = -79, bh4b = Math.toRadians(-140);
+    public static double bx4a = 75, by4a = -53, bh4a = Math.toRadians(-140);
+    public static double bx4b = 45, by4b = -83, bh4b = Math.toRadians(-140.1);
     public static double rfx1 = 10, rfy1 = 0, rfh1 = 0; //TODO: test this
 
     public static double rShootX = 40, rShootY = -7, rShootH = Math.toRadians(50);
     public static double rxPrep = 45, ryPrep = 10, rhPrep = Math.toRadians(50);
 
-    public static double bShootX = 20, bShootY = 30, bShootH = Math.toRadians(140);
-    public static double bxPrep = 50, byPrep = -10, bhPrep = Math.toRadians(140);
+    public static double bShootX = 40, bShootY = 7, bShootH = Math.toRadians(-50);
+    public static double bxPrep = 45, byPrep = -10, bhPrep = Math.toRadians(-50);
 
 
     public static Pose2d teleStart = new Pose2d(0, 0, 0);