diff --git a/aos/common/sensors/sensor_receiver-tmpl.h b/aos/common/sensors/sensor_receiver-tmpl.h
index 076f6ca..dc9f17d 100644
--- a/aos/common/sensors/sensor_receiver-tmpl.h
+++ b/aos/common/sensors/sensor_receiver-tmpl.h
@@ -29,6 +29,7 @@
       LOG(DEBUG, "receive said to try a reset\n");
       Unsynchronize();
     } else {
+      // TODO(brians): resync on crio reboots (and update the times...)
       if (GoodPacket()) {
         unpacker_->UnpackFrom(&data_.values);
         last_good_time_ = time::Time::Now();
@@ -211,6 +212,10 @@
         old_count, data_.count);
     return true;
   }
+  if (data_.count < start_count_) {
+    LOG(INFO, "count reset. started at %"PRId32", now %"PRId32"\n",
+        start_count_, data_.count);
+  }
   LOG(DEBUG, "received data count %"PRId32"\n", data_.count);
   return false;
 }
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index d7bdd2a..15a8c74 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -195,7 +195,7 @@
   const double epsilon = 0.01;
 
   profile.set_maximum_acceleration(2.0);
-  profile.set_maximum_velocity(2.0);
+  profile.set_maximum_velocity(2.5);
  
   while (true) {
     ::aos::time::PhasedLoop10MS(5000);      // wait until next 10ms tick
@@ -222,7 +222,7 @@
 }
 
 // Drives forward while we can pick up discs up to max_distance (in meters).
-void DriveForwardPickUp(double max_distance) {
+void DriveForwardPickUp(double max_distance, double wrist_angle) {
   LOG(INFO, "going to pick up at a max distance of %f\n", max_distance);
   max_distance *= kDrivetrainCorrectionFactor;
 
@@ -251,12 +251,16 @@
     } else if (::std::abs(driveTrainState(0, 0) - max_distance) < epsilon) {
       LOG(INFO, "went the max distance; driving back\n");
       driving_back = true;
+      profile.set_maximum_velocity(2.5);
+      SetWristGoal(wrist_angle);
     }
 
     if (control_loops::index_loop.status.FetchLatest()) {
       if (control_loops::index_loop.status->hopper_disc_count >= 4) {
         LOG(INFO, "done intaking; driving back\n");
         driving_back = true;
+        profile.set_maximum_velocity(2.5);
+        SetWristGoal(wrist_angle);
       }
     } else {
       LOG(WARNING, "getting index status failed\n");
@@ -289,8 +293,8 @@
   // in drivetrain "meters"
   const double kRobotWidth = 0.4544;
 
-  profile.set_maximum_acceleration(1);
-  profile.set_maximum_velocity(0.6);
+  profile.set_maximum_acceleration(1.5);
+  profile.set_maximum_velocity(0.8);
 
   const double side_offset = kRobotWidth * radians / 2.0;
 
@@ -302,19 +306,19 @@
     if (ShouldExitAuto()) return;
 
     LOG(DEBUG, "Driving left to %f, right to %f\n",
-        left_initial_position + driveTrainState(0, 0),
-        right_initial_position - driveTrainState(0, 0));
+        left_initial_position - driveTrainState(0, 0),
+        right_initial_position + driveTrainState(0, 0));
     control_loops::drivetrain.goal.MakeWithBuilder()
         .control_loop_driving(true)
         .highgear(false)
-        .left_goal(left_initial_position + driveTrainState(0, 0))
-        .right_goal(right_initial_position - driveTrainState(0, 0))
-        .left_velocity_goal(driveTrainState(1, 0))
-        .right_velocity_goal(-driveTrainState(1, 0))
+        .left_goal(left_initial_position - driveTrainState(0, 0))
+        .right_goal(right_initial_position + driveTrainState(0, 0))
+        .left_velocity_goal(-driveTrainState(1, 0))
+        .right_velocity_goal(driveTrainState(1, 0))
         .Send();
   }
-  left_initial_position += side_offset;
-  right_initial_position -= side_offset;
+  left_initial_position -= side_offset;
+  right_initial_position += side_offset;
   LOG(INFO, "Done moving\n");
 }
 
@@ -333,7 +337,7 @@
   LOG(INFO, "Got constants\n");
   const double WRIST_DOWN = -0.633;
   const double ANGLE_ONE = 0.5101;
-  //const double ANGLE_TWO = 0.685;
+  //const double ANGLE_ONE = 0.70;
 
   control_loops::drivetrain.position.FetchLatest();
   while (!control_loops::drivetrain.position.get()) {
@@ -351,6 +355,7 @@
   SetWristGoal(WRIST_UP);    // wrist must calibrate itself on power-up
   SetAngle_AdjustGoal(ANGLE_ONE);
   SetShooterVelocity(410.0);
+  //SetShooterVelocity(131);
   WaitForIndexReset();
   if (ShouldExitAuto()) return;
   PreloadIndex();      // spin to top and put 1 disc into loader
@@ -368,7 +373,7 @@
 
   const double kDistanceToCenterMeters = 3.11023;
   const double kMaxPickupDistance = 2.5;
-  const double kTurnToCenterDegrees = 73.2;
+  const double kTurnToCenterDegrees = 78.2;
 
   // Drive back to the center line.
   SetDriveGoal(-kDistanceToCenterMeters);
@@ -382,7 +387,7 @@
   if (ShouldExitAuto()) return;
 
   // Pick up at most 4 discs and drive at most kMaxPickupDistance.
-  DriveForwardPickUp(kMaxPickupDistance);
+  DriveForwardPickUp(kMaxPickupDistance, WRIST_UP);
 
   SetWristGoal(WRIST_UP);
   DriveSpin(-kTurnToCenterDegrees * M_PI / 180.0);
@@ -391,6 +396,8 @@
   SetDriveGoal(kDistanceToCenterMeters);
   if (ShouldExitAuto()) return;
 
+  return;
+
   ShootNDiscs(4);
   if (ShouldExitAuto()) return;
 }
diff --git a/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
index 620d784..51cd641 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_lib_test.cc
@@ -224,23 +224,23 @@
   VerifyNearGoal();
 }
 
-// Tests that loosing the encoder for a second triggers a re-zero.
+// Tests that losing the encoder for 11 seconds triggers a re-zero.
 TEST_F(AngleAdjustTest, RezeroWithMissingPos) {
   my_angle_adjust_loop_.goal.MakeWithBuilder().goal(0.4).Send();
-  for (int i = 0; i < 800; ++i) {
+  for (int i = 0; i < 1800; ++i) {
     // After 3 seconds, simulate the encoder going missing.
     // This should trigger a re-zero.  To make sure it works, change the goal as
     // well.
-    if (i < 300 || i > 400) {
+    if (i < 300 || i > 1400) {
       angle_adjust_motor_plant_.SendPositionMessage();
     } else {
-      if (i > 310) {
+      if (i > 1310) {
         // Should be re-zeroing now.
         EXPECT_TRUE(angle_adjust_motor_.is_uninitialized());
       }
       my_angle_adjust_loop_.goal.MakeWithBuilder().goal(0.5).Send();
     }
-    if (i == 430) {
+    if (i == 1430) {
       EXPECT_TRUE(angle_adjust_motor_.is_zeroing() ||
                   angle_adjust_motor_.is_moving_off());
     }
diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index a756d35..468dc13 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -276,19 +276,21 @@
   if (position == NULL) {
     LOG(WARNING, "no new pos given\n");
     error_count_++;
-  } else {
-    error_count_ = 0;
   }
   if (error_count_ >= 4) {
     output_enabled = false;
     LOG(WARNING, "err_count is %d so disabling\n", error_count_);
-  } else if ((::aos::time::Time::Now() - last_good_time_) > kRezeroTime) {
-    LOG(WARNING, "err_count is %d so forcing a re-zero (or 1st time)\n",
-        error_count_);
-    state_ = UNINITIALIZED;
+
+    if ((::aos::time::Time::Now() - last_good_time_) > kRezeroTime) {
+      LOG(WARNING, "err_count is %d (or 1st time) so forcing a re-zero\n",
+          error_count_);
+      state_ = UNINITIALIZED;
+      loop_->Reset();
+    }
   }
-  if (position) {
+  if (position != NULL) {
     last_good_time_ = ::aos::time::Time::Now();
+    error_count_ = 0;
   }
 
   // Compute the absolute position of the wrist.
diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index 092ae11..ac8017f 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -119,9 +119,10 @@
       shooter_goal->velocity = 0;
       static double angle_adjust_goal = 0.42;
       if (Pressed(2, 5)) {
-        // long shot
-        shooter_goal->velocity = 131;
-        angle_adjust_goal = 0.70;
+        // middle wheel on the back line (same as auto)
+        shooter_goal->velocity = 410;
+        wrist_up_position = 1.23 - 0.4;
+        angle_adjust_goal = 0.5101;
       } else if (Pressed(2, 3)) {
         // medium shot
 #if 0
@@ -130,13 +131,17 @@
         angle_adjust_goal = 0.564;
 #endif
         // middle wheel on the back line (same as auto)
-        shooter_goal->velocity = 410;
+        shooter_goal->velocity = 400;
         wrist_up_position = 1.23 - 0.4;
-        angle_adjust_goal = 0.5101;
+        angle_adjust_goal = 0.5434;
       } else if (Pressed(2, 6)) {
         // short shot
         shooter_goal->velocity = 375;
         angle_adjust_goal = 0.7267;
+      } else if (Pressed(2, 9)) {
+        // pit shot
+        shooter_goal->velocity = 131;
+        angle_adjust_goal = 0.70;
       }
       angle_adjust.goal.MakeWithBuilder().goal(angle_adjust_goal).Send();